EP0898085A2 - Pressurised-fluid motor for electrorheological fluids - Google Patents

Pressurised-fluid motor for electrorheological fluids Download PDF

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Publication number
EP0898085A2
EP0898085A2 EP98114617A EP98114617A EP0898085A2 EP 0898085 A2 EP0898085 A2 EP 0898085A2 EP 98114617 A EP98114617 A EP 98114617A EP 98114617 A EP98114617 A EP 98114617A EP 0898085 A2 EP0898085 A2 EP 0898085A2
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EP
European Patent Office
Prior art keywords
housing
valves
pressure medium
electrorheological
medium motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP98114617A
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German (de)
French (fr)
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EP0898085A3 (en
EP0898085B1 (en
Inventor
Horst Dr. Rosenfeldt
Dorothea Adams
Horst Scherk
Eckhardt Dr. Wendt
Klaus Büsing
Gerald Fees
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Fludicon GmbH
Original Assignee
Carl Schenck AG
Bayer AG
Fludicon GmbH
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Publication of EP0898085A2 publication Critical patent/EP0898085A2/en
Publication of EP0898085A3 publication Critical patent/EP0898085A3/en
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Publication of EP0898085B1 publication Critical patent/EP0898085B1/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/06—Use of special fluids, e.g. liquid metal; Special adaptations of fluid-pressure systems, or control of elements therefor, to the use of such fluids
    • F15B21/065—Use of electro- or magnetosensitive fluids, e.g. electrorheological fluid

Definitions

  • the invention relates to a pressure medium motor for electrorheological Liquids, with a two working chambers surrounding housing, a movable in the housing Piston that separates the working chambers from one another Inlet channel for the supply of an electrorheological Liquid from a room of higher pressure, an outlet channel for the drainage of the electrorheological fluid in a room of low pressure and electrorheological valves each with a working chamber with the inlet channel or the annular gap connecting the outlet channel, the Boundary surfaces electrodes for generating an electrical Field.
  • Electrorheological fluids also as electroviscous Designated liquids, change their viscosity depending on on the field strength of an electric field, the they are exposed. Under the action of an electric Electro-rheological liquids become tough or field even stiff. It is known electrorheological fluids to be used as working fluid in hydraulic systems, to hydraulic with the help of electrorheological valves To be able to control processes directly electrically.
  • the invention has for its object a hydraulic motor of the type mentioned at the beginning with integrated valves to create the compact outer dimensions a high differential pressure between the two working chambers and thus enables a relatively large actuating force, which achieves a high dynamic and with which good heat dissipation given by direct metallic heat conduction is.
  • the object is achieved in that the electrorheological valves through the housing wall in Longitudinal penetrating holes and in the holes arranged elements insulated from the housing are formed, the holes and the elements together Limit annular gaps of constant gap width and the Elements connected to a high voltage and the housing to ground potential can be created.
  • the pressure medium motor can the electrode column of the electrorheological Valves are guided over the entire length of the housing, so that one, measured by the overall length of the pressure medium motor, high pressure difference is achievable. All ring gaps are in direct contact with the one made from a metal Housing wall, which ensures good heat dissipation is guaranteed.
  • Each valve can pass through several holes be formed with high voltage elements. It is therefore a large cross-sectional area of the valves and thus a high volume flow and a high dynamic of the Pressure medium motor accessible.
  • the design according to the invention the pressure medium motor also enables a mechanical simple structure with identical components, namely Bores and elements of the same size to form the four valves. The elements can be in a simple design consist of cylindrical rods or thorns, they but can also take the form of a along the bore extending helix.
  • the elements can, according to the invention, with their Bores protruding ends are stored in end caps, which are attached to the end faces of the housing and from highly insulating material, e.g. engineering thermoplastics such as PPS or ceramics.
  • the end caps can continue to form chambers through which the ring gaps the valves with the inlet channel, and the outlet channel or are connected to a working chamber. This has the advantage that the entire annular gap cross section as the inlet cross section is available.
  • the four valves can be opened two different types via the chambers in the end caps to the working chambers and the inlet duct and the outlet duct be connected.
  • Figure 1 illustrates the operation of the following described in more detail with an electrorheological fluid working pressure motor.
  • the upper channel contains the in a row Annular gap valves 1a illustrated by circular areas and 2b, the lower flow channel, the annular gap valves 2a and 1b, viewed in the flow direction.
  • Between the annular gap valves 1a, 2b is on the upper flow channel which connected a working chamber A of the pressure medium motor, between the annular gap valves 2a, 1b is on the lower flow channel the other working chamber B of the Pressure fluid motor connected.
  • the annular gap valves 1a, 1b blocked by applying a high voltage, i.e. due to the high voltage in the annular gap generated electric field becomes the viscosity of the electrorheological Working fluid within the Annular gap increased so much that against that caused Flow resistance only a fraction of that conveyed amount of liquid, the annular gap valves 1a, 1b can happen.
  • This increases the pressure at the pump outlet and in the via the annular gap valve switched to passage 2a connected to this working chamber B.
  • the pressure in working chamber A remains low Level of the container T, since the valve 2b is also open Continuity is. Due to the pressure difference between the Working chamber B and working chamber A is the piston in Moved towards the working chamber A.
  • the pressure medium motor shown in Figures 2 to 6 has a cylindrical housing 1 made of metal.
  • the housing 1 has a central, continuous cylinder bore 2, in which a piston 3 with a piston rod 4 is guided axially movable.
  • the piston 3 is with a Sliding seal 5 opposite the wall of the cylinder bore 2 sealed and divided the cylinder bore 2 in two Working chambers A, B.
  • In the wall of the housing 1 are parallel a series of cylindrical bores for cylinder bore 2 6 provided that completely penetrate the housing 1 and have a uniform diameter.
  • Through the holes 6 extend cylindrical mandrels 7 made of metal, which have a smaller diameter than the holes 6 and are centered in relation to the holes.
  • the ends of the mandrels 7 protruding from the holes 6 are stored in end caps 9, 10 on both end faces of the housing 1 are attached pressure-tight.
  • the end caps 9, 10 are made of an insulating material, e.g. PPS or Polycarbonate, which is filled with fillers such as glass fibers, can be reinforced.
  • the end caps point in the middle 9, 10 a cylindrical projection 11, each engages in the end of the cylinder bore 2 and closes it.
  • the end caps 9, 10 are central Provided through holes 12 in which the piston rod 4 out and sealed.
  • the end caps 9, 10 have on their housing 1 facing Each side has two semi-cylindrical chambers 13, 14 or 15, 16 on, which by a radial wall 17 or 18th are separated from each other.
  • the walls 17, 18 are relative to one another aligned that their median plane perpendicular to each other stand.
  • Annular gaps 8 In each of the chambers 13 to 16 arranged in the corresponding cylinder half of the housing 1 Annular gaps 8.
  • Each of the four groups of Annular gaps form an electrorheological annulus valve 1a, 1b, 2a, 2b.
  • the mandrels 7 of each annular gap valve are in the end cap 9 by a high voltage distributor 19 connected to each other and each independently of the Thorns of the other ring gap valves to a high voltage source connectable.
  • the housing 1 is at earth potential connected. Is on the spikes 7 of an annular gap valve High voltage on, this is in the annular gaps 8 Annular gap valve generates an electric field and the viscosity the located in the annular gaps 8 of this valve electrorheological working fluid increased.
  • the chamber 16 via a channel 20 in Housing 1 with the working chamber A and the chamber 15 over a channel 21 in the housing 1 connected to the working chamber B.
  • the chamber 14 is connected to the inlet channel 22 and the chamber 13 connected to the outlet duct 23.
  • the about the Inlet channel 22 of the chamber 14 supplied working fluid can either into the chamber via the annular gap valve 1a 16 or via the annular gap valve 2a into the chamber 15 reach. Accordingly, the working fluid from the Chamber 16 via the annular gap valve 2b and out of the chamber 15 via the annular gap valve 1b into the chamber 13 and are discharged from there in the outlet duct 23.
  • the described invention is equally suitable for Pressure fluid motors with a magnetorheological Working fluid. Instead of an electric one The field is then a magnetic field with the help of suitable coils build up in the ring gaps.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Actuator (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Fluid-Damping Devices (AREA)
  • Servomotors (AREA)

