EP3563064B1 - Actionneur piézohydraulique et procédé pour faire fonctionner un actionneur piézohydraulique - Google Patents

Actionneur piézohydraulique et procédé pour faire fonctionner un actionneur piézohydraulique Download PDF

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Publication number
EP3563064B1
EP3563064B1 EP18704930.9A EP18704930A EP3563064B1 EP 3563064 B1 EP3563064 B1 EP 3563064B1 EP 18704930 A EP18704930 A EP 18704930A EP 3563064 B1 EP3563064 B1 EP 3563064B1
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EP
European Patent Office
Prior art keywords
output
chamber
hydraulic fluid
drive
supply line
Prior art date
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Active
Application number
EP18704930.9A
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German (de)
English (en)
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EP3563064A1 (fr
Inventor
Georg Bachmaier
Christian Bachmann
Iason Vittorias
Wolfgang Zöls
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Metismotion GmbH
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Metismotion GmbH
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Publication of EP3563064A1 publication Critical patent/EP3563064A1/fr
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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
    • 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
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/0413—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed in one direction only, with no control in the reverse direction, e.g. check valve in parallel with a throttle valve
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B7/00—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors
    • F15B7/003—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors with multiple outputs
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B7/00—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors
    • F15B7/06—Details
    • F15B7/08—Input units; Master units
    • 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
    • F15B9/00—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member
    • F15B9/02—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type
    • F15B9/08—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor
    • F15B9/09—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor with electrical 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
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30505—Non-return valves, i.e. check valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • F15B2211/7107—Multiple output members, e.g. multiple hydraulic motors or cylinders the output members being mechanically linked
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • F15B2211/7114—Multiple output members, e.g. multiple hydraulic motors or cylinders with direct connection between the chambers of different actuators
    • F15B2211/7128—Multiple output members, e.g. multiple hydraulic motors or cylinders with direct connection between the chambers of different actuators the chambers being connected in parallel
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • 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 invention relates to a piezohydraulic actuator and a method for operating such a piezohydraulic actuator.
  • Actuators which are usually also referred to as actuators, are already well known from the general state of the art and are usually used to convert signals, in particular electrical signals, into a mechanical movement and / or at least one other physical variable, thereby for example at least to be able to actively influence a process by means of the respective actuator.
  • actuators are used in vehicles to move respective control elements such as flaps or valves by means of the actuators.
  • an actuator can be used to eject at least one tool of a machine tool.
  • actuators Four properties of an actuator in particular are of particular importance: force, deflection, speed and installation space. In a large number of actuator applications, there are different operating points at which either a high force or a high speed of the actuator is desirable or required.
  • the actuator or at least one output element of the actuator cover a distance from an initial position to contact with the tool to be ejected at a high speed, with none being particularly high Forces are required. The tool is ejected by means of the output element.
  • a first of the modes is a speed mode in which, for example, the output element is moved quickly and with only a slight force until it comes into contact with the tool.
  • the second mode is a force mode in which the output element is moved with a high force, but only over a short distance or slowly, in order to finally eject the tool, for example.
  • Such an actuator application with the modes described is also being used more and more often in robotics.
  • objects of different strength are gripped by a robot, for which at least one actuator is used.
  • the robot is used, for example, to support at least one person with their task along a production line. It is desirable here for the robot to be able to grip and, in particular, move both fragile or filigree objects as well as solid and possibly heavy objects. This requires a high degree of flexibility in the form of an adaptable impedance of the actuator, which is, for example, part of a gripping or actuator system of the robot. By means of the gripping or actuator system, the robot can grasp objects accordingly and, in particular, move them around in space.
  • the same gripping system should both be able to present itself as a relatively soft system, for example to perform sensitive tasks, and also be able to behave as a system with high rigidity in order to be able to provide high forces, for example , by means of which also stiff respectively heavy and large objects can be gripped and moved if necessary.
  • the WO 2014/146804 A1 discloses an actuator device with a drive unit and an output unit.
  • the output unit has a first translation unit with a first output and a second translation unit with a second output, which is fluidically connected to the first translation unit via a line system.
  • the drive unit is fluidically connected to the line system. By means of the drive unit, a fluid can be exchanged between the first translation unit and the second translation unit for deflecting the drives.
  • the first translation unit and the second translation unit each have a prestressing element, the prestressing elements being supported in the opposite direction against a movably mounted restraint.
  • the object of the present invention is therefore to create an actuator and a method by means of which the above-mentioned modes can be implemented in a particularly advantageous manner.
  • a first aspect of the invention relates to a piezo-hydraulic actuator, with at least one piezo actuator and with at least one drive, which has a drive chamber that can be supplied with a hydraulic fluid and a drive chamber that partially delimits the drive chamber and that can be driven by the piezo actuator and thereby having movable drive piston member.
  • the drive piston element By means of the drive piston element, at least part of the hydraulic fluid is to be conveyed out of the drive chamber by driving the drive piston element.
  • the drive piston element is driven by means of the piezo actuator and thereby moved, at least part of the hydraulic fluid initially received in the drive chamber is conveyed out of the drive chamber by means of the drive piston element.
  • the piezohydraulic actuator further comprises at least one first output, which has a first output chamber and a first output piston element that partially delimits the first output chamber. At least part of the hydraulic fluid conveyed from the drive chamber can be introduced into the first output chamber.
  • the first output piston element has a hydraulically effective first output surface which can be acted upon by the hydraulic fluid introduced into the first output chamber. As a result of this loading of the first output surface with the hydraulic fluid introduced into the first output chamber, the first output piston element can be driven and thus moved, in particular in a translatory manner.
  • the piezohydraulic actuator also has at least one second output, which has a second output chamber and a second output piston element that partially delimits the second output chamber. At least part of the hydraulic fluid conveyed from the drive chamber can be introduced into the second output chamber.
  • the second output piston element has a hydraulically effective second output surface which can be acted upon by the hydraulic fluid introduced into the second output chamber.
  • the output surfaces are of different sizes. In other words, the second output surface is larger or smaller than the first output surface.
  • the second output piston element can be driven by applying the hydraulic fluid introduced into the second output chamber to the second output surface.
  • the first output surface is acted upon by the hydraulic fluid introduced into the first output chamber, whereby the first output piston element is driven and thus moved, in particular in a translatory manner.
  • the second output surface is acted upon by the hydraulic fluid introduced into the second output chamber, whereby the second output piston element is driven and, in particular, moved in a translatory manner.
  • the output chambers or the output piston elements are fluidically arranged or connected in parallel to one another.
  • the piezohydraulic actuator has a coupling device, by means of which the output piston elements are mechanically coupled to one another.
  • the output piston elements are not pneumatically or electrically or hydraulically coupled to one another via the coupling device, but the output piston elements are mechanically coupled to one another via the coupling device, for example the coupling device being mechanically coupled or connected to both the first output piston element and the second output piston element is.
  • the coupling device being mechanically coupled or connected to both the first output piston element and the second output piston element is.
  • the second output piston element is moved along with the first output piston element because the second output piston element is mechanically coupled or connected to the first output piston element via the coupling device. If, for example, conversely, if the second output piston element is driven in the manner described and, in particular, moved in a translatory manner, then the first output piston element becomes the first output piston element is mechanically coupled or connected to the second output piston element via the coupling device, moved along with the second output piston element. In other words, the first output piston element moves the second output piston element via the coupling device, and the second output piston element moves the first output piston element via the coupling device.
  • a first of the modes is, for example, a speed mode in which the first output piston element can be moved particularly quickly or at a high first speed, but with only a small first force, especially when the second output area is larger than the first output area.
