EP3368230B1 - Dispositif actionneur - Google Patents

Dispositif actionneur Download PDF

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Publication number
EP3368230B1
EP3368230B1 EP16787843.8A EP16787843A EP3368230B1 EP 3368230 B1 EP3368230 B1 EP 3368230B1 EP 16787843 A EP16787843 A EP 16787843A EP 3368230 B1 EP3368230 B1 EP 3368230B1
Authority
EP
European Patent Office
Prior art keywords
piston
drive unit
actuator
actuator device
movement
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
EP16787843.8A
Other languages
German (de)
English (en)
Other versions
EP3368230A1 (fr
Inventor
Mihai Vulcan
Bernhard Zervas
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.)
Hatebur Umformmaschinen AG
Original Assignee
Hatebur Umformmaschinen AG
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Publication of EP3368230A1 publication Critical patent/EP3368230A1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D24/00—Special deep-drawing arrangements in, or in connection with, presses
    • B21D24/10—Devices controlling or operating blank holders independently, or in conjunction with dies
    • B21D24/14—Devices controlling or operating blank holders independently, or in conjunction with dies pneumatically or hydraulically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D45/00—Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass
    • B21D45/02—Ejecting devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J13/00—Details of machines for forging, pressing, or hammering
    • B21J13/08—Accessories for handling work or tools
    • B21J13/14—Ejecting devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J5/00—Methods for forging, hammering, or pressing; Special equipment or accessories therefor
    • B21J5/02—Die forging; Trimming by making use of special dies ; Punching during forging
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B30—PRESSES
    • B30B—PRESSES IN GENERAL
    • B30B1/00—Presses, using a press ram, characterised by the features of the drive therefor, pressure being transmitted directly, or through simple thrust or tension members only, to the press ram or platen
    • B30B1/32—Presses, using a press ram, characterised by the features of the drive therefor, pressure being transmitted directly, or through simple thrust or tension members only, to the press ram or platen by plungers under fluid pressure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B30—PRESSES
    • B30B—PRESSES IN GENERAL
    • B30B1/00—Presses, using a press ram, characterised by the features of the drive therefor, pressure being transmitted directly, or through simple thrust or tension members only, to the press ram or platen
    • B30B1/32—Presses, using a press ram, characterised by the features of the drive therefor, pressure being transmitted directly, or through simple thrust or tension members only, to the press ram or platen by plungers under fluid pressure
    • B30B1/323—Presses, using a press ram, characterised by the features of the drive therefor, pressure being transmitted directly, or through simple thrust or tension members only, to the press ram or platen by plungers under fluid pressure using low pressure long stroke opening and closing means, and high pressure short stroke cylinder means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B30—PRESSES
    • B30B—PRESSES IN GENERAL
    • B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
    • B30B15/16—Control arrangements for fluid-driven presses
    • B30B15/161—Control arrangements for fluid-driven presses controlling the ram speed and ram pressure, e.g. fast approach speed at low pressure, low pressing speed at high pressure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B30—PRESSES
    • B30B—PRESSES IN GENERAL
    • B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
    • B30B15/16—Control arrangements for fluid-driven presses
    • B30B15/163—Control arrangements for fluid-driven presses for accumulator-driven presses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B30—PRESSES
    • B30B—PRESSES IN GENERAL
    • B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
    • B30B15/16—Control arrangements for fluid-driven presses
    • B30B15/165—Control arrangements for fluid-driven presses for pneumatically-hydraulically driven presses
    • 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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/022—Systems essentially incorporating special features for controlling the speed or actuating force of an output member in which a rapid approach stroke is followed by a slower, high-force working stroke
    • 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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/028—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the actuating force
    • F15B11/036—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the actuating force by means of servomotors having a plurality of working chambers
    • F15B11/0365—Tandem constructions
    • 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
    • F15B15/1409—Characterised by the construction of the motor unit of the straight-cylinder type with two or more independently movable working pistons
    • 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
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20576—Systems with pumps with multiple pumps
    • 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
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/21—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge
    • F15B2211/212—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge the pressure sources being accumulators
    • 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
    • F15B2211/625—Accumulators
    • 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
    • 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
    • F15B2211/7055—Linear output members having more than two chambers
    • F15B2211/7056—Tandem cylinders
    • 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
    • F15B2211/775—Combined control, e.g. control of speed and force for providing a high speed approach stroke with low force followed by a low speed working stroke with high force, e.g. for a hydraulic press