Abstract

The motor has a piston movable in a housing (1) with two working chambers, an inlet channel for the liquid from a higher pressure chamber, an outlet channel to a lower pressure chamber and electrorheological valves (1a,1b) with annular gaps (8) connecting the channels and chambers with electrodes for generating an electric field. The valves are formed by longitudinal bores (6) through the housing wall containing insulated elements (7) bounding annular gaps of constant width. The elements and housing are connected to high voltage and earth respectively.

Description

Die Erfindung betrifft einen Druckmittelmotor für elektrorheologische Flüssigkeiten, mit einem zwei Arbeitskammern umgebenden Gehäuse, einem in dem Gehäuse bewegbaren Kolben, der die Arbeitskammern voneinander trennt, einem Einlaßkanal für die Zuführung einer elektrorheologischen Flüssigkeit aus einem Raum höheren Drucks, einem Auslaßkanal für die Abführung der elektrorheologischen Flüssigkeit in einen Raum niederen Drucks und elektrorheologischen Ventilen mit einem jeweils eine Arbeitskammer mit dem Einlaßkanal oder dem Auslaßkanal verbindenden Ringspalt, dessen Begrenzungsflächen Elektroden zur Erzeugung eines elektrischen Feldes bilden.The invention relates to a pressure medium motor for electrorheological Liquids, with a two working chambers surrounding housing, a movable in the housing Piston that separates the working chambers from one another Inlet channel for the supply of an electrorheological Liquid from a room of higher pressure, an outlet channel for the drainage of the electrorheological fluid in a room of low pressure and electrorheological valves each with a working chamber with the inlet channel or the annular gap connecting the outlet channel, the Boundary surfaces electrodes for generating an electrical Field.