  • the second mode is a force mode in which, for example, especially when the second output surface is larger than the first output surface, the second output piston element can be moved at a second speed lower than the first speed, but with a second force higher than the first force .
  • the actuator moves at least one output element of the actuator in the speed mode by means of the first output piston element at a high first speed, but with only a low first force.
  • the output element can be moved, for example by means of the second output piston element, at a second speed that is lower than the first speed, but with a second force that is higher than the first force. Since the driven piston elements are mechanically coupled to one another, it is particularly advantageous to switch from one of the modes to the other mode and vice versa, in particular gently or without jerking and / or independently or automatically.
  • the piezohydraulic actuator according to the invention is used in a machine tool in order to eject a tool by means of the piezohydraulic actuator, for example by ejecting the tool by means of the aforementioned output element by driving the output element by means of the piezohydraulic actuator
  • the output element can, for example, start out be moved from a starting position by means of the first output piston element in the speed mode at a particularly high first speed and with a low first force until the output element comes into at least indirect, in particular direct, contact with the tool to be ejected.
  • the output element can then, for example, be moved further by means of the second output piston element in the force mode at a second speed lower than the first speed and with a second force higher than the first force, in order to finally move the tool by means of the output element eject.
  • the piezo-hydraulic actuator according to the invention can be used particularly well in a robot, in particular in a gripping system of the robot, in order to use the gripping system to move both filigree or fragile objects, in particular in the speed mode, as well as more stable and heavier objects, in particular in the force mode to be able to grip securely and firmly.
  • Filigree or fragile objects are gripped and moved, for example, with the aid of the first output piston element and thus with only a small force, with heavy or stable objects, for example, being able to be gripped and moved using the second output piston element and thus with great force.
  • the piezo-hydraulic actuator there can be a conflict of objectives between the realization of a fast, but low-force movement and the realization of a slow, but very powerful movement can be solved in a simple, weight and space-saving manner.
  • the piezohydraulic actuator has a first supply line fluidically connected to the drive chamber and to the first output chamber, via which at least part of the hydraulic fluid conveyed from the drive chamber can be introduced into the first output chamber.
  • the piezohydraulic actuator has a second supply line fluidically connected to the first supply line and to the second output chamber, via which at least part of the hydraulic fluid conveyed from the drive chamber can be introduced into the second output chamber.
  • the piezohydraulic actuator has at least one first check valve arranged in the second supply line, which opens in the direction of the second output chamber and closes in the direction of the first supply line. This is to be understood as meaning that the first check valve opens when the hydraulic fluid flows through the second supply line in the direction of or into the second output chamber. However, the first check valve prevents an undesired flow of the hydraulic fluid through the second supply line in the direction of or into the first supply line.
  • the first output piston element or the movement of the first output piston element is opposed by a correspondingly large counterforce, so that, for example, a pressure of the hydraulic fluid caused by the piezo actuator or by means of the drive piston element is not sufficient to drive the first output piston element against the counterforce and thus move it or so that the first Output piston element can only be moved slightly, for example the pressure of the hydraulic fluid increases, in particular until, for example, the first check valve releases the second supply line, so that the hydraulic fluid flows through the second supply line into the second output chamber can flow. Then the second driven piston element is driven or moved. In this way, it is particularly easy and in particular automatically or automatically to switch between the above-mentioned modes and in particular to switch from the speed mode to the force mode.
  • the said counterforce then acts, for example, on the first output piston element and thus opposes the first output piston element or its movement when the output element, which can be formed in one piece with the respective output piston element or coupled to the respective output piston element, in particular mechanically, is in contact with the tool to be ejected comes or stands.
  • the output element can be moved quickly and with little force in contact with the tool by means of the speed mode and then moved further slowly and powerfully by means of the force mode.
  • the piezohydraulic actuator has at least one third supply line fluidically connected to the drive chamber, via which the hydraulic fluid can be introduced from a reservoir into the drive chamber.
  • the reservoir is part of the piezo hydraulic actuator, for example.
  • the piezohydraulic actuator also has a second check valve which is arranged in the third supply line and which opens in the direction of the drive chamber and closes in the direction of the reservoir.
  • the piezo actuator is activated, in particular energized, that is to say supplied with current, at least one piezo element, in particular, expands, for example a plurality of piezo elements comprising piezo stack, of the piezo actuator, whereby, for example, a volume reduction of the drive chamber is effected. In this way, at least part of the hydraulic fluid is conveyed out of the drive chamber.
  • the piezo actuator or the piezo element or the piezo stack contracts, for example, which is accompanied by an increase in the volume of the drive chamber.
  • hydraulic fluid can flow in from the reservoir via the third supply line and the second check valve and in particular flow into the drive chamber when the drive chamber increases in volume.
  • the second check valve prevents the hydraulic fluid from undesirably flowing back into the reservoir via the third supply line.
  • a flow of the hydraulic fluid as required can be guaranteed in a particularly simple and thus weight-saving and cost-effective manner.
  • the piezohydraulic actuator has at least one fourth supply line fluidically connected to the second output chamber, via which hydraulic fluid can be introduced into the second output chamber from the aforementioned reservoir, bypassing the first supply line and the second supply line is.
  • the piezohydraulic actuator also has a third check valve which is arranged in the fourth supply line and which opens in the direction of the second output chamber and closes in the direction of the reservoir.
  • a third check valve which is arranged in the fourth supply line and which opens in the direction of the second output chamber and closes in the direction of the reservoir.
  • hydraulic fluid can now not be via the first supply line or the second supply line, but rather flow into the second output chamber or be sucked in via the fourth supply line and the third check valve.
  • the second supply line is fluidically connected to the first supply line at a connection point, a fourth check valve being arranged in the first supply line upstream of the connection point, which opens in the direction of the connection point and closes in the direction of the drive chamber.
  • the fourth check valve is arranged upstream of the connection point in relation to a flow direction of the hydraulic fluid flowing from the drive chamber to the first output chamber through the first supply line, the fourth check valve allowing the hydraulic fluid to flow from the drive chamber through the first supply line in the direction of or into the first output chamber allows, since the fourth check valve opens accordingly.
  • the fourth check valve by means of the fourth check valve, an undesired flow of the hydraulic fluid from the connection point and thus, for example, from the first output chamber into the drive chamber can be avoided. In this way, a flow of the hydraulic fluid as required can be ensured in a simple and inexpensive manner.
  • the piezohydraulic actuator has at least one discharge line fluidically connected to at least one of the output chambers, via which at least part of the hydraulic fluid can be discharged from the at least one output chamber and to the reservoir, in particular to the aforementioned reservoir.
  • the discharge line is fluidically connected to the first supply line and / or to the second supply line and / or to the third supply line, so that for example at least part of the hydraulic fluid from the first supply line and / or from the second supply line and / or from the third supply line can be removed and to be directed to said reservoir.
  • the piezohydraulic actuator also has a fifth non-return valve arranged in the discharge line, which opens in the direction of the reservoir and closes in the direction of the at least one output chamber or in the direction of the respective supply line to which the discharge line may be fluidically connected.
  • a counterforce acts on at least one of the output pistons that the counterforce causes a volume reduction in the respective output chamber, then at least part of the hydraulic fluid initially received in the respective output chamber can be discharged from the respective output chamber via the discharge line without it damage to the piezo-hydraulic actuator occurs.
  • an opening force which opens the fifth check valve can be set.
