EP2938885B1 - Aktorvorrichtung - Google Patents

Aktorvorrichtung Download PDF

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Publication number
EP2938885B1
EP2938885B1 EP14700862.7A EP14700862A EP2938885B1 EP 2938885 B1 EP2938885 B1 EP 2938885B1 EP 14700862 A EP14700862 A EP 14700862A EP 2938885 B1 EP2938885 B1 EP 2938885B1
Authority
EP
European Patent Office
Prior art keywords
translation
unit
actuator device
fluid
bellows
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
EP14700862.7A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP2938885A1 (de
Inventor
Georg Bachmaier
Gerit Ebelsberger
Reinhard Freitag
Andreas GÖDECKE
Wolfgang Zöls
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.)
Siemens AG
Original Assignee
Siemens AG
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Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Publication of EP2938885A1 publication Critical patent/EP2938885A1/de
Application granted granted Critical
Publication of EP2938885B1 publication Critical patent/EP2938885B1/de
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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
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
    • 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
    • F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
    • 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
    • F15B7/003—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors with multiple outputs
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • F15B2211/7052—Single-acting output members
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • F15B2211/7107—Multiple output members, e.g. multiple hydraulic motors or cylinders the output members being mechanically linked
    • 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
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • F15B2211/7114—Multiple output members, e.g. multiple hydraulic motors or cylinders with direct connection between the chambers of different actuators
    • F15B2211/7128—Multiple output members, e.g. multiple hydraulic motors or cylinders with direct connection between the chambers of different actuators the chambers being connected in parallel
    • 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

