EP1626184B1 - Dispositif hydraulique - Google Patents

Dispositif hydraulique Download PDF

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Publication number
EP1626184B1
EP1626184B1 EP05013447A EP05013447A EP1626184B1 EP 1626184 B1 EP1626184 B1 EP 1626184B1 EP 05013447 A EP05013447 A EP 05013447A EP 05013447 A EP05013447 A EP 05013447A EP 1626184 B1 EP1626184 B1 EP 1626184B1
Authority
EP
European Patent Office
Prior art keywords
hydraulic
piston
auxiliary
cylinder
unit
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.)
Active
Application number
EP05013447A
Other languages
German (de)
English (en)
Other versions
EP1626184A3 (fr
EP1626184A2 (fr
Inventor
Peter Schradi
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.)
Schuler Automation GmbH and Co KG
Original Assignee
Schuler Automation GmbH and Co KG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Schuler Automation GmbH and Co KG filed Critical Schuler Automation GmbH and Co KG
Publication of EP1626184A2 publication Critical patent/EP1626184A2/fr
Publication of EP1626184A3 publication Critical patent/EP1626184A3/fr
Application granted granted Critical
Publication of EP1626184B1 publication Critical patent/EP1626184B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • F15B15/22—Other details, e.g. assembly with regulating devices for accelerating or decelerating the stroke
    • F15B15/228—Other details, e.g. assembly with regulating devices for accelerating or decelerating the stroke having shock absorbers mounted outside the actuator housing