Definitions

  • the present invention relates to an actuator device for linearly moving an actuator output along a movement axis according to the preamble of independent claim 1.
  • an actuator device is eg in the US-A-4208879 disclosed.
  • the invention also relates to a use of the actuator device.
  • the ejection device comprises two coupled drive units, one of which applies the higher release force required for releasing the formed parts from the forming die, while the other performs the actual ejection movement with a lower Ausschiebekraft but much higher speed.
  • the responsible for the application of the release force drive unit comprises in one embodiment, a hydraulic cylinder in which a piston with a narrow stroke is slidably mounted. The piston acts on a rod-shaped ejector pin, which thereby breaks the forming part of the forming die.
  • the drive unit for the actual ejection movement comprises an electromotive drive, which further moves the ejector pin, in which case the deformable part is completely ejected from the forming die.
  • the stroke of this drive unit is much larger than the piston stroke of the hydraulic drive unit.
  • the electromotive drive may be a linear motor direct drive or a servomotor, which communicates with the ejector pin, for example via a rack and pinion connection.
  • This known ejection device is not suitable for supporting a forming part in the forming die during the forming process or for controlling the process-related displacement of the forming part during the forming process.
  • the present invention is therefore based on the object to provide an actuator device of the generic type, both for moving an object and for supporting an object against unwanted evasive movements under the action of an external force as well as for controlled braking of an object during its displacement due to an external force suitable is.
  • An actuator device for linearly moving an actuator output along a movement axis comprises a first drive unit and a second drive unit.
  • the first drive unit has a first piston chamber and a linearly displaceably mounted in this first piston and first hydraulic means for adjusting the first piston in the first piston chamber.
  • the second drive unit has the linearly movable actuator output along the movement axis, which can be coupled to thrust with the first piston of the first drive unit, so that the actuator output is likewise moved in the extension direction by movement of the first piston in an extension direction.
  • the second drive unit in this case has a second piston chamber immovably connected to the first piston chamber and a second piston linearly displaceably mounted thereon, and second hydraulic or pneumatic means for adjusting the second piston in the second piston chamber.
  • the second piston is immovably connected to the Aktuatorabrete, so that by movement of the second piston in the extension direction of the Aktuatorabrete from the second piston chamber is retractable and can be moved by moving the second piston in a direction opposite to the extension retraction of the Aktuatorabrete in the second piston chamber.
  • the actuator device has a position measuring device for detecting the positions of the first piston and the second piston relative to a device-fixed reference position for position-controlled movement of the Aktuatorabretes.
  • the actuator device is suitable not only for moving, but also for supporting and braking an object.
  • the position measuring device for detecting the positions of the first piston and the second piston relative to a device-fixed reference position makes it possible to move the actuator output position-controlled.
  • the first drive unit is designed to generate a higher thrust force than the second drive unit.
  • the second drive unit is designed to accelerate and move the second piston faster than the first drive unit, the first piston. In this way, high thrust and fast feed motion can be optimally combined.
  • the actuator device has pressure sensors for detecting the pressures prevailing in the first piston chamber and the second piston chamber of hydraulic or pneumatic medium located in the first piston chamber and the second piston chamber. This makes it possible to move the actuator output pressure or force controlled.
  • the actuator device comprises a cooperating with the position measuring device and the pressure sensors control device for position and force-controlled movement of the first piston and the second piston.
  • the actuator device preferably has servo valves which can be controlled by the control device and are advantageously designed for continuous operation for supplying and removing hydraulic or pneumatic medium into the first and second or from the first and second piston chambers.
  • the servo valves By means of the servo valves, the movement of the actuator output can be controlled precisely and continuously.
  • the actuator device of the control device on controllable, speed-controlled pumps for supply and removal of hydraulic or pneumatic medium in the first and second or from the first and second piston chamber.
  • the first drive unit comprises a bubble or diaphragm accumulator for resetting the first piston in the retraction direction.
  • the first drive unit comprises a gas reservoir for resetting the first piston in the retraction direction. This makes it possible to drive back the first piston with little effort.
  • a shock member is immovably connected to the second piston, via which the second piston of the first piston in the extension direction is adjustable.
