EP3301308A1 - Actionneur rotatif hydraulique intégré - Google Patents

Actionneur rotatif hydraulique intégré Download PDF

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Publication number
EP3301308A1
EP3301308A1 EP16191334.8A EP16191334A EP3301308A1 EP 3301308 A1 EP3301308 A1 EP 3301308A1 EP 16191334 A EP16191334 A EP 16191334A EP 3301308 A1 EP3301308 A1 EP 3301308A1
Authority
EP
European Patent Office
Prior art keywords
stator
housing
valve
rotary actuator
controller
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
EP16191334.8A
Other languages
German (de)
English (en)
Other versions
EP3301308B1 (fr
Inventor
Sung Moo Ryu
Gyu Young Lee
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.)
KNR SYSTEMS Inc
Original Assignee
KNR SYSTEMS Inc
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 KNR SYSTEMS Inc filed Critical KNR SYSTEMS Inc
Priority to EP16191334.8A priority Critical patent/EP3301308B1/fr
Publication of EP3301308A1 publication Critical patent/EP3301308A1/fr
Application granted granted Critical
Publication of EP3301308B1 publication Critical patent/EP3301308B1/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
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/12—Characterised by the construction of the motor unit of the oscillating-vane or curved-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
    • 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
    • F15B15/202—Externally-operated valves mounted in or on the actuator
    • 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
    • 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
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
    • F15B13/043—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot valves
    • F15B13/0438—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with electrically-controlled pilot valves the pilot valves being of the nozzle-flapper 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
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • 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
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
    • 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
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration

Definitions

  • the present invention relates to an integrated hydraulic rotary actuator and, more particularly, to a hydraulic rotary actuator in which a rotary actuator, a valve, a sensor, and a controller are integrated.
  • Actuators based on hydraulic pressure are characterized in that they are small and can be precisely controlled and they have larger output-to-size than those of actuators based on a motor.
  • rotary actuators that are rotated and linear actuators that are linearly operated are used for developing various robots such as a dog-horse robot, a wearable robot, a heavy robot arm, and, recently, an underwater manipulator capable of carrying out work under the deep sea that people have difficulty in doing.
  • the present invention provides an integrated hydraulic rotary actuator solving the problems in the related art such as difficulty in designing due to a complicated configuration of an actuator, loosening of bolts due to vibration and interference and a short circuit of signal lines in operation.
  • an integrated hydraulic rotary actuator includes: a stator that has a cavity therein; a rotor that is inserted in the stator and defines a plurality of chamber for receiving hydraulic oil, using its outer side in cooperation with the stator; a valve that is disposed at a side of the stator and rotates the rotor by changing the direction of the hydraulic oil supplied to the chamber; at least one sensor unit that measures the state of the hydraulic oil in the chamber or the state of the rotor; a controller that is disposed at a side of the stator and generates control input for controlling the rotor on the basis of a reference value inputted from the outside and a value measured by the sensor unit; and wires that electrically connect the controller with the valve and the controller with the sensor unit and are disposed inside the stator not to exposed to the outside.
  • the stator may have at least one wire channel in which at least one of the wires is disposed.
  • the wire channel may be formed at a predetermined distance from an inner surface of the stator not to be exposed to the chamber for receiving the hydraulic oil.
  • the sensor unit may include a plurality of pressure sensors measuring pressure in the chamber receiving the hydraulic oil, respectively
  • the stator may include: a plurality of pressure sensor grooves where the pressure sensors are disposed; and a plurality of pressure measurement channels connecting the pressure sensor grooves and the chamber, and the pressure sensors are disposed in the pressure sensor grooves, respectively.
  • the sensor unit may include a position sensor measuring a rotational position of the rotor, and the position sensor may be disposed axially on the outer side of the stator, close to the rotor, and the integrated hydraulic actuator may further include a position sensor cap axially combined with the stator from the outside so that the position sensor is not exposed to the outside.
  • the controller may be disposed axially on the outer side of the stator, close to the rotor and may be positioned between the position sensor cap and the stator not to be exposed to the outside.
