EP1144937B1 - Hydraulischer manipulator - Google Patents
Hydraulischer manipulator Download PDFInfo
- Publication number
- EP1144937B1 EP1144937B1 EP99964404A EP99964404A EP1144937B1 EP 1144937 B1 EP1144937 B1 EP 1144937B1 EP 99964404 A EP99964404 A EP 99964404A EP 99964404 A EP99964404 A EP 99964404A EP 1144937 B1 EP1144937 B1 EP 1144937B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- hydraulic
- pressure
- manipulator
- manipulator according
- hydraulic circuit
- 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.)
- Expired - Lifetime
Links
Images
Classifications
-
- 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
- F15B7/00—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors
- F15B7/06—Details
- F15B7/10—Compensation of the liquid content in a system
-
- 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
- F15B7/00—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors
- F15B7/005—With rotary or crank input
- F15B7/006—Rotary pump input
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41F—APPARATUS FOR LAUNCHING PROJECTILES OR MISSILES FROM BARRELS, e.g. CANNONS; LAUNCHERS FOR ROCKETS OR TORPEDOES; HARPOON GUNS
- F41F3/00—Rocket or torpedo launchers
- F41F3/04—Rocket or torpedo launchers for rockets
- F41F3/052—Means for securing the rocket in the launching apparatus
Definitions
- the invention relates to a hydraulic manipulator according to the preamble of patent claim 1.
- a hydraulic actuator for moving is spaced arranged holding claws for rocket launch tubes known. It is in this known Actuator to a closed hydraulic circuit without pressure accumulator.
- the Actuation is initiated manually with a lever on a master cylinder of the hydraulic circuit.
- the Master cylinder is inside an armored vehicle and is hydraulic with an outside of the Vehicle arranged working cylinder, whose piston in turn via a linkage on the Holding claws acts.
- the operation of the master cylinder via a lever is ergonomic Disadvantages connected and limited in the resolution and power amplification.
- the object of the invention is to provide a particularly cost-effective to create a hydraulic manipulator that provides ergonomic handling and has a good transmission behavior and in particular able is the influence of temperature fluctuations occurring during use reliably balance.
- the manipulator according to the invention uses a rotary drive movement in terms of achievable motion accuracy and the Force application at the output of the manipulator ergonomic advantages having; especially if at the output large forces and very accurate Movements are required.
- the hydraulic manipulator shown in Fig. 1 consists of a closed Hydraulic circuit 1 with a hydraulic pump 2, a rotary handle 3, a Actuator 4, a coupling element 4 and the hydraulic lines 7.
- Movement direction arrows Figures 7 and 8 show the handle 3 in the manipulator entered movement and the votes on the coupling element 4 from the manipulator Move.
- the rotary handle 3 is a slip clutch connected to the drive shaft of the hydraulic pump 2.
- the gear ratio between the rotary handle 3 and the drive shaft amounts in this direct connection 1: 1, but can also by an interposed Gearbox be designed differently.
- the rotary handle 3 is in example shown manually operated to an adjustment on the output side Coupling element 5 to achieve.
- the operation of the rotary handle can also by any drive element, e.g. by an electric motor, exercised become.
- the actuator 4 consists of two mutually in
- Doublezustzter direction acting plunger cylinders 9 the common one, both plunger cylinders, Piston 10 feature.
- the piston 10 is the output element of the Manipulator, with which as a mechanical interface to external elements acting coupling element. 5
- the actuator 4 also have other embodiments, such. as a double-acting hydraulic cylinder with translatory, with rotatory or combined with translatory and rotary output movement. Furthermore, there is also an embodiment the actuator 4 as a variable displacement hydraulic motor with two flow directions and rotary output movement possible.
- FIG. 2a shows a supplement of the hydraulic circuit 1 by a low-pressure hydraulic accumulator 12, which at a volume reduction in the hydraulic circuit via Pressure relief valves 11 feeds hydraulic fluid into the hydraulic circuit 1.
- a low-pressure hydraulic accumulator 12 which at a volume reduction in the hydraulic circuit via Pressure relief valves 11 feeds hydraulic fluid into the hydraulic circuit 1.
- the Low-pressure hydraulic accumulator 12 itself is via a filter 13 and a pressure relief valve 11 refillable.
- Fig.2b shows a supplement of the hydraulic circuit 1 by a high pressure hydraulic accumulator 14, which at a volume reduction in the hydraulic circuit via a pressurized diaphragm 19 hydraulic fluid in the Hydraulic rice 1 feeds.