Elektrorheologische Flüssigkeiten, auch als elektroviskose Flüssigkeiten bezeichnet, ändern ihre Viskosität in Abhängigkeit von der Feldstärke eines elektrischen Feldes, dem sie ausgesetzt sind. Unter der Wirkung eines elektrischen Feldes werden elektrorheologische Flüssigkeiten zäh oder sogar steif. Es ist bekannt, elektrorheologische Flüssigkeiten als Arbeitsfluid in hydraulischen Systemen einzusetzen, um mit Hilfe elektrorheologischer Ventile hydraulische Vorgänge unmittelbar elektrisch steuern zu können.Electrorheological fluids, also as electroviscous Designated liquids, change their viscosity depending on on the field strength of an electric field, the they are exposed. Under the action of an electric Electro-rheological liquids become tough or field even stiff. It is known electrorheological fluids to be used as working fluid in hydraulic systems, to hydraulic with the help of electrorheological valves To be able to control processes directly electrically.

Aus der US 4 840 112 A ist ein als Differentialzylinder ausgeführter Druckmittelmotor bekannt, der als Stellmotor für Flugzeuge vorgesehen ist und mit einer elektrorheologischen Flüssigkeit betrieben wird. Die Steuerung erfolgt über elektrorheologische Ventile, die in den Zylinder integriert sind. Die vier Ventile sind als Ringspalte ausgeführt, die durch den Einzug von zwei Rohren in den Zylinder gebildet werden. Der Kolben des Zylinders wird durch das innere Rohr geführt. Die Zu- und Abführung der elektrorheologischen Flüssigkeit erfolgt über Stutzen, die in der Mitte zwischen den beiden Stirnseiten des Zylinders in der Zylinderwand angeordnet sind. Durch die kurze Verbindung zwischen den Ventilen und den Zylinderkammern, kann bei dieser bekannten Ausführung die hohe Ansprechgeschwindigkeit der elektrorheologischen Flüssigkeit gut ausgenutzt werden. Um die erforderlichen vier Ventile zu bilden, ist es bei der bekannten Anordnung notwendig, die zwei durch die Rohre gebildeten Ringspalte jeweils zu teilen, so daß über die Länge des Zylinders jeweils zwei Ventile pro Ringspalt unterzubringen sind. Dies führt zu einer großen Baulänge des Zylinders, da die Länge der Ringspalte in die erreichbare Druckdifferenz und damit in die Stellkräfte des Druckmittelmotors eingehen. Weiterhin ist der Kolbendurchmesser mit dem Umfang der Ringspalte und damit mit dem Eintrittsquerschnitt der Flüssigkeit in die Ringspalte verknüpft, so daß alle erforderlichen geometrischen Abmessungen der Ringspalte im wesentlichen festliegen und nicht mehr nach anderen Gesichtspunkten, z.B. der Führung der Hochspannung, optimiert werden können. Als nachteilig ist auch anzusehen, daß die durch Viskosereibung entstehende Wärme im inneren Ringspalt nicht durch direkte metallische Wärmeleitung nach außen abgeführt werden kann. Es kann daher insbesondere bei hohen Frequenzen der Kolbenbewegung zu einer starken Erwärmung der elektrorheologischen Flüssigkeit im inneren Ringspalt kommen.From US 4 840 112 A is a differential cylinder executed pressure medium motor known as a servomotor is intended for aircraft and with an electrorheological Liquid is operated. The control takes place via electrorheological valves integrated in the cylinder are. The four valves are designed as annular gaps, by pulling two pipes into the cylinder be formed. The piston of the cylinder is replaced by the inner tube led. The supply and discharge of the electrorheological Liquid is carried out via spouts in the Middle between the two faces of the cylinder in the Cylinder wall are arranged. Because of the short connection between the valves and the cylinder chambers, at this known version the high response speed the electrorheological fluid is well used become. To form the required four valves is it is necessary in the known arrangement, the two by to split the tubes formed annular gaps each, so that over the length of the cylinder two valves each Annular gap are to be accommodated. This leads to a big one Overall length of the cylinder, since the length of the annular gap in the achievable pressure difference and thus in the actuating forces of the Enter the pressure medium motor. Furthermore, the piston diameter with the circumference of the ring gaps and thus with the inlet cross-section the liquid linked into the ring gaps, so that all the required geometric dimensions the annular gap is essentially fixed and not more from other points of view, e.g. the leadership of the High voltage, can be optimized. As a disadvantage also consider that the viscose friction Heat in the inner annular gap is not due to direct metallic Heat conduction can be dissipated to the outside. It can therefore especially at high frequencies of piston movement to a strong heating of the electrorheological fluid come in the inner annular gap.

Der Erfindung liegt die Aufgabe zugrunde, einen Druckmittelmotor der eingangs genannten Art mit integrierten Ventilen zu schaffen, der bei kompakten äußeren Abmessungen einen hohen Differenzdruck zwischen den beiden Arbeitskammern und damit eine relativ große Stellkraft ermöglicht, der eine hohe Dynamik erreicht und bei dem eine gute Wärmeabfuhr durch direkte metallische Wärmeleitung gegeben ist.The invention has for its object a hydraulic motor of the type mentioned at the beginning with integrated valves to create the compact outer dimensions a high differential pressure between the two working chambers and thus enables a relatively large actuating force, which achieves a high dynamic and with which good heat dissipation given by direct metallic heat conduction is.

