EP1511941B1 - Unite a contraction equipee d'un dispositif capteur de position - Google Patents

Unite a contraction equipee d'un dispositif capteur de position Download PDF

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Publication number
EP1511941B1
EP1511941B1 EP03729995A EP03729995A EP1511941B1 EP 1511941 B1 EP1511941 B1 EP 1511941B1 EP 03729995 A EP03729995 A EP 03729995A EP 03729995 A EP03729995 A EP 03729995A EP 1511941 B1 EP1511941 B1 EP 1511941B1
Authority
EP
European Patent Office
Prior art keywords
contraction
contraction unit
unit according
frequency
distance
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
Application number
EP03729995A
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German (de)
English (en)
Other versions
EP1511941A1 (fr
Inventor
Thomas Reininger
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Festo SE and Co KG
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Festo SE and Co KG
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Publication date
Application filed by Festo SE and Co KG filed Critical Festo SE and Co KG
Publication of EP1511941A1 publication Critical patent/EP1511941A1/fr
Application granted granted Critical
Publication of EP1511941B1 publication Critical patent/EP1511941B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
    • F15B15/2869—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT using electromagnetic radiation, e.g. radar or microwaves
    • 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
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
    • F15B15/103—Characterised by the construction of the motor unit the motor being of diaphragm type using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators

