EP3387267B1 - Elektrohydraulischer linearaktuator - Google Patents

Elektrohydraulischer linearaktuator Download PDF

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Publication number
EP3387267B1
EP3387267B1 EP17723691.6A EP17723691A EP3387267B1 EP 3387267 B1 EP3387267 B1 EP 3387267B1 EP 17723691 A EP17723691 A EP 17723691A EP 3387267 B1 EP3387267 B1 EP 3387267B1
Authority
EP
European Patent Office
Prior art keywords
linear actuator
hydraulic
housing
electrohydraulic linear
cylinder
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
EP17723691.6A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP3387267A1 (de
Inventor
Matthias Grupp
Peter Roider
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.)
HAWE Altenstadt Holding GmbH
Original Assignee
HAWE Altenstadt Holding GmbH
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 HAWE Altenstadt Holding GmbH filed Critical HAWE Altenstadt Holding GmbH
Publication of EP3387267A1 publication Critical patent/EP3387267A1/de
Application granted granted Critical
Publication of EP3387267B1 publication Critical patent/EP3387267B1/de
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
    • F15B15/18—Combined units comprising both motor and pump
    • 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
    • F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
    • F15B11/10—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor in which the servomotor position is a function of the pressure also pressure regulators as operating means for such systems, the device itself may be a position indicating system
    • 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
    • F15B15/1423—Component parts; Constructional details
    • F15B15/1428—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
    • 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
    • F15B15/1423—Component parts; Constructional details
    • F15B15/1485—Special measures for cooling or heating
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
    • F15B15/2861—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT using magnetic 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
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20507—Type of prime mover
    • F15B2211/20515—Electric motor
    • 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
    • F15B2211/2053—Type of pump
    • F15B2211/20561—Type of pump reversible
    • 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
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
    • F15B2211/3058—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve having additional valves for interconnecting the fluid chambers of a double-acting actuator, e.g. for regeneration mode or for floating mode
    • 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
    • F15B2211/7053—Double-acting output members
    • F15B2211/7054—Having equal piston areas