Die Aufgabe wird erfindungsgemäß dadurch gelöst, daß die elektrorheologischen Ventile durch die Gehäusewand in Längsrichtung durchdringende Bohrungen und in den Bohrungen angeordnete, gegenüber dem Gehäuse isolierte Elemente gebildet werden, wobei die Bohrungen und die Elemente miteinander Ringspalte konstanter Spaltweite begrenzen und die Elemente an eine Hochspannung und das Gehäuse an Massepotential anlegbar sind.The object is achieved in that the electrorheological valves through the housing wall in Longitudinal penetrating holes and in the holes arranged elements insulated from the housing are formed, the holes and the elements together Limit annular gaps of constant gap width and the Elements connected to a high voltage and the housing to ground potential can be created.

Bei der erfindungsgemäßen Ausgestaltung des Druckmittelmotors können die Elektrodenspalte der elektrorheologischen Ventile über die gesamte Länge des Gehäuses geführt werden, so daß eine, gemessen an der Baulänge des Druckmittelmotors, hohe Druckdifferenz erreichbar ist. Alle Ringspalte sind unmittelbar in Kontakt mit der aus einem Metall herstellbaren Gehäusewand, wodurch eine gute Wärmeabfuhr gewährleistet ist. Jedes Ventil kann durch mehrere Bohrungen mit Hochspannungselementen gebildet werden. Es ist daher eine große Querschnittsfläche der Ventile und damit ein hoher Volumenstrom und eine hohe Dynamik des Druckmittelmotors erreichbar. Die erfindungsgemäße Gestaltung des Druckmittelmotors ermöglicht ferner einen mechanisch einfachen Aufbau mit identischen Bauteilen, nämlich Bohrungen und Elementen gleicher Abmessung, zur Bildung der vier Ventile. Die Elemente können in einer einfachen Ausführung aus zylindrischen Stäben oder Dornen bestehen, sie können aber auch die Form einer sich längs der Bohrung erstreckenden Wendel haben. In the embodiment of the pressure medium motor according to the invention can the electrode column of the electrorheological Valves are guided over the entire length of the housing, so that one, measured by the overall length of the pressure medium motor, high pressure difference is achievable. All ring gaps are in direct contact with the one made from a metal Housing wall, which ensures good heat dissipation is guaranteed. Each valve can pass through several holes be formed with high voltage elements. It is therefore a large cross-sectional area of the valves and thus a high volume flow and a high dynamic of the Pressure medium motor accessible. The design according to the invention the pressure medium motor also enables a mechanical simple structure with identical components, namely Bores and elements of the same size to form the four valves. The elements can be in a simple design consist of cylindrical rods or thorns, they but can also take the form of a along the bore extending helix.

Die Elemente können erfindungsgemäß mit ihren aus den Bohrungen herausragenden Enden in Endkappen gelagert sein, die an den Stirnflächen des Gehäuses befestigt sind und aus hochisolierendem Material, z.B. technischen Thermoplasten wie PPS oder Keramik, hergestellt werden. Die Endkappen können weiterhin Kammern bilden, durch die die Ringspalte der Ventile mit dem Einlaßkanal, und dem Auslaßkanal oder einer Arbeitskammer verbunden sind. Dies hat den Vorteil, daß der gesamte Ringspaltquerschnitt als Eintrittsquerschnitt zur Verfügung steht. Die vier Ventile können auf zwei unterschiedliche Arten über die Kammern in den Endkappen an die Arbeitskammern und den Einlaßkanal und den Auslaßkanal angeschlossen sein. Bei einer Ausführungsart liegen der Einlaßkanal und der Auslaßkanal auf einer Stirnseite des Gehäuses und die Ventile sind über die andere Stirnseite des Gehäuses mit den Arbeitskammern verbunden. Diese Ausgestaltung hat den Vorteil, daß eine Einheit aus Motor, Pumpe und Tank bzw. Speicher an die eine Stirnfläche des Druckmittelmotors angeflanscht werden kann, wodurch sich ein sehr kompakter mechanischer Gesamtaufbau eines Aggregats ergibt, das beispielsweise in Industrierobotern zum genauen Positionieren oder als Lenkhilfe für Personen- oder Lastkraftwagen eingesetzt werden kann. Da die elektrorheologische Flüssigkeit eine sehr hohe Ansprechgeschwindigkeit von üblicherweise 1 ms aufweist, läßt sich ein solches Aggregat auch als Hochfrequenzzylinder in der Materialprüfung einsetzen.The elements can, according to the invention, with their Bores protruding ends are stored in end caps, which are attached to the end faces of the housing and from highly insulating material, e.g. engineering thermoplastics such as PPS or ceramics. The end caps can continue to form chambers through which the ring gaps the valves with the inlet channel, and the outlet channel or are connected to a working chamber. This has the advantage that the entire annular gap cross section as the inlet cross section is available. The four valves can be opened two different types via the chambers in the end caps to the working chambers and the inlet duct and the outlet duct be connected. One type of execution the inlet channel and the outlet channel on one end face of the housing and the valves are above the other Front of the housing connected to the working chambers. This configuration has the advantage that one unit Motor, pump and tank or storage on one end face the pressure medium motor can be flanged, whereby a very compact overall mechanical structure of a Aggregates results, for example in industrial robots for precise positioning or as a steering aid for people or Trucks can be used. Since the electrorheological fluid has a very high response speed of typically 1 ms can be such a unit also as a high-frequency cylinder in the Use material testing.