Definitions

  • the invention relates to a contraction unit with a extending between two spaced headers and undergoing a longitudinal contraction when subjected to internal pressure Contraction tube.
  • Such contraction units are for example from the Prospectus "Fluidic Muscle” issued by the applicant, EP 0161750 B1, DE 29906626 U, DE 29908008 U or DE 20112633 U known and are for a very precise positioning in a simple and low-wear construction and relatively low cost. This can be very high restoring forces be achieved.
  • actuators are used in principle any kind of position sensors or position sensors needed.
  • position sensors and sensor devices known based on a variety of measurement principles. These however, in contraction units are those mentioned above Type predominantly not or very poorly suited.
  • US 4 860 639 shows a contraction unit with a position sensor device according to the preamble of claim 1.
  • An object of the present invention is therefore to one suitable for such contraction units and at high precision simple and inexpensive to implement To provide position sensor device.
  • the advantages of the solution according to the invention are in particular in that such a microwave generator, the already very inexpensive in small construction commercially available is very easy on the inside of one of Attach head pieces or integrate in one of the head pieces leaves.
  • the compact unit of Contraction unit By the arrangement in the interior of the contraction unit without external measuring elements, the compact unit of Contraction unit not affected, and mechanical damage or disturbances of the position sensor device are largely excluded.
  • One of the principal advantages such contraction units, the complete seal and therefore the low consumption of working fluid, is not affected by the position sensor device. The measurement of the distance between the headers and so that the detected position can be detected extremely accurately.
  • the microwave generator is also advantageously as Microwave receiver designed so that the reflected Microwaves are detected with the same small-volume component can. This leads to the simplification of the electrical connections the position sensor device.
  • the evaluation device has Means for phase comparison of the emitted microwave signal and on the opposite metallic head piece reflected microwave signal and for phase difference determination as a measure of the distance.
  • the measuring accuracy is thereby in the range of half a wavelength.
  • the Evaluation device a frequency generator for variable Setting the microwave frequency, wherein a resonance detector is provided for detecting the resonant frequency.
  • the frequency generator expediently as a ramp generator formed, wherein upon detection of the resonant frequency through the resonance detector the then present frequency as Measure of the distance is held.
  • a frequency divider for the resonant frequency provided in the evaluation.
  • the contraction tube is expediently with electrical conductive particles or strand elements, such as wires, thus influencing the entire contraction unit the resonant frequency contributes and the entire contraction unit serves as a microwave waveguide.
  • the microwave generator as a microwave transmitting and receiving coupling probe educated.
  • the microwave generator as a cavity resonator with the opposite head piece formed the contraction unit towards open resonance space be. This leads to a good bundling of the emitted Microwaves.
  • the single figure shows a contraction unit or a contraction element in longitudinal section, wherein one of the Head pieces with a cavity as a position sensor device is provided.
  • the contraction element is in the single figure for simplicity only shown schematically. A more detailed one Representation can be found, for example, in the aforementioned DE 29906626 U.
  • a contraction tube 10 from a elastic rubber or plastic material is on both sides sealed by head pieces 11, 12 sealing.
  • the contraction tube 10 is usually one flexurally flexible strand structure, not shown for simplicity, in the present embodiment as metallic Strand structure may be formed around the contraction unit form as a microwave waveguide.
  • the wall may also contain other metallic conductive particles.
  • the connection of the contraction tube 10 with the two head pieces 11, 12 is such that with the strand structure provided contraction tube 10 in the It is capable of pulling forces on the respective head piece 11, 12 transfer.
  • the attachment for example, under a Clamping connection, as exemplified in the EP 0161750 B1 is described. Other types of fastening are also possible.
  • a fluid channel 14 In from the contraction tube 10 and the two headers 11, 12 limited interior 13 opens a fluid channel 14, the one of the head pieces 11 passes through and its outer end is provided with a connection device 15, via the one connected by a pressure source fluid line connected can be.
  • a connection device 15 via the one connected by a pressure source fluid line connected can be.
  • several fluid channels can be provided be.
  • Control valve arrangement is thus possible by the fluid channel 14 through a fluidic pressure medium in the Feeding interior 13 or remove it.
  • the figure shows the contraction tube 10 in the activated Condition, so in pressurized interior 13.
  • the contraction tube 10 is radially expanded and at the same time axially contracted so that the two Head pieces 11, 12 axially approximated and each other are drawn.
  • the contraction tube 10 takes a substantially hollow cylinder-like shape, and the two Head pieces 11, 12 move away from each other. In this way can be achieved by coordinated fluid loading of the interior 13 an axial lifting movement of the head pieces 11, 12 relative reach each other.
  • the two head pieces 11, 12 to each other is the one Head piece 11 on its side facing the interior with a microwave cavity resonator 16 provided.
  • This one can attached to the head piece 11 or be integrated in this.
  • the Cavity resonator 16 has one to the opposite Headpiece 12 towards open resonance chamber, by means of which microwaves emitted to the opposite head piece 12 out. There they are reflected and get back to Cavity resonator 16 back, with a not shown corresponding detection device is provided.
  • Such a cavity resonator for distance measurement is in DE 19807593 A1, so that a more detailed Presentation can be omitted.
  • the cavity resonator 16 is controlled by a ramp frequency generator 17 driven, whereby the transmission frequency specified becomes.
  • the reception branch of the cavity resonator 16 is with a resonance detector 18 connected, for example, from a two-stage differentiator and a comparator and constantly monitors whether the received signal is a Indicates resonance. The resonance manifests itself in a high Slope of the received signal.
  • the resonance is detected is the ramped frequency increase stopped and maintained. It is reduced by a frequency divider 20 and the Evaluation device 19 is transmitted and is a measure of the Distance between the two head pieces 11, 12 to each other.
  • the resonant frequency depends on the distance of the two Head pieces 11, 12 from each other and can still by the conductive Wall of the contraction tube 10 with influenced become.
  • For each state of the contraction element is a certain resonant frequency, so that only the Transmission frequency must be changed until resonance frequency and transmit frequency match.
  • the example formed as a detector diode receiving means of the cavity resonator 16 detects when the resonance frequency is reached a performance dip.
  • One of the respective resonance frequency to the distance converted Value can be displayed on a display 21 and / or otherwise evaluated.
  • the frequency generator 17, the resonance detector 18 and the Frequency divider 20 can of course also instead of separate units as components of the evaluation 19 be formed.
  • the specified Evaluation devices known from the prior art possible.
  • the head 11 on the head arranged microwave generator for example, as a coupling probe be formed, as described in the DB 19833220 A1 Distance measurement is described in detail.
  • the microwave signal is via such a coupling probe in the interior of the contraction element Fed 10, wherein in a first Step of the absolute distance between entry point on the left Head 11 and the right head 12 is measured, for example, by a transit time measurement of the frequency-modulated Transmission signal. Subsequently, a standing wave generated in the interior, whose displacement by the axial position change the two head pieces to each other. about a phase evaluation of the frequency similar to that of the previously described embodiment is reduced signal measured the changing distance between the headers.
  • DE 19833220 A1 discloses various evaluation methods described, which can be used alternatively.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Toxicology (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Health & Medical Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Length-Measuring Devices Using Wave Or Particle Radiation (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Vehicle Body Suspensions (AREA)
  • Soil Working Implements (AREA)

Claims (9)