  • the opening force corresponds to an opening pressure of the hydraulic fluid. If, for example, by means of the drive piston element and / or by means of at least one of the driven piston elements, such a flow of the hydraulic fluid is brought about that the flow of the hydraulic fluid in the discharge line is directed in the direction of the reservoir, the fifth check valve opens when the hydraulic fluid in the discharge line reaches or exceeds the opening pressure. Since the opening force is adjustable, the opening pressure from which the fifth check valve releases the flow of hydraulic fluid through the discharge line in the direction of the reservoir can be adjusted as required.
  • the fifth check valve has a spring element, the preload of which can be adjusted in order to thereby set the opening force.
  • the opening force can be adjusted particularly as required and in a particularly simple and inexpensive manner.
  • the spring element of the fifth check valve is assigned an adjusting element which has at least one adjusting chamber. At least part of the hydraulic fluid conveyed from the drive chamber can be introduced into the adjustment chamber.
  • the setting element has an setting piston element which partially delimits the setting chamber and which can be moved by means of the hydraulic fluid introduced into the setting chamber, whereby the preload of the spring element can be adjusted.
  • the adjusting piston element is, for example, at least indirectly coupled or can be coupled to the spring element, so that the spring element can be tensioned or relaxed by moving the adjusting piston element.
  • the preload of the spring element can be set in a particularly simple manner as required and in particular automatically or automatically.
  • the piezohydraulic actuator has at least one setting line fluidically connected to the setting chamber and to the drive chamber, via which at least part of the hydraulic fluid can be introduced into the setting chamber.
  • a sixth check valve is preferably arranged in the adjustment line, which opens in the direction of the adjustment chamber and closes in the direction of the drive chamber.
  • the sixth check valve allows the hydraulic fluid to flow out of the drive chamber through the adjustment line in the direction of or into the adjustment chamber. Furthermore, by means of the sixth check valve, an undesired flow of the hydraulic fluid from the adjustment chamber through the adjustment line into the drive chamber can be avoided in a simple manner.
  • At least one throttle through which the hydraulic fluid can flow is arranged in the adjustment line, via which at least part of the hydraulic fluid can be introduced into the adjustment chamber.
  • a second throttle through which the hydraulic fluid can flow is provided, which is arranged fluidically in series with the first throttle and fluidically parallel to the setting piston element.
  • a second aspect of the invention relates to a method for operating a piezohydraulic actuator according to the invention.
  • the piezohydraulic actuator comprises at least one piezo actuator and at least one drive, which has a drive chamber that can be supplied with a hydraulic fluid and a drive chamber partially limiting and drivable by the piezo actuator and thereby, in particular translationally, movable drive piston element, by means of which by driving the drive piston element at least a part of the hydraulic fluid is to be conveyed from the drive chamber or is conveyed.
  • the piezohydraulic actuator also has at least one first output, which has a first output chamber, into which at least part of the hydraulic fluid conveyed from the drive chamber can be introduced, and a first output piston element which partially delimits the first output chamber and which has a first output piston element which is introduced into the first output chamber Has hydraulic fluid acted upon, hydraulically effective first output surface and is drivable and thereby, in particular translationally, movable by acting on the first output surface with the hydraulic fluid introduced into the first output chamber.
  • the piezohydraulic actuator comprises at least one second output, which has a second output chamber into which at least part of the hydraulic fluid conveyed from the drive chamber can be introduced, and a second output piston element that partially delimits the second output chamber and which has a hydraulic fluid that is introduced into the second output chamber has a loadable, hydraulically effective second output surface larger or smaller than the first output surface and can be driven by applying the hydraulic fluid introduced into the second output chamber to the second output surface.
  • the piezohydraulic actuator includes a coupling device by means of which the output piston elements are mechanically coupled to one another.
  • the piezo actuator is controlled by means of at least one electrical signal, whereby the drive piston element is driven by means of the piezo actuator.
  • the piezo actuator is controlled by means of pulse width modulation (PWM).
  • PWM pulse width modulation
  • the drive chamber, the respective output chamber and the adjustment chamber are also referred to simply as chambers.
  • the drive piston element and / or the respective abrasion piston element and / or the adjusting piston element is, for example, a piston which is received in a translationally movable housing, also called a cylinder, so that, for example, the respective housing and the respective piston each partially delimit the respective chamber.
  • the respective piston and the respective housing thus form a hydraulic cylinder, for example.
  • the drive piston element and / or the respective abrasion piston element and / or the adjusting piston element is part of a bellows.
  • the component of the bellows is, for example, an end wall of the bellows, so that the drive piston element and / or the respective output piston element and / or the adjusting piston element is, for example, an, in particular axial, end wall of a bellows.
  • the respective bellows has, for example, a jacket or a side wall, the respective chamber being partially delimited by the respective end wall and the respective jacket of the respective bellows.
  • the respective end wall is connected to the respective jacket, in particular formed in one piece with the respective jacket.
  • the respective end wall can be moved translationally back and forth while increasing and shortening the length of the respective jacket, such as in the case of a spring or Bellows.
  • the jacket has a corrugated and / or jagged or folded or wrinkled course at least in one length region.
  • the jacket is elastically deformed when the end wall is moved translationally in one direction. It is also conceivable that - if the end wall, which forms a piston, for example, is moved back and forth in a translatory manner, the jacket is at least partially rolled up onto the piston and unrolled from the piston, for example in the case of a spring bellows, in particular an air spring bellows, or a rolling bellows.
  • the jacket is formed, for example, from a plastic or from a metallic material.
  • the jacket can be formed from an elastically deformable material, in particular from rubber.
  • the jacket can be flexible or pliable, that is to say unstable in shape.
  • the respective check valve is designed, for example, as a conventional check valve with a valve element designed, for example, as a ball and a spring, against the spring force of which the valve element and thus the check valve as a whole can open.
  • the non-return valve is designed as a non-return valve or as a simple non-return valve, in which, for example, a strip or band, in particular made of metal, is provided, which in a blocking position covers at least one flow opening for the hydraulic fluid and thereby closes it. If a pressure of the hydraulic fluid acting on the strip reaches or exceeds a threshold value, the strip is deformed and thereby moved into a release position in which the strip releases the throughflow opening.
  • the single figure of the drawing shows a schematic representation of a hydraulic circuit diagram of a piezo-hydraulic actuator according to the invention.
  • the single figure shows in a schematic representation a hydraulic circuit diagram of a piezo-hydraulic actuator 10, by means of which, for example, as will be explained in more detail below, a movement of at least one output element, not shown in the figure, can be brought about. This movement of the output element is also referred to as deflection.
  • the piezo-hydraulic actuator 10 and the output element are used in a machine tool and are used to eject at least one tool from the machine tool.
  • the output element is driven by means of the piezo-hydraulic actuator 10 in order to move the tool by means of the output element and, in particular, to eject it.
  • the output element and the piezohydraulic actuator 10 are used in a gripping system of a robot in order to grasp components by means of the gripping system and by means of the robot and to move them around in space.
  • the piezohydraulic actuator 10 has at least one piezo actuator 12 which comprises at least one piezo element.
  • the piezo actuator 12 has a plurality of piezo elements which form a piezo stack.
  • an electrical voltage to the piezo element or to the piezo stack and thus, for example, to the piezo actuator 12, a mechanical movement of the piezo element or the piezo stack can be brought about, as will be explained in more detail below.
  • the electric Voltage is applied to the piezo actuator 12, for example, as part of a control of the piezo actuator 12 or to the piezo element or to the piezo stack.
  • the piezohydraulic actuator 10 also has a drive 14 which comprises a drive chamber 16 and a drive piston element in the form of a drive piston 18.
  • the drive 14 further comprises a drive cylinder 20 in which the drive piston 18 is received in a translationally movable manner.
  • the drive cylinder 20 and the drive piston 18 each partially delimit the drive chamber 16.