Bei der zweiten Ausführungsart sind der Einlaßkanal und der Auslaßkanal zu Kammern an beiden Stirnseiten des Gehäuses geführt und dort jeweils mit den Ringspalten eines anderen Ventils verbunden. Hierdurch ergeben sich an allen vier Ventilen sehr kurze Verbindungswege zu der jeweiligen Arbeitskammer. In the second embodiment, the inlet duct and the Outlet channel to chambers on both faces of the housing led and there each with the ring gaps of another Valve connected. This results in all four Valves very short connection paths to the respective Chamber of Labor.

Die Erfindung wird nachfolgend anhand eines Ausführungsbeispiels näher erläutert, das in der Zeichnung dargestellt ist sind. Es zeigen

Figur 1
das Schaltschema eines erfindungsgemäßen Druckmittelmotors,
Figur 2
einen Längsschnitt E-E durch einen erfindungsgemäßen Druckmittelmotor für elektrorheologische Flüssigkeiten mit einem zylindrischen Gehäuse und in das Gehäuse integrierten Ringspaltventilen,
Figur 3
einen Querschnitt A-A des Druckmittelmotors gemäß Figur 2,
Figur 4
einen Querschnitt B-B des Druckmittelmotors gemäß Figur 2,
Figur 5
einen Querschnitt C-C des Druckmittelmotors gemäß Figur 2 und
Figur 6
einen Querschnitt D-D des Druckmittelmotors gemäß Figur 2.
The invention is explained in more detail below using an exemplary embodiment which is illustrated in the drawing. Show it
Figure 1
the circuit diagram of a pressure medium motor according to the invention,
Figure 2
2 shows a longitudinal section EE through a pressure medium motor according to the invention for electrorheological liquids with a cylindrical housing and annular gap valves integrated in the housing,
Figure 3
3 shows a cross section AA of the pressure medium motor according to FIG. 2,
Figure 4
2 shows a cross section BB of the pressure medium motor according to FIG. 2,
Figure 5
a cross section CC of the pressure medium motor according to Figure 2 and
Figure 6
2 shows a cross section DD of the pressure medium motor according to FIG. 2.

Figur 1 veranschaulicht die Arbeitsweise des im folgenden näher beschriebenen, mit einer elektrorheologischen Flüssigkeit arbeitenden Druckmittelmotors. Die Linien bezeichnen die Strömungskanäle, durch die die elktrorheologische Arbeitsflüssigkeit von einer Pumpe P kommend zu einem drucklosen Behälter T gefördert wird. Zwischen der Pumpe P und dem Behälter T sind zwei parallele Strömungskanäle vorhanden. Der obere Kanal enthält in Reihe hintereinander die durch Kreisflächen veranschaulichten Ringspaltventile 1a und 2b, der untere Strömungskanal die Ringspaltventile 2a und 1b, jeweils in Strömungsrichtung betrachtet. Zwischen den Ringspaltventilen 1a, 2b ist an den oberen Strömungskanal die eine Arbeitskammer A des Druckmittelmotors angeschlossen, zwischen den Ringspaltventilen 2a, 1b ist an den unteren Strömungskanal die andere Arbeitskammer B des Druckmittelmotors angeschlossen.Figure 1 illustrates the operation of the following described in more detail with an electrorheological fluid working pressure motor. Designate the lines the flow channels through which the electrorheological Working fluid coming from a pump P to one unpressurized container T is conveyed. Between the pump P and the container T are two parallel flow channels. The upper channel contains the in a row Annular gap valves 1a illustrated by circular areas and 2b, the lower flow channel, the annular gap valves 2a and 1b, viewed in the flow direction. Between the annular gap valves 1a, 2b is on the upper flow channel which connected a working chamber A of the pressure medium motor, between the annular gap valves 2a, 1b is on the lower flow channel the other working chamber B of the Pressure fluid motor connected.

Soll der die Arbeitskammern A, B trennende Kolben in Richtung der Kammer A bewegt werden, so werden die Ringspaltventile 1a, 1b durch Anlegen einer Hochspannung gesperrt, d.h. durch das von der Hochspannung in dem Ringspalt erzeugte elektrische Feld wird die Viskosität der elektrorheologischen Arbeitsflüssigkeit innerhalb des Ringspalts so stark erhöht, daß gegen den dadurch hervorgerufenen Strömungswiderstand nur noch ein Bruchteil der geförderten Flüssigkeitsmenge die Ringspaltventile 1a, 1b passieren kann. Hierdurch steigt der Druck am Pumpenausgang und in der über das auf Durchgang geschaltete Ringspaltventil 2a mit diesem verbundenen Arbeitskammer B an. Der Druck in der Arbeitskammer A bleibt hingegen auf dem niedrigen Niveau des Behälters T, da das Ventil 2b ebenfalls auf Durchgang ist. Durch die Druckdifferenz zwischen der Arbeitskammer B und der Arbeitskammer A wird der Kolben in Richtung der Arbeitskammer A bewegt.If the piston separating the working chambers A, B is directed in the direction the chamber A are moved, so the annular gap valves 1a, 1b blocked by applying a high voltage, i.e. due to the high voltage in the annular gap generated electric field becomes the viscosity of the electrorheological Working fluid within the Annular gap increased so much that against that caused Flow resistance only a fraction of that conveyed amount of liquid, the annular gap valves 1a, 1b can happen. This increases the pressure at the pump outlet and in the via the annular gap valve switched to passage 2a connected to this working chamber B. The pressure in working chamber A, however, remains low Level of the container T, since the valve 2b is also open Continuity is. Due to the pressure difference between the Working chamber B and working chamber A is the piston in Moved towards the working chamber A.