- the membrane 19 is for this purpose in the Memory with a gas cushion of about 70 bar applied
- FIG. 2 c shows a modification of the actuator 4 in the hydraulic circuit 1.
- One of the two plunger cylinders 9 of the actuator 4 is on the piston 10th stored floating by a mechanical pressure spring 15 acts on him.
- the compression spring 15 and the other plunger cylinder 9 are at one rigid receptacle 16 supported.
- Fig. 2d shows how the previous variant, the use of a mechanical Compression spring 16 for volume compensation in the hydraulic circuit 1.
- the Compression spring 15 is in this solution between the halves of a to this Purpose shared piston 18 used.
- Fig.2d is as an actuator 4 a two-sided hydraulic cylinder 17 shown; but the solution is the same with others Hydrotubes, e.g. in the plunger cylinder system shown above.
- the manipulator shown in Fig. 3 has an adjustable throttle 20 in the Integrated hydraulic circuit 1, with which the damping characteristic of the Manipulator influenced. This remedy can improve the Ergonomics can be used during fine adjustments.
- FIG. 3 shows the means described above for FIG Volume compensation of the hydraulic fluid, consisting of a low-pressure hydraulic accumulator 12 and relief valves 11.
- the hydraulic circuit shown also has two pressure relief valves 21 in both directions of rotation the manipulator instead of a rotary handle 3 arranged slip clutch offer a cost-effective overload protection.
- variable throttle 20 is different of the manipulator shown in Fig.3 both without those shown in Fig.3 Means for volume compensation as well as without the pressure relief valves shown 21 can be used without restriction to the damping characteristic.
- the manipulator shown in Figure 4 corresponds to the previous to Fig.3 described manipulator except for an additional bypass 22 on the Hydraulic pump 2, which is connected to or abscbaltbar of a switching valve 23.
- bypass 22 When switched off, i. closed, bypass 22 is in relation to the switched on, i. opened, bypass 22 a quick adjustment between the input and output of the manipulator possible.
- Fig.6 shows the application of the manipulator according to the invention on a mobile anti-tank weapon 26.
- the manipulator is used for manual Execution of the elevation straightening movement of the antitank weapon.
- the drive shaft 29 of Figure 8 not recognizable Hydraulic pump 2 according to the sighting process in alternating directions driven.
- the two ports of the hydraulic pump 2 are connected to the outside connected to the foot actuator 4 connected via the coupling element. 5 acting on the launcher 28 and this upon actuation of the rotary handle. 3 pivots about the elevation axis of rotation.
- the actuator 4 consists of opposing Plunger cylinders 9, in which a common piston 10th slides.
- All hydraulic lines 6 are in the foot 27, which serves as a precision casting is formed.
- Most components of the hydraulic circuit 1, as valves, throttle and filters are miniature components of a size of about 6mm in diameter and 27mm in length and are made by means of a press-fitting integrated in the investment casting housing part.
- the foot 27 includes in addition to the components described above still the azimuth damping and the azimuth storage, which in usual Way executed and not subject of this invention.
- the rotary handle 3 is formed in this application as Elevationsrichtgriff and consists of the following parts: handle, bearing, structure, shaft and Slip clutch.
- the slip clutch serves as overload protection in both Working directions.
- the function of the slip clutch can also be weight-saving be realized hydraulically with pressure relief valves, see to Fig.3.
- the use of a slip clutch has in this application but the advantage of being cheaper.
- the gear ratio of the movements of the drive shaft of the hydraulic pump 2 and the coupling element 5 are with respect to the visor properties by a corresponding design of the components of the hydraulic circuit 1 optimized.
- the position of the axis of rotation of the elevation straightening handle is by using the manipulator according to the invention arbitrarily on the Foot 27 selectable. It is ergonomically optimized and rigid arranged in the foot 27.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Fluid-Pressure Circuits (AREA)
Description
- Fig.1
- zeigt einen Hydraulik-Symbolschaltplan eines Manipulators,
- Fig.2a bis Fig. 2d
- zeigen Mittel zur Kompensation von Änderungen des Flüssigkeitsvolumens an einem Manipulator,
- Fig.3
- zeigt einen Manipulator, der eine Drossel zum Optimieren der Dämpfungscharakteristik aufweist,
- Fig.4
- zeigt einen Manipulator mit einem zuschaltbaren Bypass zur Schnellverstellung,
- Fig.5
- zeigt einen Manipulator mit Mitteln zur Fixierung des An-oder Abtriebes und
- Fig.6
- zeigt die Anwendung eines Manipulators an einer mobilen Panzerabwehrwaffe.