  • Hydraulic fluid 22 can be introduced from a reservoir 24 into the drive chamber 16.
  • the reservoir 24 is part of the piezo-hydraulic actuator 10, the hydraulic fluid 22 being received in the reservoir 24 and at least temporarily stored.
  • the drive chamber 16 can be supplied with at least part of the hydraulic fluid 22 accommodated in the reservoir 24.
  • the drive piston 18 is connected to a drive piston rod 26 of the drive 14, so that the drive piston rod 26 can be moved translationally with the drive piston 18 relative to the drive cylinder 20.
  • the drive piston rod 26 can be driven by the piezo actuator 12 and can thereby be moved in a translatory manner relative to the drive cylinder 20. Since the drive piston 18 is connected to the drive piston rod 26, in particular formed in one piece, the drive piston 18 can be driven by the piezo actuator 12 via the drive piston rod 26 and can thereby be moved in a translatory manner relative to the drive cylinder 20.
  • the piezohydraulic actuator 10 comprises, for example, a housing 28, which is only partially recognizable in the figure and is shown particularly schematically, in which, for example, the drive chamber 16, the drive cylinder 20 and the drive piston 18 are accommodated.
  • the drive piston 18 is moved by the piezo actuator 12 via the drive piston rod 26 in such a way that the volume of the drive chamber 16 is reduced, at least some of the hydraulic fluid initially received in the drive chamber 16 is conveyed out of the drive chamber 16 by means of the drive piston 18.
  • s in denotes a path or a path by which the drive piston 18 is moved via the drive piston rod 26 by means of the piezo actuator 12, in particular to bring about a reduction in the volume of the drive chamber 16.
  • the drive piston 18 has a hydraulically effective drive surface 30, by means of which at least the aforementioned part of the hydraulic fluid initially received in the drive chamber 16 can be conveyed out of the drive chamber 16.
  • the hydraulic fluid received in the drive chamber 16 is thus in contact with the hydraulically active drive surface 30, via which a first pressure, in particular a drive pressure, of the hydraulic fluid can thus be brought about by means of the drive piston 18.
  • the hydraulic fluid is, for example, an incompressible fluid and can in particular be designed as an oil.
  • the piezohydraulic actuator 10 also has at least one first output 32, which has a first output chamber 34. At least part of the hydraulic fluid conveyed from the drive chamber 16 can be introduced into the first output chamber 34.
  • the first output 32 comprises a first output cylinder 36 and a first output piston element in the form of a first output piston 38, which is received in the first output cylinder 36 such that it can be moved translationally.
  • the first output cylinder 36 and the first output piston 38 each partially delimit the first output chamber 34.
  • the first output 32 comprises a first output piston rod 40, which is connected to the first output piston 38, in particular formed in one piece. The first output piston rod 40 is thereby with it the first output piston 38 relative to the first output cylinder 36 can be moved translationally.
  • the output piston rod 40 for example, is extended from the output cylinder 36.
  • s out denotes a path or a distance by which the first output piston 38 and with it the first output piston rod 40 are moved translationally relative to the first output cylinder 36 due to the aforementioned increase in volume of the first output chamber 34.
  • the output element is moved along with the first output piston rod 40, in particular in a translatory manner, in particular by the distance s out .
  • the first output piston 38 has a hydraulically active first output surface 42, which can be acted upon by the hydraulic fluid introduced into the first output chamber 34.
  • the hydraulic fluid introduced into the first output chamber 34 thus comes into contact with the first output surface 42 and acts on the first output surface 42, which, in combination with the aforementioned pressure of the hydraulic fluid, results in a first force acting on the first output piston 38.
  • the first output piston 38 can be moved in a translatory manner relative to the first output cylinder 36, thereby in particular increasing the volume of the first output chamber 34 and consequently extending the first output piston rod 40 out of the first output cylinder 36.
  • the first output piston 38 can be driven by applying the hydraulic fluid introduced into the first output chamber 34 to the first output surface 42 and can thus be moved translationally relative to the output cylinder 36.
  • the piezohydraulic actuator 10 also has at least one second output 44, which has a second output chamber 46. At least part of the hydraulic fluid conveyed from the drive chamber 16 can be introduced into the second output chamber 46.
  • the second output 44 further comprises a second output cylinder 48 and a second output piston element in the form of a second output piston 50, which is received in the second output cylinder 48 such that it can move in translation.
  • the second output cylinder 48 and the second output piston 50 each partially delimit the second output chamber 46.
  • the second output piston 50 has a hydraulically effective second output surface 52, which can be acted upon by the hydraulic fluid introduced into the second output chamber 46.
  • the output surfaces 42 and 52 are of different sizes. In the exemplary embodiment illustrated in the figure, the second output surface 52 is larger than the first output surface 42.
  • the second output 44 has a second output piston rod 54, which is connected to the second output piston 50, in particular formed in one piece.
  • the second output piston rod 54 can thus be moved translationally with the second output piston 50 relative to the second output cylinder 48.
  • the second output piston 50 can be driven and can thus be moved translationally relative to the second output cylinder 48.
  • a second force acting on the second output piston 50 results from the second output surface 52 and the pressure of the hydraulic fluid, by means of which the second output piston 50 can be moved translationally relative to the second output cylinder 48, whereby in particular an increase in the volume of the second output chamber 46 can be brought about.
  • the second output piston rod 54 can be moved in a translatory manner with the second output piston 50, by causing a volume increase in the second output chamber 46, the second output piston rod 54 can be extended from the second output cylinder 48.
  • the aforementioned output element is at least indirectly coupled or connected to the second output piston rod 54, so that the output element can be driven by moving the second output piston rod 54 and thus moved, in particular in a translatory manner.
  • the hydraulic fluid can flow into the respective output chamber 34 or 46, for example, at the previously mentioned first pressure embodied as a drive pressure. Since the output surfaces 42 and 52 are of different sizes, the first force results from the drive pressure and the first output surface 42, and the aforementioned second force results from the drive pressure and the second output surface 52. The second force is greater than the first force.
  • the piezohydraulic actuator 10 also includes a coupling device 56 which, in the exemplary embodiment illustrated in the figure, has at least one mechanical coupling element 58.
  • the coupling element 58 By means of the coupling element 58 and thus by means of the coupling device 56, the output pistons 38 and 50 are mechanically coupled to one another, in particular via the output piston rods 40 and 54, so that the output pistons 38 and 50 and thus the output piston rods 40 and 54 are synchronized or simultaneously and around the same Way s move out .
  • the output chambers 34 and 46, the output cylinders 36 and 48 and the output pistons 38 and 50 are accommodated in the housing 28.
  • a parallel coupling of the output pistons 38 and 50 is shown.
  • a series coupling of the output pistons 38 and 50 is of course also possible.
  • the piezohydraulic actuator 10 also has a first supply line 60 fluidically connected to the drive chamber 16 and to the first output chamber 34, via which at least the mentioned part of the supply line 60 conveyed out of the drive chamber 16 Hydraulic fluid can be introduced into the first output chamber 34.
  • the piezohydraulic actuator 10 includes a second supply line 62 fluidly connected to the first supply line 60 and to the second output chamber 46, via which at least the part of the hydraulic fluid delivered from the drive chamber 16, in particular via at least part of the first supply line 60, into the second Output chamber 46 can be introduced.
  • a first check valve 64 is arranged in the second supply line 62 which opens in the direction of the second output chamber 46 and closes in the direction of the first supply line 60.
  • a third supply line 66 which is fluidically connected to the drive chamber 16 and to the reservoir 24, is provided, via which the hydraulic fluid 22 can be introduced from the reservoir 24 into the drive chamber 16.