  • the stator may include: a housing having a cylindrical shape; and housing caps in the center portion of which a portion of the rotor is inserted and which are axially combined with the housing.
  • the wire channel may be formed at a predetermined distance from an inner surface of the housing and formed axially through the housing.
  • the controller may be disposed at a side of the housing cap and may further include a positions sensor cap axially combined with the housing cap from the outside so that the controller is not exposed to the outside, the wire channels may be formed through the housing and the housing cap so that the wire connecting the valve on the housing or the position sensor to the controller is disposed through the wire channel, and the wire channel of the housing and the wire channel of the housing cap may communicate with each other, when the housing and the housing cap are combined.
  • a valve groove may be radially formed on the outer side of the housing and the valve may be disposed in the valve groove.
  • the housing may further include a stator vane therein that protrudes toward the center of the rotor, and the valve groove may be formed in the protrusion direction of the stator vane from the outer side of the stator.
  • the housing may have a sleeve in which a spool of the valve is inserted and slid and the valve groove may have an opening to communicate with the sleeve, and in detail, the sleeve may be formed axially through the stator vane, and the valve may be a hydraulic amplifying part with a flapper and a nozzle in which the flapper may operate the spool through the opening.
  • the housing may comprise: a plurality of pressure sensor grooves where the pressure sensors are disposed; and a plurality of pressure measurement channels connecting the pressure sensor grooves and the chamber, in which the pressure sensors may be disposed in the pressure sensor grooves, respectively.
  • the pressure sensors may be two pressure sensors and may be axially formed from a side of the housing disposed at a predetermined distance from the chamber for receiving the hydraulic oil.
  • the stator may further include an input port and an output port that define channels for the hydraulic oil from the outside to the valve so that the hydraulic oil flows into/out of the valve through the stator.
  • the integrated hydraulic rotary actuator may further include: a connector that is disposed outside the stator to receive a reference value of the controller and power from the outside; and a wire that electrically connects the controller and the connector and is disposed through the wire cannels.
  • the present invention may provide a robot including: the integrated hydraulic rotary actuator; a central control unit that controls the hydraulic rotary actuator; and a link that is connected with the hydraulic rotary actuator and rotated by torque.
  • a valve, a sensor, a controller, and a driving unit for controlling the rotary actuator are integrated, so wires connecting them are not exposed to the outside. Accordingly, it is possible to prevent damage due to interference in operation and maintenance is easy.
  • FIG. 1 is a perspective view of an embodiment according to the present invention
  • FIG 2 is a partial cut view of the embodiment according to the present invention
  • FIG. 3 is an exploded perspective view of the embodiment according to the present invention
  • FIG 4 is an exploded perspective view of the embodiment including a wire line.
  • a hydraulic rotary actuator may include a stator 100, a rotor 200, a position sensor 400, pressure sensors 500a and 500b, a controller 600, a connector 700, and bearings 900.
  • the stator 100 may be formed in the shape of a cylinder, making the entire external appearance of the hydraulic rotary actuator, and the rotor 200 may be rotatably inserted in the stator 100.
  • the inner surface of the stator 100 defines a cavity for receiving hydraulic oil in cooperation with the outer side of the rotor 200.
  • the stator 100 may include a housing 110 making a cylindrical side and housing caps 120 coupled to both axial sides of the housing 100.
  • the rotor 200 is axially inserted in the housing 110 and the housing caps 120 are coupled to both axial sides of the housing 110, thereby preventing the inserted rotor 200 from axially separating.
  • Sealing members (not shown) may be disposed at the joints of the housing 110 and the housing caps 120 to prevent leakage of the hydraulic oil received inside.
  • the housing 110 and the housing caps 120 are not limited to the shapes described above and may be modified in various configurations defining a cavity for receiving hydraulic oil inside.
  • the housing cap 120 may be provided with an input port 330 and an output port 340 so that the inflow or outflow to the housing 110 from the outside when connected with the housing (110).