Definitions

  • the present invention relates to an actuator device.
  • Actuator devices are made, for example FR 997 620 A known. They usually have the task to realize a required deflection in a certain area. For this purpose, the actuator device must allow both a back and a back movement. To ensure movement in both directions, the hydraulic fluid contained in the actuator device must be biased. This bias varies in known actuator devices with the deflection. This leads to pressure differences that limit the maximum possible deflection and to an inconsistent power development.
  • the present invention has for its object to overcome these disadvantages and to provide an improved actuator device.
  • the actuator device has a drive unit and an output unit.
  • the output unit comprises a first translation unit with a first output and a second translation unit with a second output that is fluidically connected to the first translation unit via a line system.
  • the drive unit is fluidly connected to the line system.
  • a fluid can be exchanged between the first translating unit and the second translating unit by means of the drive unit.
  • the first translation unit and the second translation unit each have a biasing element. According to the invention, these biasing elements are in opposite directions Direction supported against a movably mounted common clamping. Due to the movable mounting of the clamping this component is moved with the two drives. This advantageously produces no differential force between the two biasing elements.
  • the pressures in the fluid chambers remain constant regardless of the stroke.
  • this allows the force of the actuator device to be kept constant independently of the deflection, since the pressure difference of the fluid is not changed.
  • the maximum stroke can be significantly increased.
  • the first translation element and the second translation element have an identically dimensioned hydraulic cross-section.
  • the deflections of the two drives on the same ways. The clamping thus moves evenly to the deflections of the two drives.
  • the first biasing member and the second biasing member to an identical biasing force.
  • the first biasing member and the second biasing member preferably have an identical spring rate.
  • the first translation element and / or the second translation element is a hydraulic cylinder.
  • Hydraulic cylinders advantageously have a very low longitudinal stiffness and thus do not affect the spring rates of the biasing elements.
  • hydraulic cylinders can be designed for long deflections.
  • the first translation element and / or the second translation element is a bellows.
  • the bellows is advantageously a metal bellows or a diaphragm bellows, the bellows having the same spring rate.
  • bellows in particular a metal bellows, a high system density can be achieved more easily.
  • bellows have a relatively small weight.
  • the fluid chambers and the fluid lines are completely filled with a hydraulic fluid.
  • the fluid is substantially incompressible and a uniform operation of the actuator device at different pressures in the system is ensured.
  • an actuator device 1 according to the invention is sketched in a coordinate system 13.
  • the illustrated actuator device 1 comprises a drive unit 3 and one with the drive unit 3 fluid-conducting means a drive unit 19 connected to a first fluid line 18.
  • the drive unit 3 comprises an actuator 2 and a drive element 20.
  • the drive element 20 has a drive fluid chamber 17.
  • the actuator 2 may be, for example, a piezoelectric actuator 2 or a magnetoresistive actuator 2.
  • the drive unit 3 is designed in such a way that the size of the volume of the drive fluid chamber 17 can be influenced by the deflection of the actuator 2.
  • the actuator 2 is for this purpose at least in the pressure direction positively connected to the drive element 20.
  • the actuator 2 may also be positively connected to the drive element 20.
  • the actuator can also be opposite to the printing direction, in the pulling direction positively connected to the drive member 20.
  • the pressure direction represents the direction of the deflection of the actuator 2.
  • the drive element 20 may be, for example, a hydraulic cylinder with a piston, a bellows, in particular a metal bellows or a diaphragm bellows.
  • a hydraulic cylinder 20 is shown as a drive element 20, with the piston of the actuator 2 is non-positively connected.
  • the first fluid line 18 connects. As the volume of the drive fluid chamber 17 decreases, fluid in the drive fluid chamber 17 flows through the first fluid conduit 18 to the output unit 19. As the volume of the drive fluid chamber 17 increases, the fluid may flow into the drive fluid chamber 17.
  • the output unit 19 has a first translation unit 15 and a second translation unit 16.
  • the first translation unit 15 is fluidically connected to the second translation unit 16.
  • the first translation unit 15 has an output fluid chamber 11, a first translation element 14, a first output 7 and a first biasing element 12.
  • the second translation unit 16 has a reserve fluid chamber 9, a second translation element 24, a second output 8 and a second biasing element 25.
  • the first translation element 14 and the second translation element 24 are designed as hydraulic cylinders 14, 24 and the pretensioning elements 12, 25 are designed as helical springs 12, 25.
  • the hydraulic cylinders 14, 24 have, as usual, a displaceable piston.
  • the volume of the fluid chambers 11, 9 is determined in each case according to the position of the drives 7, 8, or the deflection of the drives 7, 8 depending on the volume of the fluid chambers 11, 9.
  • the biasing elements 12, 25 each exert a bias on the outputs 7, 8, here on the piston 7, 8, off.
  • the first biasing member 12 and the second biasing member 25 are both supported on a common clamping 4 according to the invention.
  • the biasing elements 12, 25 are arranged substantially opposite thereto.
  • the biasing elements 12, 25 act in a line.
  • the restraint 4 is stiff and free to move.
  • the restraint 4 is floating.
  • the biasing members 12, 25 cooperate with each other such that a balance of forces between the applied force of the first biasing member 12 and the applied force of the second biasing member 25 is established.
  • the clamping 4 is in the direction of the deflections of the drives 7, 8 movable.
  • the clamping 4 moves with the drives 7, 8.
  • the output fluid chamber 11 of the first translating unit 15 is fluidically connected to the reserve fluid chamber 9 of the second translating unit 16 by means of a conduit system (27).
  • the conduit system is designed in such a way that a second fluid conduit 21 and a third fluid conduit 22 are arranged parallel to one another and a fourth fluid conduit 26 is arranged in series with the second and third fluid conduit 21, 22.
  • a suction check valve 6 is arranged in the second fluid line 21.
  • a pressure check valve 5 is arranged in the third fluid line 22 in the second fluid line 21, a suction check valve 6 is arranged in the third fluid line 22, a pressure check valve 5 is arranged.
  • the suction check valve 6 locks in the pressing direction and the pressure check valve 5 blocks in the opposite direction to the pressing direction in the suction direction.
  • the check valves 5, 6 are arranged opposite to each other.
  • the check valves 5, 6 open only in one direction, the suction check valve 6 opens in the pressure direction and the pressure check valve 5 opens in the suction direction.
  • the check valves 5, 6 are biased so that an opening occurs only from a certain applied pressure.
  • the first fluid line 18 is fluidically connected to the fourth fluid line 26 at a coupling
  • the second fluid line 21 is arranged on the output fluid chamber 11 and the fourth fluid line 26 is arranged on the reserve fluid line 9.
  • the fourth fluid line 26 may additionally be provided with a throttle 10, which narrows the cross section of the fourth fluid line 26.
  • the fluid chambers 9, 11, 17 and fluid lines 18, 21, 22, 26 are filled with a fluid, in particular with a hydraulic fluid, such as silicone oil or glycerol.
  • the fluid is exchangeable between the first translating unit 15 and the second translating unit 16.
  • the outputs 7, 8 are deflected.
  • the fluid from the reserve fluid chamber 9 in the output fluid chamber 11 or vice versa from the output fluid chamber 11 in the reserve fluid chamber 9 can be conducted.
  • the applied pressure means a pressure difference in the sense of this invention between inlet side and outlet side of the valve. The applied pressure increases with the speed of the deflection of the actuator 2.
  • FIGS. 2 to 4 show embodiments of the translation units 15, 16 each using the example of the first translation unit 15.
  • the output 7 is biased by the biasing unit 12.
  • the biasing unit 12 is supported on the clamping 4. With the movement of the output 7 by the distance .DELTA.s a corresponding change in volume .DELTA.V of the output fluid chamber 17 is accompanied. A fluid mass flow takes place through the fluid line 21.
  • FIG. 2 is like in the FIG. 1 a hydraulic cylinder is shown as a translation unit 15.
  • the piston of the hydraulic cylinder is the output 7.
  • the translation unit 15 is a metal bellows and in the FIG. 4 the translation unit 15 is a membrane bellows.
  • the output 7 is here formed in each case by a voltage applied to the bellows piston 7.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Actuator (AREA)
  • Supply Devices, Intensifiers, Converters, And Telemotors (AREA)
  • Fluid-Pressure Circuits (AREA)
EP14700862.7A 2013-03-21 2014-01-15 Aktorvorrichtung Active EP2938885B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013205044.5A DE102013205044B4 (de) 2013-03-21 2013-03-21 Aktorvorrichtung
PCT/EP2014/050729 WO2014146804A1 (de) 2013-03-21 2014-01-15 Aktorvorrichtung