  • a second check valve 68 is arranged in the third supply line 66, which opens in the direction of the drive chamber 16 and closes in the direction of the reservoir 24.
  • the piezohydraulic actuator 10 also includes at least one fourth supply line 70 fluidically connected to the second output chamber 46 and to the reservoir 24, via which the hydraulic fluid 22 can be introduced from the reservoir 24 into the second output chamber 46, bypassing the supply lines 60 and 62.
  • a line part 72 common to the supply lines 66 and 70 forms both a part of the supply line 66 and a part of the supply line 70.
  • the hydraulic fluid 22 from the reservoir 24 can first pass through the line part 72 and then to the output chamber 46 or to the Drive chamber 16 flow.
  • a third check valve 74 is arranged, which in the direction of the second Output chamber 46 opens and closes in the direction of reservoir 24.
  • the second supply line 62 is fluidically connected to the supply line 60 at a connection point V.
  • a fourth check valve 76 is arranged in the first supply line 60 upstream of the connection point V and downstream of the drive chamber 16, the fourth check valve 76 in the direction of the Connection point V opens and closes in the direction of the drive chamber 16.
  • the piezohydraulic actuator 10 comprises a discharge line 78 designed as a discharge branch, which, in particular via the line part 72, is fluidically connected to the reservoir 24 and fluidically to the output chambers 34 and 46 or to the supply lines 60 and 62, so that the discharge line 78 the hydraulic fluid can be discharged from the respective output chamber 34 or 46 or from the respective supply line 60 or 62 and to be conducted to the reservoir 24 and is thus recyclable.
  • the line part 72 also forms part of the discharge line 78.
  • a fifth check valve 80 is arranged in the discharge line 78, which opens in the direction of the reservoir 24 and closes in the direction of the output chamber 34 or 46 or in the direction of the supply line 60 or 62.
  • a first of the modes is what is known as a speed mode, in which the output element is driven and thereby moved at a high first speed, but with a low first force can be.
  • the output element is actively driven in the speed mode, in particular by means of the first output 32.
  • the second mode is a force mode in which the output element is driven and thus moved at a second speed that is lower than the first speed, but with a second force that is higher than the first force.
  • the output element is actively driven in particular via the second output 44. It is possible to switch between the modes, in particular from the speed mode and the force mode, in a particularly simple manner and in particular automatically.
  • the respective output 32 or 44 is designed as a hydraulic cylinder, the hydraulic cylinders being components of a hydraulic system to which the piezo actuator 12 is coupled as a drive element.
  • the piezo actuator 12 is used to move the respective output piston 38 or 50 and subsequently the output element.
  • the outputs 32 and 44 are fluidically connected in parallel to one another.
  • the output cylinders 36 and 48 and the drive cylinder 20 are fixed to the housing 28 or are permanently connected to it.
  • the output cylinders 36 and 48 and the drive cylinder 20 are respective housings in which the respective output pistons 38 and 50 or the drive piston 18 are accommodated in a translatory manner.
  • the respective output surface 42 or 52 is also referred to as a hydraulic cross-sectional area, with the drive surface 30 also being referred to as a hydraulic cross-sectional area.
  • the output surface 42 is smaller than the output surface 52.
  • the output surface 42 is smaller than the drive surface 30, the drive surface 30 being smaller than the output surface 52.
  • a voltage in PWM form (PWM - pulse width modulation) is applied to it or to the piezo element or to the piezo stack.
  • the piezo actuator 12 is controlled as part of a method for operating the piezo hydraulic actuator 10 by means of at least one electrical signal, whereby the drive piston 18 is driven by the piezo actuator 12 and is thus moved in a translatory manner relative to the drive cylinder 20.
  • the electrical signal is a PWM signal in the form of an electrical voltage, by means of which the piezo actuator 12 is controlled.
  • the piezo element or the piezo stack expands, as a result of which the drive piston 18 is moved in such a way that the volume of the drive chamber 16 is reduced.
  • the hydraulic fluid received in the drive chamber 16 is compressed or the pressure of the hydraulic fluid increases due to the quasi-incompressibility of the hydraulic fluid.
  • the check valve 64 remains closed and the check valve 76 opens so that hydraulic fluid flows from the drive 14 into the output chamber 34. Because the output surface 42 is smaller than the drive surface 30, the path s in is translated into the path s out or from a speed at which the drive piston 18 is moved to a higher speed at which the output piston 38 moves becomes. Then, for example, the electrical voltage or the PWM signal with which the piezo actuator 12 is or was controlled is set to zero, as a result of which the pressure in the drive 14 is reduced.
  • the output piston 38 is mechanically connected to the output piston 50 via the coupling element 58, the output piston 50 is deflected, that is, moved, by the same distance s out as the output piston 38.
  • the supply line 70 creates a fluidic connection between the output chamber 46 and the reservoir 24.
  • hydraulic fluid can flow in the manner described from the reservoir 24 via the supply line 70 and the check valve 74 into the output chamber 46 when the output piston 50 is moved by means of the output piston 38 in such a way that the output chamber 46 increases in volume.
  • the check valve 74 thus opens when the described pumping of the hydraulic fluid into the first output 32 results in a negative pressure in the second output 44 or in the second output chamber 46. In this way, it is ensured in a passive manner that the output 44 has little or no influence on the deflection of the output piston 38.
  • the piezo-hydraulic actuator 10 builds up as high a force as possible in order to further deflect the output element despite the counterforce.
  • this is only possible to a limited extent with the aid of the first output 32, since its output surface 42 was selected to be very small in order to achieve a high speed ratio and thus to move the output element or the output pistons 38 and 50 at a high speed, i.e. as quickly as possible.
  • the check valve 64 and the supply line are between the outputs 32 and 44 62 installed.
  • the check valve 64 opens, whereby the hydraulic fluid - in particular in addition to the output 32 - also to and in particular into the output 44, in particular into the output chamber 46, is pumped. Since the output surface 52 is significantly larger than the output surface 42 and than the drive surface 30, when the pressure of the hydraulic fluid remains the same, the output force increases compared to the output 32.
  • the check valve 80 opens.
  • An opening force acting on the check valve 80 results from the opening pressure which opens the check valve 80.
  • the opening force or the opening pressure from which the fifth check valve 80 opens can be set.
  • the check valve 80 comprises a spring element 82, whose bias is adjustable in order to adjust the opening force or the opening pressure.
  • An adjusting element 84 is assigned to the spring element 82, which has at least one adjusting chamber 86 and an adjusting piston element in the form of an adjusting piston 88.
  • the setting element 84 also has an setting cylinder 90, the setting piston 88 being received in the setting cylinder 90 such that it can be moved in a translatory manner.
  • the adjusting piston 88 and the adjusting cylinder 90 each partially delimit the adjusting chamber 86.
  • the adjusting piston 88 and the adjusting cylinder 90 also delimit a further adjusting chamber 92 of the adjusting element 84 opposite the adjusting chamber 86.
  • part of the hydraulic fluid can be introduced into the respective adjusting chamber 86 or 92 in order to be able to move the adjusting piston 88 back and forth in translation relative to the adjusting cylinder 90.
  • the adjusting cylinder 90 is arranged in the housing 28 and fixed on the housing 28. In particular, at least part of the hydraulic fluid conveyed from the drive chamber 16 can be introduced into the setting chamber 86 in order to thereby set the pretensioning of the spring element 82.
  • the adjusting piston 88 is connected to an adjusting piston rod 94, so that the adjusting piston rod 94 can be moved along with the adjusting piston 88 relative to the adjusting cylinder 90.