  • the actuator device is used for the application of a directed force to a Umformgut in a forming device.
  • the forming material is ejected from the actuator device from a forming die.
  • the forming material is supported by the actuator device against an external force during a forming process.
  • a caused by an external force shift of Umformguts is controlled braked by the actuator.
  • the exemplary embodiment of the actuator device according to the invention illustrated in its most functionally important parts comprises a first drive unit 10 and a second drive unit 20.
  • the first drive unit 10 comprises a cylindrical piston chamber 11, for example, with a first piston 12 mounted adjustably in a linear manner.
  • the second drive unit 20 comprises an example cylindrical piston chamber 21 with a linearly displaceably mounted in this second piston 22.
  • the two piston chambers 11 and 21 are arranged with respect to a movement axis A in alignment one behind the other and immovably connected to each other.
  • the first piston chamber 11 is connected via two lines 15a and 15b to first hydraulic means which comprise a symbolized by a line 16 hydraulic source, two hydraulic accumulators 17a and 17b, a first, designed for continuous work 4-way servo valve 18 and a collecting tank 19 , As explained below, only three of the four paths of the servo valve 18 are used, so that the first servo valve 18 can also be designed as a 3-way valve.
  • the two lines 15a and 15b open in the region of the two longitudinal ends of the first piston chamber 11 in this one.
  • the line 15a leads to the first servo valve 18 via the line 15b of the hydraulic accumulator (bubble or diaphragm accumulator) 17b is connected to the first piston chamber 11.
  • the operating pressure of the first hydraulic means is up to about 350 bar (High pressure loop).
  • the operating pressure is much lower.
  • the hydraulic accumulator 17b is therefore designed as a low-pressure accumulator.
  • On the side of the line 15b may be used instead of a hydraulic medium and a pneumatic pressure medium, in which case instead of the hydraulic accumulator 17b, a gas storage would be provided. This is advantageous if a hydraulic bladder or diaphragm accumulator does not have sufficiently short reaction times for the particular application of the actuator device.
  • a rod-shaped push member 23 is fixedly connected, which is tightly guided by an end wall 21a of the second piston chamber 21 and an adjacent end wall 11a of the first piston chamber 11 and protrudes into the first piston chamber 11.
  • a rod-shaped Aktuatorabtrieb 24 is attached to this motion-proof.
  • the actuator output 24 is guided tightly through an end wall 21 a of the end wall 21 a of the second piston chamber 21 and protrudes slightly (in the retracted state shown) from the second piston chamber 21 out.
  • the two pistons 12 and 22 and the thrust member 23 and the actuator output 24 are aligned (coaxially) with respect to the movement axis A.
  • the second piston chamber 21 is connected via two lines 25a and 25b to second hydraulic means, which comprise a symbolized by a line 26 hydraulic source, a hydraulic accumulator 27, a second designed for continuous work 4-way servo valve 28 and a collecting tank 29.
  • the two lines 25a and 25b open in the region of the two longitudinal ends of the second piston chamber 21 in this one.
  • the operating pressure of the second hydraulic means is up to about 150 bar (low pressure circuit).
  • the second hydraulic means and pneumatic means could be provided, in which case, analogously, instead of the hydraulic source, a pneumatic source and instead of the hydraulic accumulator, a gas storage would be used.
  • two pressure sensors 31 and 32 are connected, which detect the pressures of a hydraulic medium located in the first piston chamber 11 on each side of the first piston 12.
  • two pressure sensors 33 and 34 are connected to the second piston chamber 21, which detect the pressures of a hydraulic or pneumatic medium located in the second piston chamber 21 on each side of the second piston 22.
  • the actuator device further comprises a position measuring device 40, which detects the positions of the first piston 12 and the second piston 22 relative to a device-fixed reference position.
  • the magnetically operating position measuring device 40 comprises a sensor rod 41, position magnets 42 and 43 and a measuring electronics 44.
  • the position magnets 42 are arranged immovably in the first piston 12.
  • the position magnets 43 are arranged in the free end of the thrust member 23 and connected to this motion. Since the impact member 23 in turn is immovably connected to the second piston 22, the position of the second piston 22 results directly from the position of the impact member 23.
  • the stationary sensor rod 41 is axial arranged and protrudes through the first piston 12 into the free end of the thrust member 23 inside. During a movement of the first or second piston 12 or 22, the position magnets 42 and 43 generate corresponding signals in the sensor rod 41, from which the measuring electronics 44 forms position or distance information.
  • the second piston 22 of the second drive unit 20 can be actuated via pressurized hydraulic fluid via the line 25a along the movement axis A in the direction of the arrow P1 (extension direction) and pressurized hydraulic medium via the line 25b in the direction of the arrow P2 (FIG. Retraction direction) are moved.
  • the thrust member 23 moves accordingly with and the Aktuatorabtrieb 24 is extended from the second piston chamber 21 and retracted into this.