Soll der Kolben in Richtung der Arbeitskammer B bewegt werden, so werden die Ringspaltventile 2a, 2b durch Anlegen einer Hochspannung gesperrt und die Ringspaltventile 1a, 1b spannungslos und damit auf Durchgang geschaltet. Werden die Ventile schnell hin- und hergeschaltet, so kann der Kolben in eine der Schaltfrequenz entsprechende Schwingung versetzt werden.If the piston is to be moved in the direction of working chamber B, so the annular gap valves 2a, 2b by applying a high voltage blocked and the annular gap valves 1a, 1b de-energized and thus switched to continuity. Will the Valves quickly switched back and forth, so the piston can set in a vibration corresponding to the switching frequency become.

Der in den Figuren 2 bis 6 dargestellte Druckmittelmotor hat ein zylindrisches Gehäuse 1, das aus Metall besteht. Das Gehäuse 1 weist eine zentrale, durchgehende Zylinderbohrung 2 auf, in der ein Kolben 3 mit einer Kolbenstange 4 axial beweglich geführt ist. Der Kolben 3 ist mit einer Gleitdichtung 5 gegenüber der Wand der Zylinderbohrung 2 abgedichtet und unterteilt die Zylinderbohrung 2 in zwei Arbeitskammern A, B. In der Wand des Gehäuses 1 sind parallel zur Zylinderbohrung 2 eine Reihe zylindrischer Bohrungen 6 vorgesehen, die das Gehäuse 1 vollständig durchringen und einen einheitlichen Durchmesser haben. Durch die Bohrungen 6 erstrecken sich zylindrische Dorne 7 aus Metall, die einen kleineren Durchmesser haben als die Bohrungen 6 und gegenüber den Bohrungen zentriert sind. Durch diese Anordnung ergeben sich zwischen der Wand der Bohrungen 6 und den Dornen 7 Ringspalte 8 von konstanter Spaltweite. Die aus den Bohrungen 6 herausragenden Enden der Dorne 7 sind in Endkappen 9, 10 gelagert, die an beiden Stirnseiten des Gehäuses 1 druckdicht befestigt sind. Die Endkappen 9, 10 bestehen aus einem isolierenden Material, z.B. PPS oder Polycarbonat, das mit Füllstoffen, beispielsweise Glasfasern, verstärkt sein kann. In ihrer Mitte weisen die Endkappen 9, 10 einen zylindrischen Ansatz 11 auf, der jeweils in das Ende der Zylinderbohrung 2 eingreift und diese verschließt. Weiterhin sind die Endkappen 9, 10 mit zentralen Durchgangsbohrungen 12 versehen, in denen die Kolbenstange 4 geführt und abgedichtet ist.The pressure medium motor shown in Figures 2 to 6 has a cylindrical housing 1 made of metal. The housing 1 has a central, continuous cylinder bore 2, in which a piston 3 with a piston rod 4 is guided axially movable. The piston 3 is with a Sliding seal 5 opposite the wall of the cylinder bore 2 sealed and divided the cylinder bore 2 in two Working chambers A, B. In the wall of the housing 1 are parallel a series of cylindrical bores for cylinder bore 2 6 provided that completely penetrate the housing 1 and have a uniform diameter. Through the holes 6 extend cylindrical mandrels 7 made of metal, which have a smaller diameter than the holes 6 and are centered in relation to the holes. Through this Arrangement results between the wall of the holes 6 and the thorns 7 ring gaps 8 of constant gap width. The ends of the mandrels 7 protruding from the holes 6 are stored in end caps 9, 10 on both end faces of the housing 1 are attached pressure-tight. The end caps 9, 10 are made of an insulating material, e.g. PPS or Polycarbonate, which is filled with fillers such as glass fibers, can be reinforced. The end caps point in the middle 9, 10 a cylindrical projection 11, each engages in the end of the cylinder bore 2 and closes it. Furthermore, the end caps 9, 10 are central Provided through holes 12 in which the piston rod 4 out and sealed.