  • the housing 110 comprises a valve 300, a plurality of flow paths can be formed for inlet and outlet from the valve 300 to the chamber.
  • Valve 300 may be of a servo valve.
  • the stator 100 is divided with the housing 110 and the housing cap 120, it is possible to form a complex flow path through the inner surface and the outer surface of the housing 110, it is easy to manufacture and install.
  • a stator vane 101 protruding toward the center of a rotational axis may be formed on the inner side of the stator 100.
  • the side facing the center of the rotational axis of the stator vane 101 is in contact with the outer side of the rotor and the radial side of the rotor vane 201 is in contact with the inner side of the stator, so the cavity for receiving hydraulic oil is divided into two parts.
  • the rotor is operated by a pressure difference of the hydraulic oil in the two chamber. That is, torque can be generated by the pressure difference of the hydraulic oil in the chamber at both sides in the rotational direction from the rotor vane 201.
  • the driving angle when it is a single-vane type, the driving angle may be large over 270 degrees.
  • the numbers of the vanes are just examples, so two or more vanes may be provided and the actuator may be modified to operate with various torque and rotation angles by changing the shape, and the width etc., in accordance with operation purposes.
  • a rotor vane seal 102 and a stator vane seal 202 may be axially disposed at the ends of the stator vane 101 and the rotor vane 201, respectively.
  • a shaft seal (not shown) may be provided between the housing caps 120 and the rotor 200 to prevent axial leakage of hydraulic oil between the rotor 200 and the housing caps 120.
  • the shapes of the vane seals 102 and 202 and the shaft seal are just examples and may be changed in various ways and those seals are used in many fields, so they are no longer described in detail.
  • the stator 100 and the rotor 200 generate torque and are connected to external parts to rotate them relative to each other.
  • the stator 100 and the rotor 200 function as a joint connecting two parts and may rotating two links relative to each other in order to rotate the robot arm.
  • a connection groove for connection with a link is formed on the side of the stator 100 and a link connector block 210 for connection with another link is fastened to an axial end of the rotor 200.
  • the link connector block 210 is axially coupled to the rotor 200, it is just an example and the rotor 200 itself may be connected an external part.
  • the bearings 900 which resist an axial force at both axial ends of the rotor 200 for smooth rotation, may be axially inserted into the housing caps 120 from outside the housing caps 120.
  • stator 100 As for the stator 100 again, a valve 300, a sensor unit, and the controller 600 are mounted on the stator 100 and an input port 300, and output port 340 are formed on the stator 100.
  • the valve 300 is provided to selectively supply hydraulic oil to the plurality of the chambers in the stator 100.
  • the valve 300 may be a servo valve 300 and can change the supply direction of hydraulic oil in response to operation signals.
  • An operation signal from a user or an external central control unit can be received by the controller 600 to be described below and a flapper of the hydraulic amplifying part 325 of the valve 300 can be operated and the nozzle is closed or opened in response to the operation signal.
  • the operation principle of the valve 300 is widely applied, so it is no longer described.
  • the valve 300 may be disposed in the valve groove 160 on the housing 110.
  • the spool stage 325 comprising spool which is the component of the valve 300 may be provided in the stator vane 101
  • the hydraulic amplifying part 320 which is other components of the valve 300 may be mounted in the valve groove 160.
  • the hydraulic amplifying part 320 may comprising a component other than the spool stage 325, a feedback spring, a nozzle, a solenoid coil or like.
  • the valve groove 160 is formed and recessed to the inner side of the static vane 101 from the outer surface of the housing 110. Thus, after the installation of the valve 300 the protruding portion of the valve 300 to the outer surface of the housing 100 can be minimized.
  • the rotary actuator can be the cylindrical external appearance.
  • valve groove 160 provided with a plurality of the flow path so that the hydraulic oil flow can be flow to/from a hydraulic amplifying part 320 and the spool stage 325 through the housing cap 120. but the valve 300 and the valve groove 160 to be described later in detail with respect to Fig. 7 .