Publications (2)

Publication Number Publication Date
EP2938885A1 EP2938885A1 (de) 2015-11-04
EP2938885B1 true EP2938885B1 (de) 2018-05-30

Family

ID=49998259

Family Applications (1)

Application Number Title Priority Date Filing Date
EP14700862.7A Active EP2938885B1 (de) 2013-03-21 2014-01-15 Aktorvorrichtung

Country Status (10)

Country Link
US (1) US20160281747A1 (ko)
EP (1) EP2938885B1 (ko)
JP (1) JP6261715B2 (ko)
KR (1) KR102145474B1 (ko)
CN (1) CN105190051B (ko)
CA (1) CA2907661C (ko)
DE (1) DE102013205044B4 (ko)
ES (1) ES2677670T3 (ko)
RU (1) RU2625888C2 (ko)
WO (1) WO2014146804A1 (ko)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014219604A1 (de) * 2014-09-26 2016-03-31 Siemens Aktiengesellschaft Hubsystem, Verfahren zur elektrischen Prüfung, Schwingungsdämpfer und Maschinenaggregat
DE102016205275A1 (de) * 2016-03-31 2017-10-05 Siemens Aktiengesellschaft Hydraulischer Aktor, Roboterarm, Roboterhand und Verfahren zum Betrieb
DE102016208773A1 (de) 2016-05-20 2017-11-23 Siemens Aktiengesellschaft Piezohydraulischer Aktor
DE102016219054A1 (de) * 2016-09-30 2018-04-05 Carl Zeiss Microscopy Gmbh Stellantrieb mit Formgedächtnis-Element
DE102017202131A1 (de) 2017-02-10 2018-08-16 Siemens Aktiengesellschaft Piezohydraulischer Aktor und Verfahren zum Betreiben eines solchen piezohydraulischen Aktors
DE102018214970B4 (de) * 2018-09-04 2021-12-16 Metismotion Gmbh Aktorvorrichtung sowie Verfahren zum Betreiben einer solchen Aktorvorrichtung

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US2281538A (en) * 1939-09-28 1942-04-28 Jr Max Leichsenring Means for and method of adjusting pressure fluid brake systems
US2503488A (en) * 1947-06-06 1950-04-11 Robert F Huffman Hydraulic brake adjusting and regulating means
FR997620A (fr) * 1949-10-14 1952-01-08 Dispositif générateur et distributeur d'énergie hydraulique à pression commandée par intermittence
US2928246A (en) * 1957-11-19 1960-03-15 Peter E Sjodin Hydraulic system
US3003592A (en) * 1959-10-28 1961-10-10 Gen Motors Corp Brake adjuster
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Also Published As

Publication number Publication date
JP2016516950A (ja) 2016-06-09
CA2907661C (en) 2021-12-07
ES2677670T3 (es) 2018-08-06
US20160281747A1 (en) 2016-09-29
KR20150131393A (ko) 2015-11-24
KR102145474B1 (ko) 2020-08-28
WO2014146804A1 (de) 2014-09-25
RU2625888C2 (ru) 2017-07-19
DE102013205044A1 (de) 2014-09-25
DE102013205044B4 (de) 2022-08-11
CN105190051B (zh) 2017-04-19
JP6261715B2 (ja) 2018-01-17
CA2907661A1 (en) 2014-09-25
CN105190051A (zh) 2015-12-23
EP2938885A1 (de) 2015-11-04
RU2015145159A (ru) 2017-04-24

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