Die Endkappen 9, 10 weisen auf ihrer dem Gehäuse 1 zugekehrten Seite jeweils zwei halbzylindrische Kammern 13, 14 bzw. 15, 16 auf, die durch eine radiale Wand 17 bzw. 18 voneinander getrennt sind. Die Wände 17, 18 sind so zueinander ausgerichtet, daß ihre Mittelebene senkrecht aufeinander stehen. In die Kammern 13 bis 16 münden jeweils die in der entsprechenden Zylinderhälfte des Gehäuses 1 angeordneten Ringspalte 8. Durch die Anordnungen der Kammern 13, 14 in einer um 100° gedrehten Position gegenüber den Kammern 15, 16 verbinden jeweils nur die in einem Quadranten des zylindrischen Gehäuses 1 liegenden vier Ringspalte 8 zwei auf entgegengesetzten Stirnseiten des Gehäuses 1 befindliche Kammern miteinander. Es ergeben sich somit vier Gruppen von Ringspalten 8, die jeweils einen anderen Strömungsweg bilden. Jede der vier Gruppen von Ringspalten bildet ein elektrorheologisches Ringspaltventil 1a, 1b, 2a, 2b. Die Dorne 7 eines jeden Ringspaltventils sind in der Endkappe 9 durch einen Hochspannungsverteiler 19 miteinander verbunden und jeweils unabhängig von den Dornen der anderen Ringspaltventile an eine Hochspannungsquelle anschließbar. Das Gehäuse 1 ist mit Erdpotential verbunden. Liegt an den Dornen 7 eines Ringspaltventils Hochspannung an, so wird in den Ringspalten 8 dieses Ringspaltventils ein elektrisches Feld erzeugt und die Viskosität der in den Ringspalten 8 dieses Ventils befindlichen elektrorheologischen Arbeitsflüssigkeit erhöht.The end caps 9, 10 have on their housing 1 facing Each side has two semi-cylindrical chambers 13, 14 or 15, 16 on, which by a radial wall 17 or 18th are separated from each other. The walls 17, 18 are relative to one another aligned that their median plane perpendicular to each other stand. In each of the chambers 13 to 16 arranged in the corresponding cylinder half of the housing 1 Annular gaps 8. By the arrangements of the chambers 13, 14 in a position rotated by 100 ° relative to the Chambers 15, 16 each connect only those in a quadrant of the cylindrical housing 1 lying four Annular gap 8 two on opposite ends of the Housing 1 located chambers with each other. Surrender thus four groups of ring gaps 8, each one form another flow path. Each of the four groups of Annular gaps form an electrorheological annulus valve 1a, 1b, 2a, 2b. The mandrels 7 of each annular gap valve are in the end cap 9 by a high voltage distributor 19 connected to each other and each independently of the Thorns of the other ring gap valves to a high voltage source connectable. The housing 1 is at earth potential connected. Is on the spikes 7 of an annular gap valve High voltage on, this is in the annular gaps 8 Annular gap valve generates an electric field and the viscosity the located in the annular gaps 8 of this valve electrorheological working fluid increased.

Um die in Verbindung mit Figur 1 beschriebene Steuerfunktion zu erreichen, ist die Kammer 16 über einen Kanal 20 im Gehäuse 1 mit der Arbeitskammer A und die Kammer 15 über einen Kanal 21 im Gehäuse 1 mit der Arbeitskammer B verbunden. Die Kammer 14 ist an den Einlaßkanal 22 und die Kammer 13 an den Auslaßkanal 23 angeschlossen. Die über den Einlaßkanal 22 der Kammer 14 zugeführte Arbeitsflüssigkeit kann also entweder über das Ringspaltventil 1a in die Kammer 16 oder über das Ringspaltventil 2a in die Kammer 15 gelangen. Entsprechend kann die Arbeitsflüssigkeit aus der Kammer 16 über das Ringspaltventil 2b und aus der Kammer 15 über das Ringspaltventil 1b jeweils in die Kammer 13 und von dort im Auslaßkanal 23 abgeführt werden.To the control function described in connection with Figure 1 to achieve, the chamber 16 via a channel 20 in Housing 1 with the working chamber A and the chamber 15 over a channel 21 in the housing 1 connected to the working chamber B. The chamber 14 is connected to the inlet channel 22 and the chamber 13 connected to the outlet duct 23. The about the Inlet channel 22 of the chamber 14 supplied working fluid can either into the chamber via the annular gap valve 1a 16 or via the annular gap valve 2a into the chamber 15 reach. Accordingly, the working fluid from the Chamber 16 via the annular gap valve 2b and out of the chamber 15 via the annular gap valve 1b into the chamber 13 and are discharged from there in the outlet duct 23.

Die beschriebene Erfindung eignet sich gleichermaßen für Druckmittelmotore, die mit einer magnetorheologischen Arbeitsflüssigkeit arbeiten. Anstelle eines elektrischen Feldes ist dann mit Hilfe geeigneter Spulen ein Magnetfeld in den Ringspalten aufzubauen.The described invention is equally suitable for Pressure fluid motors with a magnetorheological Working fluid. Instead of an electric one The field is then a magnetic field with the help of suitable coils build up in the ring gaps.

Claims (7)