  • the valve groove 160 is formed on the outer side of the housing 110 to be concave toward the inside of the stator vane 101.
  • the valve groove 160 may communicate with a passage, the input port 330, and the output port 340 that are connected to valve 300 and the chamber for receiving hydraulic oil in the housing 110.
  • this configuration exemplifies and various types of servo valves such as a nozzle flapper type valve 300, a zet-nozzle and a DDV (Direct Drive Valve) can be applied.
  • the valve groove 160 and the valve 300 may be modified so that the entire or a portion of a servo valve can be disposed in the valve groove 160.
  • the input port 330 and the output port 340 make a passage for hydraulic oil from the outer side of the stator 100 to the valve 300 at the inside.
  • the input port 330 provides a channel through which hydraulic oil flows inside from the outside and the output port 340 provides a channel through which hydraulic oil flows outside.
  • the input port 330 and the output port 340 extend to the valve on the stator 100 through the stator 100.
  • the input port 330 and the output port 340 axially pass through the housing cap 120 at the rear portion in FIG 3 and axially extend to the valve 300 through the housing 110.
  • the shape and position of the input port 330 and the output port 340 may be variously changed.
  • Hydraulic oil flows into the stator 100 from the outside through the input port 330, moves to the valve 300, and is then selectively supplied to the chamber for receiving hydraulic oil in the stator 100 from the valve 300.
  • hydraulic pressure is applied to the rotor vane 202, so the rotor 200 is rotated.
  • the hydraulic oil in the opposite cavity passes through the valve 300 and the flows out of the actuator through the output port 340.
  • the configuration of the valve will be described below.
  • the sensor unit may include the position sensor 400 and the pressure sensors 500a and 500b.
  • the position sensor 400 may measure the rotational position of the rotor 200 and the pressure sensors 500a and 500b may measure the pressure of hydraulic oil applied to the cavity for receiving hydraulic oil in the stator 100.
  • the position sensor 400 is axially fitted on the outer side of the housing cap 120 to cover a portion of the rotator 200 that protrudes out of the housing cap 120 and measures the rotational angle of the rotor 200.
  • a groove corresponding to the shape of the position sensor 400 may be formed on the outer side of the housing cap 120 where the position sensor 400 is disposed to provide a cavity for holding the position sensor 400.
  • the position sensor 400 may be formed in the shape of a flat ring to be seated in the groove.
  • the shape of the position sensor 400 is just an example and may be changed in various ways.
  • a position sensor cap 410 may be disposed axially outside the housing cap 120.
  • the position sensor cap 410 may be combined with the housing cap 120 so that a cavity is defined axially therein.
  • the position sensor 400 and the controller 600 to be described below can be disposed in this cavity.
  • the pressure sensor grooves 510 may be formed on both axial sides of the housing 110.
  • the pressure sensor grooves 510 may be concave to correspond to the shape of the pressure sensors 500a and 500b to be described below.
  • a side of each of the pressure sensor grooves 510 may communicate with the cavity for receiving hydraulic oil through passages.
  • the pressure sensors 500a and 500b can measure the pressure of the hydraulic oil in the cavity for receiving hydraulic oil.
  • the pressure sensors 500a and 500b may be inserted in the pressure sensor grooves 510, respectively.
  • the pressure sensors 500a and 500b can be fitted in the pressure sensor grooves 510 and measure the pressure of hydraulic oil in pressure measurement channels(not shown) formed from sides of the pressure sensor groove 510 to the cavity for receiving hydraulic oil.
  • the shape of the pressure sensor grooves 510 are just examples and the pressure sensor grooves 510 may be changed in various shapes so that the pressure sensors 500a and 500b can be inserted into the stator 100.
  • the pressure sensors 500a and 500b may be disposed at various positions such as being disposed directly in the cavity for receiving hydraulic oil or being inserted radially in the stator 100.