  • the first piston 12 of the first drive unit 10 can be moved via the line 15a along the movement axis A in the direction of the arrow P1 (extension direction) by application of pressurized hydraulic medium.
  • the return movement of the first piston 12 in the direction of the arrow P2 (retraction direction) takes place by acting on the first piston 12 with hydraulic medium from the hydraulic accumulator 17b via the line 15b.
  • the second piston 22 is coupled to the first piston 12 via the thrust member 23 only to thrust. This means that the first piston 12 can only take the second piston 22 and thus the actuator output 24 in the extension direction when it moves in the extension direction.
  • Moving or moving the first piston 12 and the second piston 22 along the movement axis A can be controlled by appropriate control of the servo valves 18 and 28 by means of the pressure sensors 31-34 (pressure and force are proportional to the effective piston surfaces). and position-controlled by means of the position-measuring device 40.
  • a control device 50 which cooperates with the position measuring device 40 and the pressure sensors 31-34 and by corresponding actuation of the two servo valves 18 and 28 for position and force-controlled movement of the first piston 12 and the second Piston 22 and thus of the Aktuatorabtriebs 24 is formed.
  • the control device 50 also includes an operator interface 51, via which forces or pressures and piston positions or piston strokes required during the practical application of the actuator device can be adjusted.
  • a force sensor may also be attached to the actuator output 24, wherein its force signal can be used to control the movement of the pistons.
  • the two drive units 10 and 20 are designed differently.
  • the first piston 12 of the first drive unit 10 has a relative to the second piston 22 substantially larger effective piston area and is also acted upon by higher operating pressure.
  • the first drive unit 10 can generate substantially higher thrust or holding or braking forces relative to the second drive unit 20.
  • the movement of the first piston requires a much larger volume flow and is therefore slower.
  • the second piston 22 of the second drive unit 20 has a relatively small effective piston (ring) surface.
  • the second drive unit 20 can only generate relatively low pushing or holding or braking forces.
  • the second piston 22 can be accelerated and moved relatively quickly with a small volume flow.
  • the combination of the two drive units 10 and 20 allows to some extent the separation of force and movement. It allows the generation of very high thrust forces at a lower speed and less high thrust forces over a larger piston stroke at higher speeds.
  • the combination of the two drive units 10 and 20 ensures optimum flexibility with regard to the conditions of use or usability of the actuator device.
  • first and second piston chambers 11 and 21 are preferably hollow cylindrical and the first and second pistons 12 and 22 are correspondingly cylindrical.
  • the inner diameter of the first piston chamber 11 is for example about 80 mm, that of the second piston chamber 21 about 50 mm.
  • the diameter of the thrust member 23 and the diameter of the Aktuatorabtriebs 24 is about 40 mm each.
  • the effective piston area of the first piston 12 is on both sides ⁇ * 40 2 mm 2 and the effective piston (ring) surface of the second piston 22 on both sides ⁇ * (25 2 - 20 2 ) mm 2 .
  • the actuator device is suitable for applications in which an object must be subjected to a directed force.
  • the application of force can serve, for example, to move the object over a certain distance in a controlled manner along a movement axis and thereby overcome a resistance to the movement of the object (pushing force).
  • An example of this is the ejection of a formed workpiece from a forming die of a forming device.
  • the application of force can also serve to support or hold an object during the application of an opposing external force (holding force).
  • an opposing external force holding force
  • the actuator device is suitable for braking in a controlled manner the movement of the object caused by an opposing external force (braking force).
  • Movement, support and braking of an object can also be combined by means of the actuator device according to the invention and implemented in any order.
  • the Actuator device according to the invention is particularly suitable for use in forming devices for the movement, support and braking of formed parts.
  • the basic functions resulting from the following description of typical applications (movement, support, braking) of the actuator device are individually adjustable or adaptable to the respective application.
  • the most significant advantages of the actuator device according to the invention are low wear of the mechanical components, gentle movement when used in a rapid forming process, safe, centric application of force, very variable possibility of realizing the positions in the process and high safety by overload protection of the hydraulic system.
  • Fig. 3 the actuator device is shown in a practical application, wherein the actuator device is flanged as a whole to a machine body 110 of a forming device 100.
  • the first and second hydraulic means are summarized here in a hydraulic block 60, wherein only the hydraulic accumulator 17b, the two servo valves 18 and 28 and the two lines 25a and 25b are separately recognizable.