Druckmittelmotor für elektrorheologische Flüssigkeiten, mit einem zwei Arbeitskammern umgebenden Gehäuse, einem in dem Gehäuse bewegbaren Kolben, der die Arbeitskammern voneinander trennt, einem Einlaßkanal für die Zuführung einer elektrorheologischen Flüssigkeit aus einem Raum höheren Drucks, einem Auslaßkanal für die Abführung der elektrorheologischen Flüssigkeit in einen Raum niederen Drucks und elektrorheologischen Ventilen mit einem jeweils eine Arbeitskammer mit dem Einlaßkanal oder dem Auslaßkanal verbindenden Ringspalt, dessen Begrenzungsflächen Elektroden zur Erzeugung eines elektrischen Feldes bilden, dadurch gekennzeichnet, daß die elektrorheologischen Ventile (1a, 1b, 2a, 2b) durch die Gehäusewand in Längsrichtung durchdringende Bohrungen (6) und in den Bohrungen (6) angeordnete, gegenüber dem Gehäuse (1) isolierte Elemente (Dorne 7) gebildet werden, wobei die Bohrungen (6) und die Elemente (Dorne 7) miteinander Ringspalte (8) konstanter Spaltweite begrenzen und die Elemente (Dorne 7) an eine Hochspannung und das Gehäuse (1) an Massepotential anlegbar sind.Pressure medium motor for electrorheological fluids, with a housing surrounding two working chambers, one in the housing movable piston, which is the working chambers separates from one another, an inlet duct for the Supply of an electrorheological fluid a room of higher pressure, an outlet duct for the Drainage of the electrorheological fluid into one Low pressure room and electrorheological valves each with a working chamber with the inlet channel or the annular gap connecting the outlet channel, the Boundary surfaces electrodes for generating an electrical Form field, characterized in that the electrorheological valves (1a, 1b, 2a, 2b) through the Holes penetrating the housing wall in the longitudinal direction (6) and arranged in the bores (6), opposite the Housing (1) insulated elements (mandrels 7) are formed the bores (6) and the elements (mandrels 7) with each other annular gaps (8) of constant gap width limit and the elements (mandrels 7) to a high voltage and the housing (1) can be connected to ground potential are. Druckmittelmotor nach Anspruch 1, dadurch gekennzeichnet, daß die Elemente (Dorne 7) mit ihren aus den Bohrungen herausragenden Enden in Endkappen (9, 10) gelagert sind, die an den Stirnflächen des Gehäuses (1) befestigt sind und aus hochisolierendem Material hergestellt sind. Pressure medium motor according to claim 1, characterized in that the elements (mandrels 7) with their out ends protruding from the holes in end caps (9, 10) are mounted on the end faces of the housing (1) are attached and made of highly insulating material are. Druckmittelmotor nach einem der Ansprüche 1 oder 2, dadurch gekennzeichnet, daß die Endkappen (9, 10) Kammern (13, 14, 15, 16) bilden, durch die die Ringspalte (8) der Ventile (1a, 1b, 2a, 2b) mit dem Einlaßkanal (22) und dem Auslaßkanal (23) oder einer Arbeitskammer (A, B) verbunden sind.Pressure medium motor according to one of claims 1 or 2, characterized in that the end caps (9, 10) chambers (13, 14, 15, 16) through which the ring gaps (8) of the valves (1a, 1b, 2a, 2b) with the inlet channel (22) and the outlet channel (23) or a working chamber (A, B) are connected. Druckmittelmotor nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß der Einlaßkanal (22) und der Auslaßkanal (23) auf einer Stirnseite des Gehäuses (1) liegen und dort jeweils mit zwei Ventilen (1a, 2a bzw. 1b, 2b) verbunden sind und daß die Ventile (1a, 1b, 2a, 2b) auf der anderen Stirnseite des Gehäuses (1) mit den Arbeitskammern (A, B) verbunden sind.Pressure medium motor according to one of the preceding claims, characterized in that the inlet channel (22) and the outlet channel (23) on one end of the Housing (1) and there each with two valves (1a, 2a and 1b, 2b) are connected and that the valves (1a, 1b, 2a, 2b) on the other end of the housing (1) are connected to the working chambers (A, B). Druckmittelmotor nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß eine Einheit aus Motor, Pumpe und Tank und/oder Speicher an eine Stirnfläche des Druckmittelmotors angeflanscht ist.Pressure medium motor according to one of the preceding claims, characterized in that a unit Motor, pump and tank and / or accumulator on one end face the pressure medium motor is flanged. Druckmittelmotor nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, daß der Einlaßkanal (22) und der Auslaßkanal (23) zu beiden Stirnseiten des Gehäuses (1) geführt und dort jeweils mit dem Ringspalt eines anderen Ventils verbunden sind.Pressure medium motor according to one of claims 1 to 3, characterized in that the inlet channel (22) and the outlet channel (23) on both ends of the housing (1) and there each with the annular gap other valve are connected. Druckmittelmotor nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß er für magnetorheologische Flüssigkeiten bestimmt ist und die Ventile als magnetorheologische Ventile ausgebildet sind derart, daß zwischen dem Gehäuse und den Elementen ein Magnetfeld erzeugbar ist.Pressure medium motor according to one of the preceding claims, characterized in that it is for magnetorheological Liquids is determined and the valves as magnetorheological valves are designed such that between the housing and the elements a magnetic field can be generated.
EP98114617A 1997-08-16 1998-08-04 Pressurised-fluid motor for electrorheological fluids Expired - Lifetime EP0898085B1 (en)

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DE19735466 1997-08-16
DE19735466A DE19735466B4 (en) 1997-08-16 1997-08-16 Pressure medium motor for electrorheological fluids

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DE19735466B4 (en) 2007-06-28
EP0898085A3 (en) 2000-01-19
DE19735466A1 (en) 1999-02-18
US6116144A (en) 2000-09-12
EP0898085B1 (en) 2006-05-10
JPH11125215A (en) 1999-05-11
DE59813531D1 (en) 2006-06-14
KR19990023619A (en) 1999-03-25

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