Definitions

  • the invention relates to a hydraulic device according to the preamble of claim 1.
  • Such a hydraulic device is from the US 2,970,655 A known.
  • Another hydraulic device is from the DD 46 600 known.
  • a delayed movement of a piston in a located between the first and second end position portion of the hydraulic cylinder at a precisely predetermined position is disadvantageously not possible.
  • Such hydraulic devices are z. B. used to generate an opening and closing movement of a mounted on a transfer gripper.
  • a transfer gripper In order to dampen the opening and closing movement of the gripper at the end of the respective trajectory, one usually uses hydraulic cylinders with a so-called end position damping.
  • the hydraulic cylinder and a piston guided therein by a suitable geometric configuration at the ends of the hydraulic cylinder together such that the hydraulic oil forced upon reaching the end position by a narrowed cross-section and thus the movement of the hydraulic cylinder in the vicinity of the end position is delayed or damped ,
  • hydraulically operated grippers are usually designed so that the end positions of the hydraulic cylinder correspond to a maximum opening or closing position of the gripping arms of the gripper. In the maximum closed position, the gripping arms are usually against each other. Will against it gripped with the gripping arms a workpiece, this gripping position usually corresponds to a middle position of the piston guided in the hydraulic cylinder. The movement from the maximum open position to the gripping position takes place without any damping. As a result, it comes when gripping the workpiece to undesirable pressure surges in the hydraulic device:
  • the object of the invention is to eliminate the disadvantages of the prior art.
  • it is intended to specify a hydraulic device which is as simple and inexpensive to produce as possible and which permits damped movement of the piston in a middle section of the hydraulic cylinder located between the first and second end positions.
  • the movement should be delayable in a precisely located position, in particular in a section located between the first and second end positions.
  • the hydraulic device should be operable as possible with conventional hydraulic cylinders.
  • the throttle valve opens upon reaching the maximum stroke position of the auxiliary piston.
  • the delay device proposed according to the invention it is possible to arbitrarily vary a delay point for the beginning of the delayed movement of the piston.
  • the delay point is with the delay device certainly. Its position depends on the volume displaced by the movement of the piston. The deceleration point and the first and / or second end position can be specified exactly.
  • the movement into the gripping position can be damped. Unwanted pressure surges when gripping workpieces are avoided. This increases the service life of the hydraulic device and the gripper.
  • the hydraulic device can be operated at a higher pressure and at an increased cycle rate.
  • a “middle section” of the hydraulic cylinder is understood to mean a section which is located outside the damping areas in the end positions of the piston. An attenuation in the region of the end positions usually extends over less than 10% of the total travel distance of the piston from one end position to the other.
  • a flow path is understood to mean a path through which hydraulic oil can flow.
  • the delay device is designed as a separate mounting unit. This makes it possible to combine conventional hydraulic cylinders, in particular hydraulic slave cylinder, with great effort with the deceleration device. It does not require any structural change of the hydraulic cylinder.
  • the delay device can be switched on, for example, in a leading to a hydraulic slave cylinder discharge line.
  • the hydraulic device in addition to the end position damping on an additional delay point for the use of a damped movement between the two end positions.
  • a maximum stroke position of the auxiliary piston is adjustable.
  • the deceleration point along the trajectory of the piston can be set arbitrarily.
  • a manually or electromotively actuated adjusting screw can be provided, with which a stop of the auxiliary piston is changeable.
  • the maximum stroke of the auxiliary piston is adjustable by means of an electric motor, this can be controlled by a controller.
  • the maximum stroke can be set according to preset stored values.
  • gripper so its gripping movement can be quickly and easily adapted to different workpiece dimensions.
  • the delay of the movement of the piston may be given by the throttle cross-section of the throttle valve. It has proved to be particularly advantageous that the throttle cross-section is adjustable. A delay device with the aforementioned features can be produced easily and inexpensively. When you open the throttle valve begins the subdued movement. The damping is given by the hydraulic cross section of the opened throttle valve. Conveniently, the throttle cross-section and thus the delay or damping of the movement of the piston can be adjusted. - It can therefore be provided as a separate mounting unit universal delay device, with a variety of conventional hydraulic cylinder with respect to a damped movement in a located between the end positions central section can be retrofitted.
  • the delay device has a bypass with a one-way valve switched on therein on. This allows a quick pushing back of the piston in its end position.
  • a gripper provided with the hydraulic device according to the invention, the cycle time with which workpieces are gripped can be increased.
  • a spring is provided in the auxiliary cylinder, with which the auxiliary piston is forced to a starting position. In the initial position, the piston has no stroke.
  • the delay device is turned on in a first or second line connected to the hydraulic cylinder.
  • the proposed construction is simple. In particular, it is not necessary to switch on the delay device in a separate bypass on the hydraulic cylinder.
  • a gripper is provided with the hydraulic device according to the invention. It may in particular be a gripper provided on a workpiece transfer. Such a workpiece transfer is for example from the EP 0 633 077 A1 The disclosure of which is hereby incorporated by reference.