  • the setting piston 88 is mechanically connected to the spring element 82 via the setting piston rod 94.
  • at least one setting line 96 fluidically connected to the setting chamber 86 and to the drive chamber 16 is provided, via which at least part of the hydraulic fluid can be introduced into the setting chamber 86.
  • a pressure acts on the setting piston 88 from the hydraulic fluid received in the setting chamber 86, by means of which the setting piston 88 is moved translationally in order to pretension the spring element 82 or the setting piston 88 is held in a position against a spring force provided by the pretensioned spring element 82, in order to thereby keep the preload of the spring element 82 set by the position of the adjusting piston 88, in particular to keep it at least substantially constant.
  • hydraulic fluid received in the adjustment chamber 94 can first flow out of the adjustment chamber 92 via a line 104 and, in particular, flow into the reservoir 24.
  • Hydraulic fluid is conveyed from the drive chamber 16 by means of the drive piston 18 into the setting chamber 86 or the aforementioned pressure acting on the setting piston 88 is applied in the setting chamber 86 by means of the hydraulic fluid contained therein, by means of which the setting piston is moved or held in the stated position is maintained as long as the piezo actuator 12 is actuated or controlled, that is, actuated.
  • throttles 100 and 102 are arranged in the adjustment line 96. Hydraulic fluid can be conveyed from the drive chamber 16 into the adjustment chamber 86 by means of the piezo actuator 12, in particular via the throttle 100.
  • the throttles 100 and 102 have a respective one of the hydraulic fluid through flow cross-section, wherein the flow cross-section of the throttle 102 is smaller than the flow cross-section of the throttle 100. Due to the possibility of adjusting the opening pressure or the opening force of the check valve 80, the check valve is designed as a variable check valve.
  • the throttle 102 is fluidly arranged or connected in parallel to the setting chamber 86 or the setting piston 88.
  • the pressure in the adjustment chamber 86 drops and the adjustment piston 88 can no longer be held in its position against the spring force, which is set and held by means of the pressure.
  • the adjusting piston 88 is then displaced by means of the spring force in such a way that the volume of the adjusting chamber 86 is reduced and the volume of the adjusting chamber 94 is increased. Hydraulic fluid can flow into the adjustment chamber 92 via the line 104, in particular from the reservoir 24, and hydraulic fluid can flow out of the adjustment chamber 86, in particular into the reservoir 24, for example via the throttle 102.
  • the setting piston rod 94 is retracted into the setting chamber 92.
  • the spring element 82 is relaxed, in particular lengthened, as a result of which, for example, the opening pressure and thus the opening force are reduced.
  • the respective adjustment chamber 86 or 92 functions as a hydraulic preload chamber by means of which the preload of the spring element 82 can be adjusted.
  • the higher the pressure in the adjustment chamber 86 the further the adjustment piston 88 is deflected and the more the spring element 82 is tensioned and the higher the opening pressure or the opening force.
  • a sixth non-return valve 98 is arranged in the adjustment line 96, which, however, is only optionally provided and can be omitted and opens in the direction of the adjustment chamber 86 or 92 and closes in the direction of the drive chamber 16.
  • hydraulic fluid can flow from the drive chamber 16 via the adjustment line 96 and the check valve 98 into the adjustment chamber 86, an undesired flow of the hydraulic fluid from the respective adjustment chamber 86 or 92 via the check valve 98 into the drive chamber 16 by means of the check valve 98 being prevented.
  • the throttle 100 is arranged fluidically in series with the adjustment chamber 86, the throttle 102 fluidly in series with the throttle 100 and is arranged fluidically parallel to the adjustment chamber 86.
  • the flow cross-section of the throttle 102 is smaller than that of the throttle 100, the amount conveyed by means of the piezo actuator 12 and the drive piston 16 flows through the throttle 100, and the second part of the amount is less than the amount itself, and the first part does not flow through the throttle 102 but into the adjustment chamber 86.
  • variable check valve 80 thus functions like a human muscle, which then relaxes when it is no longer supplied with energy. This is also the case with the check valve 80. If no more energy is applied to maintain the pressure in the adjustment chamber 86 and to hold the adjustment piston 88 in its position, then no more energy is applied to keep the spring element 82 tensioned, so that the spring element 82 relaxes.
  • the PWM signal by which the piezo actuator 12 is controlled remains at least essentially constant, a pressure built up in the drive chamber 16 is reduced via the throttle 100, so that hydraulic fluid flows from the drive 14 into the adjustment chamber 86 .
  • the respective throttle 100 or 102 has a hydraulic resistance for the hydraulic fluid.
  • the hydraulic resistance of the respective throttle 100 or 102 together with other parameters, has an influence on a given amount of hydraulic fluid flowing into the respective setting chamber 86 and thus on the opening pressure of the check valve 80.
  • the piezo-hydraulic actuator 10 can act as a particularly stiff actuator, especially when the opening pressure is high, which can also move the output element against a particularly high counterforce or at which a high counterforce is exerted on the output element or on the Output pistons 38 and 50 must be applied in order to move the output pistons 38 and 50 in such a way that the volume of the output chambers 34 and 46 is reduced.
  • the hydraulic fluid can, for example, be discharged from the adjustment chamber 86 via the line 104, whereby, for example, the hydraulic fluid can flow into the adjustment chamber 92 via the discharge line 78.
  • the reservoir 24 comprises a reservoir cylinder 106 and a reservoir piston 108 accommodated in the reservoir cylinder 106 such that it can move in translation, the reservoir cylinder 106 and the reservoir piston 108 each partially delimiting a reservoir chamber 110 of the reservoir 24.
  • the hydraulic fluid 22 is received in the reservoir chamber 110. If, for example, at least part of the hydraulic fluid 22 is discharged from the reservoir chamber 110, the volume of the reservoir chamber 110 is reduced, as a result of which the reservoir piston 108 is moved translationally relative to the reservoir cylinder 106 by a distance or a distance s res . If, for example, the hydraulic fluid is introduced into the reservoir chamber 110, the volume of the reservoir chamber 110 increases and there is a corresponding translational movement of the reservoir piston 108 relative to the reservoir cylinder 106.
  • the piezo actuator 12 is activated, for example, during a period of time during which the PWM signal has an at least substantially constant electrical voltage. This period of time is also referred to as duration, duration or duty cycle.
  • a low duty cycle that is to say a short duration
  • a high duty cycle that is to say a long duration, allowing the piezohydraulic actuator to act as a rigid or hard actuator.
  • piezo-hydraulic Actuator 10 is thus a dependency between the duty cycle and a variable impedance, which is implemented by controlling the piezo actuator 12 in combination with the function of the variable check valve 80 in the manner of a human muscle.
  • the spring element 82 is, for example, always soft or not pretensioned.
  • the spring element 82 is initially pretensioned.
  • the throttle 100 has the particular function that when the piezo actuator 12 is actuated and the flow of hydraulic fluid caused by it, which should basically flow via the check valve 76 to the drives 32 and 44, a small part of the flow of the hydraulic fluid via the throttle 100 into the adjustment chamber 86 flows to bias the spring element 82 or to keep it biased.
  • variable impedance of the actuator 10 is now implemented, for example, by means of the variable preload of the spring element 82 that can be adjusted as required.
  • the above-mentioned dependency between the duty cycle and the variable impedance now consists, for example, in the following: If the duty cycle is short, the at least almost all of it is embodied as oil, for example pumped via the check valve 76 to the drives 32 and 44. However, the following results from a long or longer duty cycle in comparison: After the check valve 76 has opened, there is a residual pressure in the drive chamber 16, caused in particular by the drive piston 18 and the long duty cycle, so that hydraulic fluid, in particular a higher pressure than the short duty cycle Amount of hydraulic fluid through which the throttle 100 flows into the adjustment chamber 86. As a result, for example, the spring element 82 is pretensioned more strongly by means of a long duty cycle than by means of a comparatively shorter duty cycle.