  • the controller 600 is provided to receive a reference input value for rotating the rotor 200 from the outside and to rotate the rotor 200 at a desired angle by controlling the valve 300. In this configuration, it is possible to calculate a control input value for driving the valve 300 by feeding back the values measured by the positions sensor 400 and the pressure sensors 500a and 500b.
  • the controller 600 is disposed outside the stator 100, and may be disposed at a position where it covers the rotor 200 outside the housing cap 120.
  • the controller 600 is disposed, together with the positions sensor 400, axially in the cavity between the housing cap 120 and the position sensor cap 410. Accordingly, it is not exposed to the outside by the positions sensor cap 410 and the housing cap 120.
  • the controller 600 may be formed in the shape of a ring to be disposed in the cavity between the position sensor cap 410 and the housing cap 120.
  • the position and the shape of the controller 600 may be modified in various ways as long as it is not exposed to the outside, not being limited to the shape and the position described above.
  • the controller 600 may generate a signal for driving the valve 300 in response to a reference input value to rotate the rotor 200 and may generate various input in accordance with external loads applied to the rotor 200.
  • the controller 600 may perform compliance control, using pressure measured by the pressure sensors 500a and 500b.
  • the function of the controller 600 is not limited to the compliance control and other various control methods for controlling the valve 300 by feeding back values measured by the sensor unit may be applied.
  • the connector 700 is radially disposed outside the stator 100, transmits a signal to the controller 600, and transmits power for driving the valve 300, the pressure sensors 500a and 500b, the position sensor 400, and the controller 600.
  • the connector 700 is connected with a central control unit or a computer at the outside to receive reference input for driving the rotary actuator.
  • the connector may be disposed at various positions on the outer side of the rotary actuator and the configuration of the connector 700 has been well known in the art, it is no longer described in detail.
  • Wires and a wire channel are described hereafter with reference to FIGS. 5 and 6 .
  • FIG. 5 is an enlarged perspective view of the wires and the wire channel of a stator of FIGS, seen from the rear side and
  • FIG. 6 is a partial enlarged view of a wire channel of FIG. 5 .
  • wires 800 may connect the valve 300, the positions sensor 400, the pressure sensors 500a and 500b, and the connector 700 to the controller 600.
  • a wire channel 150 allows wires 800 connecting the components at both sides axially from the housing 110 to pass through the housing 110.
  • the wire channel 150 is formed axially through the housing 110 and the housing cap 120.
  • the wire channel 150 may be formed axially at a predetermined distance from the inner rotational surface of the housing 110 and the housing cap 120 with which hydraulic oil comes in contact, in order not to influence the chamber for receiving the hydraulic oil. Further, the wire channel 150 may be formed at an appropriate position in order not to interfere with the valve 300 on the housing 110 and the passages for the hydraulic oil.
  • the wire channel 150 is formed axially through the housing 110 in the figures, it may be formed at various angles and in various cross-sections, for example in the shape of a groove on the outer side across the housing 110 so that the wires 800 can be disposed. Further, it may be changed in various ways in accordance with the positions of the components that are electrically connected, such as the valve 300, the position sensor 400, and the pressure sensors 500a and 500b, and a plurality of wire channels may be provided.
  • the wires 800 may be disposed at a predetermined distance from the inner surface of the stator 100 that comes in contact with hydraulic oil to prevent the passages from the components to the wire channel 150 for arranging the wires 800 from influencing the chamber for receiving hydraulic oil.
  • the wire 800 connected to the pressure sensor 500a closer to the controller 600 is arranged around the outer side of the housing 110 and connected to the controller 600 through the wire channel 150 formed through the housing cap 120.
  • the wire 800 connected to the pressure sensor 500b at the opposite side is arranged around the outer side of the housing 110 and passes through the wire channel 150 of the housing 110 and is then connected to the controller 600 through the wire channel 150 of the housing cap 120.
  • the arrangement of the wires 800 connecting the pressure sensors 500a and 500b to the controller 600, respectively, is just an example and may be changed in various ways.
  • the wires connecting the pressure sensors 500a and 500b to the controller 600 may not pass through the wire channel 150 of the housing 110 but the wire channel of the housing cap 120.