  1. Unité à contraction comprenant un tuyau à contraction (10) s'étendant entre deux têtes (11, 12) écartées et subissant, en cas de sollicitation par une pression interne, une contraction en longueur, et comprenant un dispositif formant détecteur de position pour détecter la distance entre les têtes (11, 12), caractérisée en ce que le dispositif formant détecteur de position présente un générateur de microondes (16) monté sur l'une des têtes (11), émettant des microondes à l'intérieur (13) de l'unité à contraction, un dispositif d'évaluation (17 - 21) étant prévu pour déterminer la distance entre les têtes (11, 12) par mesure du temps de transit, comparaison de phases entre les ondes émises et réfléchies, ou détermination de la fréquence de résonance.
  2. Unité à contraction selon la revendication 1, caractérisée en ce que le générateur de microondes (16) est également conformé en récepteur de microondes.
  3. Unité à contraction selon la revendication 1 ou 2, caractérisée en ce que le dispositif d'évaluation (17 - 21) présente des moyens de comparaison de phases du signal à microondes émis et du signal à microondes réfléchi sur la tête (12) métallique opposée, ainsi que de détermination de la différence de phase, pour servir de mesure de la distance.
  4. Unité à contraction selon la revendication 1 ou 2, caractérisée en ce que le dispositif d'évaluation (17 - 21) est pourvu d'un générateur de fréquences (17) afin de pouvoir faire varier la fréquence des microondes, et en ce qu'est prévu un détecteur résonant (18) pour détecter la fréquence de résonance.
  5. Unité à contraction selon la revendication 4, caractérisée en ce que le générateur de fréquences (17) est conformé en générateur de rampe et, lorsque le détecteur résonant (18) détecte la fréquence de résonance, la fréquence alors détectée est retenue comme mesure de la distance.
  6. Unité à contraction selon la revendication 5, caractérisée en ce qu'un diviseur de fréquence (20) est prévu pour évaluer la fréquence de résonance dans le dispositif d'évaluation.
  7. Unité à contraction selon l'une des revendications précédentes, caractérisée en ce que le tuyau à contraction (10) est pourvu de particules ou d'éléments en brins, tels que des fils, conductrices/conducteurs de l'électricité.
  8. Unité à contraction selon l'une des revendications précédentes, caractérisée en ce que le générateur de microondes est conformé en diode de couplage envoyant et recevant des microondes.
  9. Unité à contraction selon l'une des revendications 1 à 7, caractérisée en ce que le générateur de microondes (16) est conformé en résonateur à cavité comprenant une cavité résonante ouverte en direction de la tête (12) opposée.
EP03729995A 2002-06-07 2003-05-09 Unite a contraction equipee d'un dispositif capteur de position Expired - Lifetime EP1511941B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10225246 2002-06-07
DE10225246A DE10225246A1 (de) 2002-06-07 2002-06-07 Kontraktionseinheit mit Positionssensoreinrichtung
PCT/EP2003/004859 WO2003104659A1 (fr) 2002-06-07 2003-05-09 Unite a contraction equipee d'un dispositif capteur de position

Publications (2)

Publication Number Publication Date
EP1511941A1 EP1511941A1 (fr) 2005-03-09
EP1511941B1 true EP1511941B1 (fr) 2005-11-16

Family

ID=29718884

Family Applications (1)

Application Number Title Priority Date Filing Date
EP03729995A Expired - Lifetime EP1511941B1 (fr) 2002-06-07 2003-05-09 Unite a contraction equipee d'un dispositif capteur de position

Country Status (6)

Country Link
US (1) US7104182B2 (fr)
EP (1) EP1511941B1 (fr)
JP (1) JP2005529321A (fr)
AT (1) ATE310165T1 (fr)
DE (2) DE10225246A1 (fr)
WO (1) WO2003104659A1 (fr)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005008880A1 (de) * 2004-09-09 2006-07-13 Mts Mikrowellen-Technologie Und Sensoren Gmbh Mikrowellensensor zur hochgenauen Niveaumessung in einer Luftfeder
WO2006052120A1 (fr) * 2004-11-13 2006-05-18 Vladimir Guzenko Appareil menager destine au traitement integral du linge
WO2007064180A1 (fr) * 2005-12-01 2007-06-07 Guzenko Vladimir Traitement complet du linge, depuis le lavage et jusqu'au repassage, au moyen d'un appareil unique
GB2435308A (en) * 2006-02-18 2007-08-22 Shadow Robot Company Ltd Braided sheath air muscle with substantially fixed perimeter bladder
US9013191B2 (en) 2011-09-12 2015-04-21 The United States Of America As Represented By The Secretary Of The Army Microwave cavity with dielectric region and method thereof
US10132336B1 (en) * 2013-04-22 2018-11-20 Vecna Technologies, Inc. Actuator for rotating members
US10028878B1 (en) 2012-11-28 2018-07-24 Vecna Technologies, Inc. Body worn apparatus
US9506481B1 (en) 2013-01-31 2016-11-29 Daniel Theobald High force hydraulic actuator
US9463085B1 (en) 2013-02-20 2016-10-11 Daniel Theobald Actuator with variable attachment connector
US9440361B1 (en) 2013-06-28 2016-09-13 Daniel Theobald Activation element and method
US9625366B2 (en) 2013-11-11 2017-04-18 3R Valo, société en commandite Microwave resonator sensor and associated methods of sensing
EP3259511B1 (fr) 2015-02-20 2021-05-26 Morice, Peter G. Système et procédé d'actionnement pneumatique
JP2020176664A (ja) * 2019-04-16 2020-10-29 株式会社ブリヂストン 流体圧アクチュエータ及び検出ユニット

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Also Published As

Publication number Publication date
US7104182B2 (en) 2006-09-12
DE50301694D1 (de) 2005-12-22
WO2003104659A1 (fr) 2003-12-18
JP2005529321A (ja) 2005-09-29
EP1511941A1 (fr) 2005-03-09
ATE310165T1 (de) 2005-12-15
US20050139063A1 (en) 2005-06-30
DE10225246A1 (de) 2004-01-08

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