  • the piezohydraulic actuator 10 represents an actuator unit, whereby the actuator unit can be adjusted as required with regard to its speed / force operating point by setting the frequency of the PWM signal, which is also known as the control signal, with the actuator unit being adjusted with regard to its impedance or flexibility over the said duty cycle can be.

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Claims (10)

  1. Actionneur piézohydraulique (10), comprenant :
    - au moins un actionneur piézoélectrique (12) ;
    - au moins un mécanisme d'entraînement (14), qui possède une chambre d'entraînement (16) pouvant être alimentée avec un liquide hydraulique (22) et un élément piston d'entraînement (18) qui délimite au moins partiellement la chambre d'entraînement (16) et qui peut être entraîné par l'actionneur piézoélectrique (12), au moyen duquel au moins une partie du liquide hydraulique (22) est à refouler hors de la chambre d'entraînement (16) en entraînant l'élément piston d'entraînement (18) ;
    - au moins une première prise de force (32), laquelle possède une première chambre de prise de force (34), dans laquelle peut être envoyée au moins une partie du liquide hydraulique (22) refoulé hors de la chambre d'entraînement (16), et un premier élément piston de prise de force (38) qui délimite au moins partiellement la première chambre de prise de force (34), lequel possède une première surface de prise de force (42) hydrauliquement active, pouvant être sollicitée par le liquide hydraulique (22) envoyé dans la première chambre de prise de force (34) et peut être entraîné en sollicitant la première surface de prise de force (42) avec le liquide hydraulique envoyé dans la première chambre de prise de force (34) ;
    - au moins une deuxième prise de force (44), laquelle possède une deuxième chambre de prise de force (46), dans laquelle peut être envoyée au moins une partie du liquide hydraulique (22) refoulé hors de la chambre d'entraînement (16), et un deuxième élément piston de prise de force (50) qui délimite au moins partiellement la deuxième chambre de prise de force (46), lequel possède une deuxième surface de prise de force (52) hydrauliquement active, pouvant être sollicitée par le liquide hydraulique (22) envoyé dans la deuxième chambre de prise de force (46) et plus grande ou plus petite par rapport à la première surface de prise de force (42), et peut être entraîné en sollicitant la deuxième surface de prise de force (52) avec le liquide hydraulique (22) envoyé dans la deuxième chambre de prise de force (46) ;
    - un dispositif de couplage (56), au moyen duquel les éléments pistons de prise de force (38, 50) sont couplés mécaniquement l'un avec l'autre ;
    - une première conduite d'alimentation (60) reliée fluidiquement à la chambre d'entraînement (16) et à la première chambre de prise de force (34), par le biais de laquelle au moins la partie du liquide hydraulique (22) refoulé hors de la chambre d'entraînement (16) peut être envoyée dans la première chambre de prise de force (34) ;
    - une deuxième conduite d'alimentation (62) reliée fluidiquement à la première conduite d'alimentation (60) et à la deuxième chambre de prise de force (46), par le biais de laquelle au moins la partie du liquide hydraulique (22) refoulé hors de la chambre d'entraînement (16) peut être envoyée dans la deuxième chambre de prise de force (46) ;
    - au moins un premier clapet anti-retour (64) disposé dans la deuxième conduite d'alimentation (62), lequel s'ouvre en direction de la deuxième chambre de prise de force (46) et se ferme en direction de la première conduite d'alimentation (60) ;
    - au moins une troisième conduite d'alimentation (66) reliée fluidiquement à la chambre d'entraînement (16), par le biais de laquelle le liquide hydraulique (22) peut être envoyé dans la chambre d'entraînement (16) depuis un réservoir (24) ;
    - un deuxième clapet anti-retour (68) disposé dans la troisième conduite d'alimentation (66), lequel s'ouvre en direction de la chambre d'entraînement (16) et se ferme en direction du réservoir (24) ;
    - au moins une quatrième conduite d'alimentation (70) reliée fluidiquement à la deuxième chambre de prise de force (46), par le biais de laquelle le liquide hydraulique (22) peut être envoyé depuis le réservoir (24) dans la deuxième chambre de prise de force (46) en contournant la première et la deuxième conduite d'alimentation (60, 62) ;
    - un troisième clapet anti-retour (74) disposé dans la quatrième conduite d'alimentation (70), lequel s'ouvre en direction de la deuxième chambre de prise de force (46) et se ferme en direction du réservoir (24), la deuxième conduite d'alimentation (62) étant reliée fluidiquement à la première conduite d'alimentation (60) au niveau d'un point de liaison (V), et un quatrième clapet anti-retour (76) étant disposé dans la première conduite d'alimentation (60) en amont du point de liaison (V), lequel s'ouvre en direction du point de liaison (V) et se ferme en direction de la chambre d'entraînement (14) ;
    - au moins une conduite d'évacuation (78) reliée à au moins l'une des chambres de prise de force (34, 46), par le biais de laquelle au moins une partie du liquide hydraulique (22) peut être évacuée hors de l'au moins une chambre de prise de force (34, 46) et conduite au réservoir (24) ; et
    - un cinquième clapet anti-retour (80) disposé dans la conduite d'évacuation (78), lequel s'ouvre en direction du réservoir (24) et se ferme en direction de l'au moins une chambre de prise de force (34, 46).
  2. Actionneur piézohydraulique (10) selon la revendication 1, une force d'ouverture à partir de laquelle s'ouvre le cinquième clapet anti-retour (09) étant réglable.
  3. Actionneur piézohydraulique (10) selon la revendication 2, le cinquième clapet anti-retour (80) possédant un élément ressort (82) dont la précontrainte est réglable afin de régler ainsi la force d'ouverture.
  4. Actionneur piézohydraulique (10) selon la revendication 3, comprenant un élément de réglage (84) associé à l'élément ressort (82), lequel possède au moins une chambre de réglage (86), dans laquelle peut être envoyée au moins une partie du liquide hydraulique (22) refoulé hors de la chambre d'entraînement (16), et un élément piston de réglage (88) qui délimite au moins partiellement la chambre de réglage (86), lequel peut être déplacé au moyen du liquide hydraulique (22) envoyé dans la chambre de réglage (86), moyennant quoi la précontrainte de l'élément ressort (82) peut être réglée.
  5. Actionneur piézohydraulique (10) selon la revendication 4, comprenant au moins une conduite de réglage (96) reliée fluidiquement à la chambre de réglage (86) et à la chambre d'entraînement (14), par le biais de laquelle au moins une partie du liquide hydraulique (22) peut être envoyée dans la chambre de réglage (86).
  6. Actionneur piézohydraulique (10) selon la revendication 5, comprenant un sixième clapet anti-retour (98) disposé dans la conduite de réglage (96), lequel s'ouvre en direction de la chambre de réglage (86) et se ferme en direction de la chambre d'entraînement (14).
  7. Actionneur piézohydraulique (10) selon la revendication 5 ou 6, comprenant au moins un étrangleur (100) disposé dans la conduite de réglage (96), par le biais duquel au moins une partie du liquide hydraulique (22) peut être envoyée dans la chambre de réglage (86).