  • a hydraulic cylinder 1 has a piston 2 guided therein with a piston rod 3.
  • a pressure source 4 is hydraulically connected via a first line 5 to one end E1 of the hydraulic cylinder 1.
  • a second line 7 connected to a liquid reservoir 6 is provided.
  • the pressure source 4 can form a structural unit together with the liquid reservoir 6.
  • the liquid used here is expediently oil, in particular hydraulic oil.
  • a delay device 8 is turned on.
  • the pressure source 4 and the liquid reservoir 6 can be switched by means of a switching device 8a alternately to the first 5 or the second line 7, ie it can therefore either either the first 5 or the second line 7 pressurized and the other line 5, 7th be depressurized.
  • the delay device 8 has an auxiliary cylinder 9 and an auxiliary piston 10 guided therein.
  • the auxiliary piston 10 is provided with a throttle valve 10a.
  • a spring 11 forces the auxiliary piston 10 from a maximum stroke position A2 to an initial position A1.
  • the delay device 8 is provided with a bypass 12 in which a one-way valve 13 is switched on so that a liquid flow coming from the hydraulic cylinder 1 can flow out exclusively to the liquid reservoir 6 through the delay device 8.
  • Fig. 1 different positions of the piston 2 in the hydraulic cylinder 1 are shown. Furthermore, the travel of the piston 2 as a function of time and the clamping force of a gripper operated with the hydraulic device are shown as a function of time.
  • FIG Fig. 1 the function of the hydraulic device according to the invention will be described with reference to FIG Fig. 1 using the shown positions of the piston 2 from left to right described.
  • the piston 2 is in a first end position E1.
  • a volume formed in the hydraulic cylinder 1 between the piston 2 and the second end position E2 is filled with hydraulic oil.
  • hydraulic oil is supplied to the hydraulic cylinder 1 via the inflow line 5 under pressure.
  • the piston 2 is pressed in the direction of the second end position E2.
  • the thereby displaced by the second line 7 oil volume is pressed into the auxiliary cylinder 9 and moves the auxiliary piston 10 from the initial position A1 in the maximum stroke position A2.
  • the spring 11 is completely compressed.
  • auxiliary cylinder 9 and the auxiliary piston 10 and the throttle valve 10a comprehensive delay device is in Fig. 2 switched on in the second line 7. It is of course also possible to turn on the delay device in the first line 5. It is also possible to turn on such delay devices both in the first 5 and in the second line 7.
  • Fig. 1 For the sake of explanation, the situation where the piston 2 is in the second end position E2 is also shown. In this case, the gripper is closed, without it a workpiece W or a pressing part would be used.
  • the flow direction of the hydraulic oil is reversed: the pressure source 4 is switched to apply the required pressure to the second line 7. It is now performed by the second line 7 hydraulic oil under pressure to the second end E2 of the hydraulic cylinder 1. In this case, the hydraulic oil passes in particular via the bypass 12 and the one-way valve 13 opened in this flow direction.
  • the first line 5 is switched to the liquid reservoir 6 and is therefore depressurized.
  • the piston 2 is moved back from the second end position E2 toward the first end position E1.
  • the pressure source 4 is switched to the second line 7 and the liquid reservoir 6 to the first line 5. At this moment is - as in Fig. 1 in the penultimate figure is shown - the gripper depressurized.
  • Fig. 2 shows a first embodiment of a delay device 8.
  • the auxiliary piston 10 in the initial position A1.
  • the throttle valve 10a is embodied here in the form of a nozzle 14 provided in the piston bottom.
  • an annular channel 15 is provided, which is connected to a first opening 16.
  • a second opening is designated by the reference numeral 17.
  • the auxiliary piston 10 is first displaced by the second opening 17 supplied hydraulic oil against the force of the spring 11 in the maximum stroke position A2. Subsequently, further supplied hydraulic oil can only be discharged through the nozzle 14 and the annular channel 15 via the first opening 16. Thus, a movement of the piston 2 in the hydraulic cylinder 1 can be damped.
  • the throttle valve 10a may also be provided on the auxiliary cylinder 9. Further, it is possible that components of the throttle valve are provided on both the auxiliary piston 10 and the auxiliary cylinder 9 and cooperate in such a way that the réelle Carter muted movement is achieved.
  • Fig. 3 shows a second embodiment of a delay device 8.
  • an adjustable stop 18 is provided in the auxiliary cylinder 9, with which the maximum stroke position A2 is adjustable.
  • a nozzle needle 19 which is axially adjustable relative to it, is provided, which has a recess 20 in the vicinity of its end.
  • the illustrated second delay device 8 is particularly universal. Here, both the maximum stroke position A2 and the hydraulic passage cross section of the throttle valve 10a can be adjusted.
  • the auxiliary piston 10 When supplying pressurized hydraulic oil through the second opening 17, the auxiliary piston 10 is pressed against the force of the spring 11 to the maximum stroke position A2. As a result, the throttle valve 10a formed by the recess 20 opens. The hydraulic oil flows through the throttle valve 10 a and flows out via the first opening 16. A hydraulic cross section of the throttle valve 20 and thus the delay of the movement can be changed by adjusting the nozzle needle 19 relative to the tee 18.
  • the Fig. 4a to 4c show a gripper with two gripping arms 21a and 21b.
  • the gripper is provided with a hydraulic cylinder 1 in which the piston 2 is guided with the piston rod 3 extending therefrom.
  • the movement of the grippers 21a, 21b is controlled.
  • Fig. 4a shows the gripper in the open and
  • Fig. 4b shows the gripper in the closed position without workpieces W.
  • Fig. 4c the gripper is shown, wherein the gripping arms 21a, 21b here grip a workpiece W.
  • the piston 2 is in a middle position located between the end positions E1, E2.
  • a movement of the gripping arms 21a, 21b in the in Fig. 4c shown gripping position can by the in the Fig. 1 to 3 Shown delay device 8 is attenuated.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Actuator (AREA)