  • the machine body 110 of the forming device has a passage opening 111 into which the actuator output 24 of the actuator device protrudes.
  • a forming die 120 is fastened, which likewise has a passage opening 121 and in which a material to be formed (formed Workpiece) W is located.
  • the actuator output 24 pushes out the forming material or shaped workpiece W out of the die 120 via the ejector plunger 122.
  • the actuator device is shown in different operating phases when used as an ejecting device for a forming material formed in a forming device.
  • the Aktuatorabtrieb 24 drives it as in Fig. 3 represent a Auswerfstössel 122, which in turn empties the Umformgut W from a forming die 120.
  • the forming device with the forming die and the Umformgut and Auswerfstössel are in the Figures 4-9 not shown.
  • Umformguts For the ejection of a formed in a die Umformguts a relatively large release force is initially required to break the Umformgut of the die, the Umformgut is moved at a relatively low speed only slightly in the die. For the subsequent actual Auswerfterrorism then only a much lower Auswerfkraft is required, but the Umformgut (depending on its dimensions) is pushed over a greater distance from the die to over the front edge. In the interest of a high machine cycle or short machine cycle of the forming device, the ejection of the Umformguts must be done with the highest possible acceleration and speed.
  • Fig. 4 shows the actuator device in the starting position, wherein the two pistons 12 and 22 and thus the Aktuatorabtrieb 24 have moved to a predetermined position, which depends on the height of the Umformguts (ejection) and the position thereof in the die (distance to Matrizenvorderkante).
  • the configuration corresponds to the Fig. 3 ,
  • the Fig. 5 shows the actuator device in a release phase. Both pistons 12 and 22 are thereby extended position-controlled, wherein the release force of the first drive unit 10 and the piston 12 is applied. The thrust member 23 is still in abutment with the first piston 12. During extension of the first piston 12, the hydraulic medium is pushed in front of the first piston 12 in the hydraulic accumulator 17b. The release of the Umformguts from the die is position-controlled with maximum pressure or maximum force limitation.
  • Fig. 6 the actuator device is shown in a sliding phase.
  • the second piston 22 is controlled from position, the Aktuatorabtrieb 24 ejects the Umformgut from the forming die (until bringing the leading edge of the die). This is the actual ejection movement, which can be carried out very quickly by means of the second drive unit 20.
  • the first piston 12 is now controlled by the pressure of the hydraulic accumulator 17b back to its original position.
  • the servo valve 18 opens regulated to catch tank 19. Alternatively, can the first piston 21 are also returned during later retraction (retraction) of the second piston 22 of this on the thrust member 23.
  • Fig. 7 shows the actuator device in a holding phase.
  • the first piston 12 is in its initial position, the second piston 22 and the actuator output 24 are extended so far that the Umformgut is located in front of the front edge of the forming die and can be discharged from there by the transport system of the forming device.
  • a new material to be formed (blank to be formed) is positioned in front of the forming die and, for example, inserted into the forming die by means of a corresponding force-loaded pressing punch.
  • the actuator output 24 is pressed by the blank (via the ejection plunger) in the retraction direction P2.
  • the actuator device is now in an in Fig. 8 illustrated braking phase in which the movement control of the second piston 22 changes from the position control in the force control with position monitoring and the insertion movement of the blank opposes a controlled braking force, so it brakes.
  • the second piston 22 is thereby force-controlled during insertion of the blank with position monitoring to its starting position Fig. 4 retracted.
  • the braking force is relatively low and at least set low enough to cause any deformation of the blank.
  • the blank is then formed in the forming die of the punch of the forming device in the desired shape.
  • the Fig. 9 illustrates the occurring during a Auswerfzyklus the actuator device, applied by the device via the Aktuatorabtrieb 24 thrust and the travel (stroke from starting position) of Aktuatorabtriebs 24 as a function of the cycle time t.
  • the dashed line shows the travel s
  • the solid line shows the force F.
  • a separating die 220 Of the forming device, only a separating die 220, a punch 230, a separating sleeve 240 and a spacer sleeve 250 are shown.
  • a blank to be punched and cut (Umformgut) is designated by U.
  • the spacer sleeve 250 is analogous Fig. 3 via an unillustrated impact member in conjunction with the Actuator output 24 of the actuator device and is acted upon in operation of this.
  • the Figures 18-21 show the corresponding positions of the Aktuatorabtriebs 24 and the two pistons 12 and 22 during the individual steps of the procedure.
  • strong force or “weak force” are to be understood as the thrust, holding and braking forces applied by the first drive unit 10 and the second drive unit 20, respectively.
  • the two pistons 12 and 22 travel from an initial position (FIG. Fig. 21 ) position - controlled in the Fig. 18 (Sliding phase) and Fig. 19 (Holding phase) shown position.
  • the distance sleeve 250 driven or acted upon by the actuator output 24 is located just in front of the front edge of the separation die 220.