  8. Actionneur piézohydraulique (10) selon la revendication 7, comprenant un deuxième étrangleur disposé fluidiquement en série avec l'étrangleur (100) et fluidiquement en parallèle avec l'élément piston de réglage (88), lors d'un écoulement du liquide hydraulique provoqué au moyen de l'actionneur piézoélectrique (12) et de l'élément piston d'entraînement (18) hors de la chambre d'entraînement (16) à travers la conduite de réglage (96) et le premier étrangleur (100), une première partie de l'écoulement s'écoulant dans la chambre de réglage (86) et, en parallèle, une deuxième partie de l'écoulement s'écoulant à travers le deuxième étrangleur (102).
  9. Procédé pour faire fonctionner un actionneur piézohydraulique (10), comprenant :
    - au moins un actionneur piézoélectrique (12) ;
    - au moins un mécanisme d'entraînement (14), qui possède une chambre d'entraînement (16) pouvant être alimentée avec un liquide hydraulique (22) et un élément piston d'entraînement (18) qui délimite au moins partiellement la chambre d'entraînement (16) et qui peut être entraîné par l'actionneur piézoélectrique (12), au moyen duquel au moins une partie du liquide hydraulique (22) est à refouler hors de la chambre d'entraînement (16) en entraînant l'élément piston d'entraînement (18) ;
    - au moins une première prise de force (32), laquelle possède une première chambre de prise de force (34), dans laquelle peut être envoyée au moins une partie du liquide hydraulique (22) refoulé hors de la chambre d'entraînement (16), et un premier élément piston de prise de force (38) qui délimite au moins partiellement la première chambre de prise de force (34), lequel possède une première surface de prise de force (42) hydrauliquement active, pouvant être sollicitée par le liquide hydraulique (22) envoyé dans la première chambre de prise de force (34) et peut être entraîné en sollicitant la première surface de prise de force (42) avec le liquide hydraulique (22) envoyé dans la première chambre de prise de force (34) ;
    - au moins une deuxième prise de force (44), laquelle possède une deuxième chambre de prise de force (46), dans laquelle peut être envoyée au moins une partie du liquide hydraulique (22) refoulé hors de la chambre d'entraînement (16), et un deuxième élément piston de prise de force (50) qui délimite au moins partiellement la deuxième chambre de prise de force (46), lequel possède une deuxième surface de prise de force (52) hydrauliquement active, pouvant être sollicitée par le liquide hydraulique (22) envoyé dans la deuxième chambre de prise de force (46) et plus grande ou plus petite par rapport à la première surface de prise de force (42), et peut être entraîné en sollicitant la deuxième surface de prise de force (52) avec le liquide hydraulique (22) envoyé dans la deuxième chambre de prise de force (46) ;
    - un dispositif de couplage (56), au moyen duquel les éléments pistons de prise de force (38, 50) sont couplés mécaniquement l'un avec l'autre, l'actionneur piézoélectrique (12) étant excité au moyen d'au moins un signal électrique, moyennant quoi l'élément piston d'entraînement (18) est entraîné au moyen de l'actionneur piézoélectrique (12) ;
    - une première conduite d'alimentation (60) reliée fluidiquement à la chambre d'entraînement (16) et à la première chambre de prise de force (34), par le biais de laquelle au moins la partie du liquide hydraulique (22) refoulé hors de la chambre d'entraînement (16) peut être envoyée dans la première chambre de prise de force (34) ;
    - une deuxième conduite d'alimentation (62) reliée fluidiquement à la première conduite d'alimentation (60) et à la deuxième chambre de prise de force (46), par le biais de laquelle au moins la partie du liquide hydraulique (22) refoulé hors de la chambre d'entraînement (16) peut être envoyée dans la deuxième chambre de prise de force (46) ;
    - au moins un premier clapet anti-retour (64) disposé dans la deuxième conduite d'alimentation (62), lequel s'ouvre en direction de la deuxième chambre de prise de force (46) et se ferme en direction de la première conduite d'alimentation (60) ;
    - au moins une troisième conduite d'alimentation (66) reliée fluidiquement à la chambre d'entraînement (16), par le biais de laquelle le liquide hydraulique (22) peut être envoyé dans la chambre d'entraînement (16) depuis un réservoir (24) ;
    - un deuxième clapet anti-retour (68) disposé dans la troisième conduite d'alimentation (66), lequel s'ouvre en direction de la chambre d'entraînement (16) et se ferme en direction du réservoir (24) ;
    - au moins une quatrième conduite d'alimentation (70) reliée fluidiquement à la deuxième chambre de prise de force (46), par le biais de laquelle le liquide hydraulique (22) peut être envoyé depuis le réservoir (24) dans la deuxième chambre de prise de force (46) en contournant la première et la deuxième conduite d'alimentation (60, 62) ;
    - un troisième clapet anti-retour (74) disposé dans la quatrième conduite d'alimentation (70), lequel s'ouvre en direction de la deuxième chambre de prise de force (46) et se ferme en direction du réservoir (24), la deuxième conduite d'alimentation (62) étant reliée fluidiquement à la première conduite d'alimentation (60) au niveau d'un point de liaison (V), et un quatrième clapet anti-retour (76) étant disposé dans la première conduite d'alimentation (60) en amont du point de liaison (V), lequel s'ouvre en direction du point de liaison (V) et se ferme en direction de la chambre d'entraînement (14) ;
    - au moins une conduite d'évacuation (78) reliée à au moins l'une des chambres de prise de force (34, 46), par le biais de laquelle au moins une partie du liquide hydraulique (22) peut être évacuée hors de l'au moins une chambre de prise de force (34, 46) et conduite au réservoir (24) ; et
    - un cinquième clapet anti-retour (80) disposé dans la conduite d'évacuation (78), lequel s'ouvre en direction du réservoir (24) et se ferme en direction de l'au moins une chambre de prise de force (34, 46).
  10. Procédé selon la revendication 9, l'actionneur piézoélectrique (12) étant excité au moyen d'une modulation d'impulsions en largeur.
EP18704930.9A 2017-02-10 2018-02-05 Actionneur piézohydraulique et procédé pour faire fonctionner un actionneur piézohydraulique Active EP3563064B1 (fr)

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DE102017202131.4A DE102017202131A1 (de) 2017-02-10 2017-02-10 Piezohydraulischer Aktor und Verfahren zum Betreiben eines solchen piezohydraulischen Aktors
PCT/EP2018/052752 WO2018146035A1 (fr) 2017-02-10 2018-02-05 Actionneur piézohydraulique et procédé pour faire fonctionner un actionneur piézohydraulique

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CN (1) CN110462223B (fr)
DE (1) DE102017202131A1 (fr)
DK (1) DK3563064T3 (fr)
ES (1) ES2864162T3 (fr)
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DE102017202131A1 (de) 2017-02-10 2018-08-16 Siemens Aktiengesellschaft Piezohydraulischer Aktor und Verfahren zum Betreiben eines solchen piezohydraulischen Aktors
DE102018214970B4 (de) 2018-09-04 2021-12-16 Metismotion Gmbh Aktorvorrichtung sowie Verfahren zum Betreiben einer solchen Aktorvorrichtung
US20230059303A1 (en) * 2020-02-14 2023-02-23 Metismotion Gmbh Actuator Device and Method for Operating an Actuator Device of This Type
JP7364534B2 (ja) * 2020-06-19 2023-10-18 株式会社東芝 ハンドリングシステムおよび制御方法

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US10851808B2 (en) 2020-12-01
WO2018146035A1 (fr) 2018-08-16
CN110462223A (zh) 2019-11-15
DE102017202131A1 (de) 2018-08-16
CN110462223B (zh) 2021-03-16
US20190368515A1 (en) 2019-12-05
ES2864162T3 (es) 2021-10-13
EP3563064A1 (fr) 2019-11-06
DK3563064T3 (da) 2021-03-22

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