Definitions

  • the present invention relates to an electrohydraulic linear actuator.
  • Actuators are used to actuate mechanical consumers or other driven elements. Depending on the geometry of the movement of its output, a distinction has to be made between - rotary actuators performing or exercising - rotary actuators on the one hand and - linear actuators executing or performing linear motion - on the other.
  • a special group among the latter is made up of electrohydraulic linear actuators with a purely electrical input interface and a mechanical output interface, whereby all components and functional elements arranged functionally between the input interface and the output interface are part of a uniform, closed, pre-assembled assembly.
  • Electrohydraulic linear actuators are known in various designs and are used.
  • the prior art includes, in particular, electrohydraulic linear actuators, such as those in the DE 690 12 403 T2 , the WO 2015/187688 A1 , the US 6543223 B2 , the US 4630441 A , the US 2680952 A , the DE 102004036943 A1 , the US 5144801 A and the US 5519995 A are disclosed.
  • the present invention aims to provide an electrohydraulic linear actuator which is characterized by a particularly high level of practical suitability. Depending on the specific boundary conditions of the respective use, different requirements may be more or less pronounced, such as compact size, high efficiency, high adjustment dynamics, low weight, high force at the mechanical output, high reliability and / or service life, low noise, easy handling, low manufacturing costs, high ease of maintenance, etc.
  • electrohydraulic linear actuators according to the invention which do not require any external hydraulics and are functionally relevant to their surroundings solely via an electrical input interface and a mechanical output interface, can provide a very high adjustment force with a high adjustment dynamic.
  • the hydraulic oil for which a hydraulic oil container arranged in the housing, namely in the second cavity of the housing jacket, is provided, can effectively dissipate heat from the corresponding (loss) heat sources, the corresponding heat via the housing can be effectively released into the environment.
  • the profile tube can in particular consist of aluminum, namely the section of an aluminum extruded profile. This is not only advantageous insofar as it enables the production of a dimensionally stable housing with comparatively little effort; Also in this case, the good heat transfer that is crucial for the heat balance is guaranteed.
  • the housing according to the present invention is designed, it is possible in a comparatively simple manner that the cylinder of the hydraulic cylinder is embodied directly in the housing, the cylinder preferably being closed at the end by plugs molded onto the two housing covers.
  • the electrical interface is preferably provided in the area of one of the two housing covers, particularly preferably in the area of the cover that is adjacent to the electric motor of the hydraulic unit (housed in the second cavity of the profile tube).
  • a supply cable can penetrate the cover in question.
  • the hydraulic oil container is formed by the second cavity of the housing, which is carried out in the profile tube forming the housing jacket.
  • the heat is dissipated directly from the hydraulic oil - in the area of the hydraulic oil tank - in contact with the housing of the linear actuator.
  • such an embodiment of the linear actuator according to the invention also has considerable structural advantages; because the pump of the hydraulic unit can be placed directly in the cavity which (also) forms the hydraulic oil tank.
  • the hydraulic pump is particularly preferably used to transmit heat in the corresponding cavity of the housing, for. B. pressed or shrunk.
  • the hydraulic oil container in a modified embodiment, however, it is also possible for the hydraulic oil container to form a separate component which is inserted into the second cavity of the profile tube forming the housing jacket.
  • the hydraulic oil container is particularly preferably in contact with the surface of the interior wall of the cavity of the housing that receives it. Possibly. can in the interest of optimal heat transfer between the Hydraulic oil container and the housing a thermal paste or the like may be provided.
  • the above-mentioned (preferably heat-transferring) reception of the pump of the hydraulic unit in the cavity of the housing also proves advantageous in this embodiment, ie in the case of a hydraulic oil tank in the form of a separate component received in a cavity of the housing.
  • the housing has a surface-enlarging surface profile (for example in the form of ribs) on its outer surface in close proximity to the hydraulic oil container. In this way, safe operating temperatures can be guaranteed even with extremely compact linear actuators, even under extreme load conditions of the electrohydraulic linear actuator.
  • the hydraulic oil container has a volume of at least twice the sum of the volumes of the two working spaces. This dimensioning is also favorable from the point of view of a reliable heat balance.
  • the hydraulic unit is reversible. It is possible to dispense with any control valves, in particular, between the hydraulic unit and the hydraulic cylinder.
  • a position sensor is particularly preferably connected to the piston of the hydraulic cylinder for controlling the linear actuator.
  • the coupling element is not a conventional piston rod emerging from the housing at the end (or two piston rod sections emerging from the housing at the end / end) are provided), but if the mechanical interface with the relevant housing breakthrough is rather realized in another way, for example between the two hydraulic work spaces arranged laterally on the housing, comparable to the concept according to WO 94/23231 A1 , the CN 102853149 B and the CN 103791143 A .
  • a manually operable directional control valve is provided, which is suitable as an alternative to establishing a direct hydraulic connection between the two working spaces of the hydraulic cylinder to act on the hydraulic cylinder by the hydraulic unit.
  • a "short-circuit" of the two working areas enables manual adjustment of the piston unit from the outside (via the coupling element) in the event of a malfunction, for example in the event of a power failure or a failure of the control of the linear actuator caused by other reasons.
  • the position of the mechanical consumer, for the actuation of which the electrohydraulic linear actuator is intended to operate can be influenced manually, as quickly as possible and without time-consuming Measures such as mechanical separation of the connection between the coupling element of the linear actuator and the mechanical consumer.
  • the design of the brushless electric motor associated with the hydraulic unit as an external rotor motor makes a special contribution to the possibility of an electrohydraulic linear actuator with a particularly high power density, i. H. a particularly favorable ratio between mechanical power at the output and size.
  • a particularly high power density i. H. a particularly favorable ratio between mechanical power at the output and size.
  • the other advantages of the electrohydraulic linear actuator according to the invention described above in one modification, namely using a brushless internal rotor motor instead of a brushless external rotor motor.
  • This comprises a housing 1, which is assembled from three parts, namely a housing shell 2 and two housing covers 3, 4 attached to the front of the housing shell.
  • the housing shell 2 is formed by a section of a profile tube designed as an extruded aluminum profile.
  • a plurality of cavities 5, 6 are executed, which correspond to the manufacture of the housing shell extend as an extruded profile continuously from one to the other housing cover 3, 4.
  • the hydraulic cylinder 8 is designed as a double-acting synchronous cylinder, so that the piston unit 9 delimits two hydraulic working spaces 11, 12 of identical cross-section from one another.
  • a stopper 13 protruding sealingly into the first cavity 5 is provided on each of the two housing covers 3, 4.
  • Two piston rod sections 14, 15 are connected to the piston unit 9 and extend through corresponding openings 16 provided in the housing covers 3, 4.
  • the piston rod sections 14, 15 each represent a coupling element 17, which - as a mechanical output of the linear actuator - forms a mechanical interface to the piston unit 9 of the hydraulic cylinder 8.
  • two bellows 18 are illustrated (only by way of example).
  • a reversible hydraulic unit 22 is housed on the hydraulic cylinder 8, a hydraulic pump 20 and a brushless electric motor 21 driving the latter.
  • the pump housing 23 is inserted sealingly into the cavity 6 in question, so that it continues limited in the second cavity 6 executed, formed by this hydraulic oil tank 24.
  • the housing cover 4, which likewise delimits the hydraulic oil container 24, has a filling and venting device 25 opening into the hydraulic oil container.
  • the two pressure outlets 26 of the hydraulic pump 20 are connected via lines 27 to a connection 28 of the respective hydraulic working space 11, 12.
  • An optionally provided directional control valve 19 is also illustrated, which is provided in terms of flow between the two pressure outlets 26 of the hydraulic pump 20 and the connections 28 of the hydraulic working spaces 11, 12 and is suitable, as an alternative, to the hydraulic unit 22 being acted upon by the hydraulic unit 22 - via the corresponding one Sections of the lines 27 - establish a direct hydraulic connection between the two working spaces 11 and 12.
  • the directional control valve 19 can be operated manually.
  • an actuating lever arranged outside the housing 1 and acting on the directional control valve 19 is provided.
  • the electric motor 21 of the hydraulic unit 22 comprises an external rotor 29 coupled to the pump rotor and an internal stator 30.
  • the latter is placed on a control block 31 comprising the electronic control, which in turn is attached to the associated housing cover 3.
  • the electrical input interface 32 is located on the relevant housing cover 3.
  • the housing jacket 2 has cooling fins 33 on its outside in its area surrounding the hydraulic oil container 24. Not only is the temperature of the hydraulic oil in the hydraulic oil tank 24 temperature-controlled, but also the heat loss generated in the hydraulic pump 20 is dissipated. With regard to a favorable heat balance, by means of a pipe 34 protruding into the hydraulic oil tank 24 and connected to the hydraulic pump 20 - while avoiding a hydraulic short circuit - the hydraulic oil in the hydraulic oil tank 24 is circulated during the pumping operation of the hydraulic pump 20.
  • a device for detecting the position of the piston unit comprises a position sensor 35 fixed to the housing and a transmitter 36 fixed to the piston unit 9.
  • the position signal of the position sensor 35 is switched to the electronic control via the signal line 37.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Actuator (AREA)
EP17723691.6A 2016-05-18 2017-05-15 Elektrohydraulischer linearaktuator Active EP3387267B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016109103.0A DE102016109103A1 (de) 2016-05-18 2016-05-18 Elektrohydraulischer Linearaktuator
PCT/EP2017/061625 WO2017198625A1 (de) 2016-05-18 2017-05-15 Elektrohydraulischer linearaktuator