  • the material to be formed U is positioned in front of the separation die 220 by a transport device of the conversion device (FIG. Fig. 10 ).
  • the punch 230 and the separating sleeve 240 move towards the separating die 220 and push the forming material U into it a short distance ( Fig. 11 ).
  • This movement is braked by the actuator device with little force, wherein the second piston 22 is retracted until it reaches the in Fig. 20 shown location occupies.
  • next step pushes the punch 230 a core part UK of Umformguts U in the spacer sleeve 250, wherein the actuator device supports the spacer sleeve 250 with great force.
  • the separating sleeve 240 moves toward the separating die 220 and pushes the forming material U into the separating die.
  • the two pistons 12 and 22 of the actuator device move in position and force-controlled manner into their starting position (FIG. Fig. 21 ) and brake in this retraction movement, the displacement of the spacer sleeve 250 with little force.
  • this step after the punching of the core part UK remaining part of the Umformguts is separated into an annular center part UM and an annular edge part UR, as the Fig. 14 shows.
  • the actuator output 24 moves back in position-controlled manner (FIG. Fig. 18 ) and starts the ejection process of the middle part UM ( Fig. 16 ).
  • the actuator output drives the in Fig. 19 has reached holding position, the center part UM is located in front of the separating die 220 and can be removed there from the transport device of the forming device ( Fig. 17 ). Then a new hole and separation cycle can start.
  • FIG. 2 illustrates the thrust force to be applied by the device via its actuator output 24 during a hole and separation cycle of the actuator device and the travel path (stroke from starting position).
  • the dashed line shows the travel s, the solid line shows the force F.
  • a punch 330 and a Auswerfstössel 350 are shown.
  • a to be descaled and reshaped blank (Umformgut) is designated by U.
  • the Auswerfstössel 320 is analogous Fig. 3 directly or via a not shown shock member in conjunction with the Aktuatorabtrieb 24 of the actuator and is acted upon in operation of this.
  • the Figures 29-33 show the corresponding positions of the Aktuatorabtriebs 24 and the two pistons 12 and 22 during the individual steps of the procedure.
  • the process cycle is shown starting from a forming material U already reshaped in the forming die 320 ( Fig. 23 ).
  • the punch 330 has already been moved back.
  • the actuator output 24 or the pistons 12 and 22 are located in the in Fig. 29 illustrated starting position, wherein the ejector plunger 350 in Fig. 23 shown position occupies.
  • Fig. 30 shows the actuator device in the release phase.
  • Fig. 31 shows the actuator device in the Auswerfphase and
  • Fig. 32 shows the positions of the two jointly extended pistons 12 and 22 in the fully extended state (holding phase), wherein the Umformgut is then in front of the forming die 320 ( Fig. 24 ) and can be removed.
  • the loosening and ejection of the Umformguts takes place the same as in connection with the Figures 4-8 described.
  • the release is done with great force, the further ejection with little force.
  • the finished formed material is removed and a new blank U to be formed is positioned by the transport device of the forming device in front of the forming die 320 ( Fig. 25 ).
  • the actuator output 24 is still in the holding position according to Fig. 32 ,
  • the blank is slightly compressed by means of the ram 330, wherein the required large counterforce (holding force) of the in holding position ( Fig. 32 ) Actuator device or its Aktuatorabtrieb 24 is applied.
  • the forming process begins, wherein the ram 330 presses the blank U into the forming die 320 (FIG. Fig. 27 ).
  • the Aktuatorabtrieb drives while power and position controlled in his Fig. 29 shown starting position.
  • the actuator output 24 brakes the insertion movement of the blank in a force-controlled manner.
  • the Fig. 33 shows the actuator device in this braking phase.
  • the actuator output 24 opposes the inward movement of the blank to a large force, wherein the blank is then finished in the forming die by the press die ( Fig. 28 ).
  • the forming device is now ready for a new process cycle.
  • the Fig. 34 illustrates the thrust force to be applied by the device via its actuator output 24 during a descaling and forming cycle of the actuator device, and the travel distance (stroke from home position) of the actuator output 24 as a function of the cycle time t.
  • the dashed line shows the travel s
  • the solid line shows the force F.
  • FIGS. 35 and 36 show a variant of the first and second drive unit, in which instead of servo valves speed-controlled pumps are used.
  • the drive unit 10 comprises, in addition to the components already described, a hydraulic tank 119 and a pump 118a driven by an electric servomotor 118b in a speed-controlled manner.
  • the pump 118a is connected to the first piston chamber 11 via the line 15a.
  • the second drive unit 20 comprises, in addition to the components already described, a pump 128a driven by a speed-controlled electric servomotor 128b.
  • the pump 128 a is connected to the second piston chamber 21 via the lines 25 a and 25 b.
  • An additionally existing membrane or bladder accumulator 127 is connected to the two lines 25a and 25b via a check valve 127a and 127b, respectively.
  • the two servomotors 118b and 128b are controlled by the controller 50 (instead of the servo valves 18 and 28).