Claims (7)
- Hydraulischer Manipulator mit einem geschlossenen Hydraulikkreis, einem Antriebselement zur Einleitung einer Antriebsbewegung in den Hydraulikkreis; und einem Stellglied zur Ausgabe einer Abtriebsbewegung aus dem Hydraulikkreis; dadurch gekennzeichnet,daß das Antriebselement eine Hydropumpe mit zwei Förderrichtungen ist, die direkt mit dem Stellglied verbunden ist, und daß die Antriebsbewegungen an der Antriebswelle (29) der Hydropumpe (2) als Drehbewegung einleitbar sind und,daß zur selbsttätigen Kompensation von Volumenänderungen aufgrund von Temperaturänderungen, aufgrund von Leckage und/oder aufgrund von Komprimierung Mittel vorgesehen sind, die einen direkt an den Hydraulikkreis angeschlossenen druckbeaufschlagten Hochdruck-Hydrospeicher oder auf Bauteile des Stellgliedes wirkende Federelemente aufweisen.
- Hydraulischer Manipulator nach Anspruch 1, dadurch gekennzeichnet, daß eine Rutschkupplung als Überlastschutz vorgesehen ist.
- Hydraulischer Manipulator nach Anspruch 1, dadurch gekennzeichnet, daß an den geschlossenen Hydraulikkreis (1) zur Kompensation von Volumenänderungen der Hydraulikflüssigkeit ein Hochdruck-Hydrospeicher (14) mit einem internen Gasdruckpolster angeschlossen ist.
- Hydraulischer Manipulator nach Anspruch 3, dadurch gekennzeichnet, daß der Hochdruck-Hydrospeicher (14) eine Membran (19) aufweist, auf die das Glasdruckpolster wirkt.
- Hydraulischer Manipulator nach Anspruch 1, dadurch gekennzeichnet, daß zur Kompensation von Volumenänderungen ein Plungerzylinder (9) des Stellgliedes (4) schwimmend gelagert und in seiner Längsachse mittels einer Druckfeder (15) gegen eine starre Aufnahme (16) abgestützt ist.
- Hydraulischer Manipulator nach Anspruch 1, dadurch gekennzeichnet, daß zur Kompensation von Volumenänderungen ein geteilter Kolben (18) in dem Hydrozylinder wirkt, dessen beide Hälften von einer Druckfeder (15) gegen den Flüssigkeitsdruck im geschlossenen Hydraulikkreis (1) auseinander gedrückt werden.
- Hydraulischer Manipulator nach Anspruch 6, dadurch gekennzeichnet, daß das Stellglied (4) als ein doppelt wirkender Hydrozylinder (17) oder als Plungerzylindersystem ausgebildet ist.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19857378A DE19857378A1 (de) | 1998-12-12 | 1998-12-12 | Hydraulischer Manipulator |
DE19857378 | 1998-12-12 | ||
PCT/DE1999/003887 WO2000036361A1 (de) | 1998-12-12 | 1999-12-03 | Hydraulischer manipulator |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1144937A1 EP1144937A1 (de) | 2001-10-17 |
EP1144937B1 true EP1144937B1 (de) | 2004-02-11 |
Family
ID=7890861
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP99964404A Expired - Lifetime EP1144937B1 (de) | 1998-12-12 | 1999-12-03 | Hydraulischer manipulator |
Country Status (6)
Country | Link |
---|---|
US (1) | US6591607B1 (de) |
EP (1) | EP1144937B1 (de) |
DE (2) | DE19857378A1 (de) |
ES (1) | ES2213402T3 (de) |
IL (1) | IL142998A (de) |
WO (1) | WO2000036361A1 (de) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6761028B2 (en) * | 2001-10-15 | 2004-07-13 | Ngk Insulators, Ltd. | Drive device |
US7051526B2 (en) * | 2004-10-01 | 2006-05-30 | Moog Inc. | Closed-system electrohydraulic actuator |
DE102017117422A1 (de) * | 2017-08-01 | 2019-02-07 | Knorr-Bremse Systeme für Schienenfahrzeuge GmbH | Passives speicherloses hydraulisches Bremssystem |