  • the position sensor 400 and the controller 600 are disposed on a side of the housing cap 120, they may be connected not through the wire channel 150.
  • a wire 800 receiving reference input by connecting the controller 600 and the connector 700 may be disposed with other wires 800 through the wire channels 150.
  • Power may be supplied to at least one of the controller 600, the position sensor 400, the pressure sensor 500a, 500b and the valve 300 through the wires 800 disposed from the connector 700 through the wire channels 150.
  • the wire 800 connecting the controller 600 and the valve 300 may also be disposed through a wire channel 150.
  • the wires 800 can be disposed through the wire channels 150 formed in the stator 100, the wires 800 are not exposed to the outside.
  • FIG. 7 is an enlarged perspective view showing a valve groove of an embodiment of the present invention.
  • a valve groove 160 may be formed on a side of the housing 110 and a sleeve 311 allowing a spool 310 of the valve 300 to slide may be formed on a side of the housing 110 which close to the valve groove 160.
  • a spool stage 325 of the valve 300 is integrated with the housing 110 and a hydraulic amplifying part 320 is disposed in the valve groove 160, thereby completing the valve 300.
  • Hydraulic lines A and B that communicate with the chambers for receiving hydraulic oil communicate with the sleeve 311 and may communicate with the input port 330 and the output port 340 that are passages for hydraulic oil flowing inside/outside.
  • the spool 310 inserted inside of the sleeve 311 is configured to enable linear motion. At this time, the sleeve 311 and the spool 310 is inserted to the stator vane 101 in the axial direction of the actuator. When configured in this way it becomes easy to process the holes for the insertion sleeve 311. Since also rigidly coupled to prevent leakage of hydraulic oil through the hole in the axial direction when the housing 110 and the housing cap 120 is fastened it is possible to prevent a pressure loss.
  • the sleeve 311 can be coupled to the A port and the B port and the input port 330 and output port connected to the flow path 340 formed in the housing cap 120 is formed in the housing 110.
  • the A port is formed through the one surface of the stator vane 101 which is configured to supply the hydraulic oil to one of the chambers
  • the B port is formed in the opposite surface to the surface formed A port to be capable of supplying the hydraulic oil to the other chamber.
  • the hydraulic amplifying part 320 is inserted from the outside of the housing 110, the feedback spring is inserted into the sleeve 311 which is configured to drive the spool 310. Finally spool stage 325 and a hydraulic amplifying part 320 is coupled and into a valve 300, to the hydraulic amplifying part 320 is inserted into the housing 110, so it is possible to minimize the projecting part.
  • Integrated hydraulic rotary actuator described above has the necessary components for controlling the actuator can be fabricated as small without projecting part without being exposed to the outside of the wiring without being exposed to the outside.
  • wires are invisibly disposed inside the rotary actuator so that prevent interference of the other structure during operation and can be configured compact.
  • the hydraulic line is provided at the one side of the housing, it can reduce the interference and improve the freedom of design.
EP16191334.8A 2016-09-29 2016-09-29 Actionneur rotatif hydraulique intégré Active EP3301308B1 (fr)

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EP16191334.8A EP3301308B1 (fr) 2016-09-29 2016-09-29 Actionneur rotatif hydraulique intégré

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EP16191334.8A EP3301308B1 (fr) 2016-09-29 2016-09-29 Actionneur rotatif hydraulique intégré

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EP3301308A1 true EP3301308A1 (fr) 2018-04-04
EP3301308B1 EP3301308B1 (fr) 2020-04-15

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112112846A (zh) * 2020-08-07 2020-12-22 哈尔滨工业大学 机器人用液压作动器

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202006001597U1 (de) * 2006-02-02 2006-04-20 Festo Ag & Co Drehantrieb mit Positionserfassungseinrichtung
KR20090112047A (ko) * 2008-04-23 2009-10-28 (주)케이엔알시스템 로터리 액추에이터 및 로터리 액추에이터형 관절구조
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