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Actuator (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
  • Press Drives And Press Lines (AREA)

Claims (14)

  1. Dispositif actionneur destiné à déplacer linéairement une sortie d'actionneur (24) le long d'un axe de mouvement (A), comportant une première unité d'entraînement (10 ; 10') et une seconde unité d'entraînement (20 ; 20'),
    dans lequel
    la première unité d'entraînement (10 ; 10') comporte une première chambre à piston (11) et un premier piston (12) monté de façon mobile en translation linéaire dans celle-ci, et des premiers moyens hydrauliques (16, 17a, 17b, 18, 19) pour déplacer le premier piston (12) dans la première chambre à piston (11),
    la seconde unité d'entraînement (20 ; 20') comprend la sortie d'actionneur (24) mobile linéairement le long de l'axe de mouvement (A), qui est couplée en poussée au premier piston (12) de la première unité d'entraînement (10 ; 10'), de sorte que par mouvement du premier piston (12) dans une direction de déploiement (P1), également la sortie d'actionneur (24) est déplacée dans la direction de déploiement (P1),
    la seconde unité d'entraînement (20 ; 20') comprend une seconde chambre à piston (21) reliée solidairement en mouvement à la première chambre à piston (11) et un second piston (22) monté de façon mobile en translation linéaire dans celle-ci, ainsi que des seconds moyens hydrauliques ou pneumatiques (26, 27, 28, 29) pour déplacer le second piston (22) dans la seconde chambre à piston (21),
    le second piston (22) est relié solidairement en mouvement à la sortie d'actionneur (24), de sorte que par mouvement du second piston (22) dans la direction de déploiement (P1), la sortie d'actionneur (24) peut être déployée hors de la seconde chambre à piston (21) et que par mouvement du second piston (22) dans une direction de rétraction (P2) opposée à la direction de déploiement, la sortie d'actionneur (24) peut être rétractée dans la seconde chambre à piston (21),
    caractérisé en ce que
    le dispositif actionneur comprend un moyen de mesure de position (40) pour détecter les positions du premier piston (12) et du second piston (22) par rapport à une position de référence solidaire du dispositif, en vue d'un mouvement régulé en position de la sortie d'actionneur (24).
  2. Dispositif actionneur selon la revendication 1, caractérisé en ce que la première unité d'entraînement (10 ; 10') est réalisée pour générer une force de poussée supérieure à celle de la seconde unité d'entraînement (20 ; 20').
  3. Dispositif actionneur selon la revendication 1 ou 2, caractérisé en ce que la seconde unité d'entraînement (20 ; 20') est réalisée pour accélérer et déplacer le second piston (22) plus vite que la première unité d'entraînement (10 ; 10') accélère et déplace le premier piston (12).
  4. Dispositif actionneur selon l'une des revendications 1 à 3, caractérisé en ce qu'il comprend des capteurs de pression (31, 32, 33, 34) pour détecter les pressions d'un fluide hydraulique ou pneumatique situé dans la première chambre à piston (11) et dans la seconde chambre à piston (12), pressions qui règnent dans la première chambre à piston (11) et dans la seconde chambre à piston (21).
  5. Dispositif actionneur selon la revendication 4, caractérisé en ce qu'il comprend un moyen de commande (50) qui coopère avec le moyen de mesure de position (40) et avec les capteurs de pression (31, 32, 33, 34) en vue d'un mouvement commandé vis-à-vis de la position et de la force du premier piston (12) et du second piston (22).
  6. Dispositif actionneur selon la revendication 5, caractérisé en ce qu'il comprend des servovalves (18, 28) pilotables par le moyen de commande (50) et réalisées pour un fonctionnement en continu, en vue d'une alimentation et évacuation de fluide hydraulique ou pneumatique jusque dans la première et dans la seconde chambre à piston (11, 21) ou hors de celles-ci.
  7. Dispositif actionneur selon la revendication 5, caractérisé en ce qu'il comprend des pompes (118a, 128a) pilotables par le moyen de commande (50) et régulées vis-à-vis de la vitesse de rotation, en vue d'une alimentation et évacuation de fluide hydraulique ou pneumatique jusque dans la première et dans la seconde chambre à piston (11, 21) ou hors de celles-ci.
  8. Dispositif actionneur selon l'une des revendications 1 à 7, caractérisé en ce que la première unité d'entraînement (10 ; 10') comprend un accumulateur à vessie ou à membrane (17b) pour rappeler le premier piston (12) en direction de rétraction (P2).
  9. Dispositif actionneur selon l'une des revendications 1 à 7, caractérisé en ce que la première unité d'entraînement (10 ; 10') comprend un accumulateur à gaz (17b) pour rappeler le premier piston (12) en direction de rétraction (P2) .
  10. Dispositif actionneur selon l'une des revendications 1 à 9, caractérisé en ce qu'un organe pousseur (23) est relié solidairement en mouvement au second piston (22) et en ce que le second piston (22) est déplaçable en direction de déploiement par le premier piston (12) via l'organe pousseur (23).
  11. Utilisation du dispositif actionneur selon l'une des revendications précédentes pour appliquer une force dirigée sur un matériau à déformer (W) dans un dispositif de formage (100).
  12. Utilisation selon la revendication 11, dans laquelle le matériau à déformer (W) est éjecté hors d'une matrice de formage (120) par le dispositif actionneur.
  13. Utilisation selon la revendication 11, dans laquelle le matériau à déformer (W) est soutenu par le dispositif actionneur à l'encontre de l'action d'une force externe, pendant le processus de formage.
  14. Utilisation selon l'une des revendications 11 à 13, dans laquelle une translation du matériau à déformer (W) causée par l'action d'une force externe est freinée de façon contrôlée par le dispositif actionneur.
EP16787843.8A 2015-10-29 2016-10-26 Dispositif actionneur Active EP3368230B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH01582/15A CH711715A1 (de) 2015-10-29 2015-10-29 Aktuatorvorrichtung.
PCT/EP2016/075798 WO2017072173A1 (fr) 2015-10-29 2016-10-26 Dispositif actionneur