Family Cites Families (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE302559C (de) | 1916-08-18 | |||
DE579089C (de) | 1932-04-28 | 1933-06-20 | Werft Akt Ges Deutsche | Stossdaempfer fuer hydraulische Ruderanlagen |
US2036100A (en) * | 1934-05-11 | 1936-03-31 | Acme Machine Works | Remote control by fluid transmission |
US2780065A (en) * | 1955-07-20 | 1957-02-05 | Letourneau Westinghouse Compan | Closed hydraulic system |
DE1601738A1 (de) | 1968-01-13 | 1970-03-26 | Krupp Gmbh | Hydraulisches Stellwerk,insbesondere Kran-Wippwerk |
US3903698A (en) * | 1974-02-14 | 1975-09-09 | Gen Cable Corp | Hydraulic system with bi-rotational pump with filter title |
US4325215A (en) * | 1977-03-10 | 1982-04-20 | Teijin Seiki Company Limited | Hydraulic apparatus |
SE417354B (sv) * | 1979-02-23 | 1981-03-09 | Bo Lennart Grelsson | Axialkolvpump |
US4571941A (en) * | 1980-12-27 | 1986-02-25 | Hitachi Construction Machinery Co, Ltd. | Hydraulic power system |
DE3207904A1 (de) | 1982-03-05 | 1983-09-15 | Allgaier-Werke Gmbh, 7336 Uhingen | Regeleinrichtung |
DE3228655A1 (de) | 1982-07-31 | 1984-02-02 | Messerschmitt-Bölkow-Blohm GmbH, 8000 München | Fernlenkeinrichtung fuer eine haltevorrichtung von raketenabschussrohren |
US4630441A (en) | 1984-09-04 | 1986-12-23 | The Boeing Company | Electrohydraulic actuator for aircraft control surfaces |
DE3536858C1 (de) * | 1985-10-16 | 1986-11-06 | Maschinenfabrik Glückauf Beukenberg GmbH & Co, 4650 Gelsenkirchen | Steuerung für einen Waffenrichtantrieb |
DE4022148A1 (de) | 1990-07-12 | 1992-01-16 | Asphalt Bau Josef Reitmaier | Hydraulische antriebseinheit |
US5215124A (en) * | 1990-10-23 | 1993-06-01 | Honda Giken Kogyo Kabushiki Kaisha | Accumulator |
US5329767A (en) * | 1993-01-21 | 1994-07-19 | The University Of British Columbia | Hydraulic circuit flow control |
JP3609127B2 (ja) | 1994-10-25 | 2005-01-12 | 日清紡績株式会社 | 油圧プレスのラム駆動用油圧回路 |
DE19645699A1 (de) * | 1996-11-06 | 1998-05-07 | Schloemann Siemag Ag | Hydrostatisches Getriebe |
US5791143A (en) * | 1997-04-16 | 1998-08-11 | Glomeau; J. Robert | Flow control valve and hydraulic system employing same |
DE19716081C1 (de) * | 1997-04-17 | 1998-08-13 | Hydac Technology Gmbh | Antrieb für einen hydraulischen Differentialzylinder |
-
1998
- 1998-12-12 DE DE19857378A patent/DE19857378A1/de not_active Ceased
-
1999
- 1999-12-03 ES ES99964404T patent/ES2213402T3/es not_active Expired - Lifetime
- 1999-12-03 DE DE59908539T patent/DE59908539D1/de not_active Expired - Lifetime
- 1999-12-03 US US09/857,928 patent/US6591607B1/en not_active Expired - Lifetime
- 1999-12-03 IL IL14299899A patent/IL142998A/xx not_active IP Right Cessation
- 1999-12-03 EP EP99964404A patent/EP1144937B1/de not_active Expired - Lifetime
- 1999-12-03 WO PCT/DE1999/003887 patent/WO2000036361A1/de active IP Right Grant
Also Published As
Publication number | Publication date |
---|---|
DE19857378A1 (de) | 2000-06-21 |
EP1144937A1 (de) | 2001-10-17 |
WO2000036361A1 (de) | 2000-06-22 |
IL142998A0 (en) | 2002-04-21 |
US6591607B1 (en) | 2003-07-15 |
WO2000036361B1 (de) | 2000-07-27 |
IL142998A (en) | 2005-05-17 |
ES2213402T3 (es) | 2004-08-16 |
DE59908539D1 (de) | 2004-03-18 |
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