Claims (9)

  1. Dispositif hydraulique avec un piston (2) guidé dans un vérin hydraulique (1), le piston (2) pouvant être déplacé d'une première position finale (E1) se trouvant à une extrémité du vérin hydraulique (1) à une deuxième position finale (E2) se trouvant à l'autre extrémité opposée du vérin hydraulique (1), le vérin hydraulique (1) étant relié hydrauliquement à un dispositif de temporisation (8) présentant un vérin auxiliaire (9) avec un piston auxiliaire (10) guidé à l'intérieur de ce dernier, lequel dispositif permet un déplacement du piston (2) pouvant être temporisé dans un segment médian se trouvant entre la première (E1) et la deuxième position finale (E2), et où le vérin auxiliaire (9) présente une première (16) et une deuxième ouverture (17) pour l'alimentation et l'évacuation d'huile hydraulique, où une vanne d'étranglement (10a, 14, 20) prévue sur le cylindre auxiliaire (9) ou sur le piston auxiliaire (10) est montée sur le canal d'écoulement,
    caractérisé en ce que
    la vanne d'étranglement (10a, 14, 20) s'ouvre à atteinte de la position de course maximale (A2) du piston auxiliaire (10).
  2. Dispositif hydraulique selon la revendication 1, où le dispositif de temporisation (8) est réalisé comme unité de montage séparée.
  3. Dispositif hydraulique selon l'une des revendications précédentes, où la position de course maximale (A2) du piston auxiliaire (10) est réglable.
  4. Dispositif hydraulique selon l'une des revendications précédentes, où la temporisation du déplacement du piston (2) est donnée par la section transversale hydraulique de la vanne d'étranglement (10a, 14, 20).
  5. Dispositif hydraulique selon la revendication 4, où la section transversale d'étranglement est réglable.
  6. Dispositif hydraulique selon l'une des revendications 4 ou 5, où le dispositif de temporisation (8) présente un bypass (12) avec une vanne à une voie (13) montée sur ce dernier.
  7. Dispositif hydraulique selon l'une des revendications 4 à 6, où un ressort (11) qui est prévu dans le vérin auxiliaire (9) force le piston auxiliaire (10) en une position initiale (A1).
  8. Dispositif hydraulique selon l'une des revendications précédentes, où le dispositif de temporisation est monté sur une première (5) ou une deuxième conduite (7) reliée au vérin hydraulique (1).
  9. Préhenseur avec un dispositif hydraulique selon l'une des revendications précédentes.
EP05013447A 2004-08-14 2005-06-22 Dispositif hydraulique Active EP1626184B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102004039483A DE102004039483B4 (de) 2004-08-14 2004-08-14 Hydraulikeinrichtung

Publications (3)

Publication Number Publication Date
EP1626184A2 EP1626184A2 (fr) 2006-02-15
EP1626184A3 EP1626184A3 (fr) 2010-06-16
EP1626184B1 true EP1626184B1 (fr) 2012-07-11

Family

ID=35355089

Family Applications (1)

Application Number Title Priority Date Filing Date
EP05013447A Active EP1626184B1 (fr) 2004-08-14 2005-06-22 Dispositif hydraulique

Country Status (4)

Country Link
US (1) US7305913B2 (fr)
EP (1) EP1626184B1 (fr)
DE (1) DE102004039483B4 (fr)
ES (1) ES2391276T3 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102367827A (zh) * 2011-09-19 2012-03-07 大连维乐液压制造有限公司 油缸单向可调缓冲排气阀
CN102536958B (zh) * 2012-02-24 2016-02-03 常州轩达液压机电设备有限公司 立式辊磨机缓冲装置

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2664106A (en) * 1949-11-29 1953-12-29 Bendix Aviat Corp Stroke-limiting control valve for hydraulic motors
US2970655A (en) 1956-07-23 1961-02-07 Russel D Acton Stroke controls for hydraulic systems
DD46600A1 (de) * 1964-12-03 1966-03-20 Wolfgang Helmholz Hilfszylinder für doppelt beaufschlagte Arbeitszylinder
JPS6483928A (en) * 1987-09-25 1989-03-29 Kubota Ltd Control device for hydraulic clutch
FI85260C (fi) * 1990-07-11 1992-03-25 Vesa Kaehoenen Foerfarande och system foer att instaella hydraultrycket som verkar pao ett hydrauliskt griporgan.
DE4315372C2 (de) * 1993-05-08 1995-03-09 Sander Kg Gmbh & Co Vorrichtung zum schrittweisen Vorschieben von Werkstücken
DE4428081A1 (de) * 1994-08-09 1996-02-15 Zahnradfabrik Friedrichshafen Ventil zur Dämpfung von Druckstößen in Zylinderleitungen
DE19651500C1 (de) * 1996-12-11 1998-04-09 Daimler Benz Ag Dämpferventilanordnung

Also Published As

Publication number Publication date
DE102004039483A1 (de) 2006-02-23
DE102004039483B4 (de) 2007-03-01
EP1626184A3 (fr) 2010-06-16
US20060032368A1 (en) 2006-02-16
ES2391276T3 (es) 2012-11-23
US7305913B2 (en) 2007-12-11
EP1626184A2 (fr) 2006-02-15

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