Publications (2)

Publication Number Publication Date
EP3368230A1 EP3368230A1 (fr) 2018-09-05
EP3368230B1 true EP3368230B1 (fr) 2019-08-14

Family

ID=55129359

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Application Number Title Priority Date Filing Date
EP16787843.8A Active EP3368230B1 (fr) 2015-10-29 2016-10-26 Dispositif actionneur

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Country Link
US (1) US10786845B2 (fr)
EP (1) EP3368230B1 (fr)
JP (1) JP6781754B2 (fr)
KR (1) KR102577419B1 (fr)
CN (1) CN108348976B (fr)
CH (1) CH711715A1 (fr)
EA (1) EA034846B1 (fr)
ES (1) ES2745037T3 (fr)
TW (1) TWI695771B (fr)
WO (1) WO2017072173A1 (fr)

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CN109187016A (zh) * 2018-10-12 2019-01-11 江苏理工学院 一种具有瞬态冲击功能的滚动轴承加载装置及其控制方法
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EP3736061A1 (fr) * 2019-05-06 2020-11-11 Lapmaster Wolters GmbH Système de découpage fin et son procédé de fonctionnement
JP7494035B2 (ja) 2019-07-11 2024-06-03 住友重機械工業株式会社 プレス装置
CN112298346B (zh) * 2020-11-05 2022-03-01 湖北航天技术研究院特种车辆技术中心 一种车辆后轮转向控制系统
CH719776A1 (de) 2022-06-13 2023-12-29 Hatebur Umformmaschinen Ag Verfahren zur Herstellung von ringförmigen Formteilen.

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EA034846B1 (ru) 2020-03-27
EA201800283A1 (ru) 2018-09-28
EP3368230A1 (fr) 2018-09-05
KR102577419B1 (ko) 2023-09-12
US20180318901A1 (en) 2018-11-08
WO2017072173A1 (fr) 2017-05-04
TWI695771B (zh) 2020-06-11
KR20180075485A (ko) 2018-07-04
TW201714725A (zh) 2017-05-01
ES2745037T3 (es) 2020-02-27
CN108348976B (zh) 2020-01-14
CN108348976A (zh) 2018-07-31
US10786845B2 (en) 2020-09-29
JP6781754B2 (ja) 2020-11-04
CH711715A1 (de) 2017-05-15
JP2018535097A (ja) 2018-11-29

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