Publications (2)

Publication Number Publication Date
EP3387267A1 EP3387267A1 (de) 2018-10-17
EP3387267B1 true EP3387267B1 (de) 2020-03-25

Family

ID=58709476

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17723691.6A Active EP3387267B1 (de) 2016-05-18 2017-05-15 Elektrohydraulischer linearaktuator

Country Status (6)

Country Link
US (1) US10619653B2 (zh)
EP (1) EP3387267B1 (zh)
JP (1) JP6905996B2 (zh)
CN (1) CN108779788B (zh)
DE (1) DE102016109103A1 (zh)
WO (1) WO2017198625A1 (zh)

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DE202019102210U1 (de) * 2019-04-17 2020-08-31 Woco Industrietechnik Gmbh Hydraulischer doppeltwirkender Stellantrieb
CN110701135B (zh) * 2019-09-18 2024-04-12 中国电建集团山东电力建设第一工程有限公司 一种液压油泄露监测报警装置及汽轮机
FI130288B (fi) * 2019-11-04 2023-06-02 Norrhydro Oy Sähköhydraulinen toimilaite
CN112177990B (zh) * 2020-08-24 2022-06-03 中国石油化工集团有限公司 一种液控自换向气体增压缸
DE202021105582U1 (de) * 2021-10-14 2021-10-25 Emg Automation Gmbh Elektrohydraulische Betätigungsvorrichtung mit integrierten elektrischen Funktionselementen

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Also Published As

Publication number Publication date
JP6905996B2 (ja) 2021-07-21
EP3387267A1 (de) 2018-10-17
US20190085873A1 (en) 2019-03-21
CN108779788A (zh) 2018-11-09
WO2017198625A1 (de) 2017-11-23
JP2019516926A (ja) 2019-06-20
DE102016109103A1 (de) 2017-11-23
US10619653B2 (en) 2020-04-14
CN108779788B (zh) 2021-03-16

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