EP3718150A1 - Aktoreinrichtung und verfahren zur arretierung und zur entriegelung - Google Patents
Aktoreinrichtung und verfahren zur arretierung und zur entriegelungInfo
- Publication number
- EP3718150A1 EP3718150A1 EP18810902.9A EP18810902A EP3718150A1 EP 3718150 A1 EP3718150 A1 EP 3718150A1 EP 18810902 A EP18810902 A EP 18810902A EP 3718150 A1 EP3718150 A1 EP 3718150A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- actuator
- actuator device
- hydraulic
- chamber
- clamping
- 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.)
- Pending
Links
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- GYHNNYVSQQEPJS-UHFFFAOYSA-N Gallium Chemical compound [Ga] GYHNNYVSQQEPJS-UHFFFAOYSA-N 0.000 claims description 9
- 229910052733 gallium Inorganic materials 0.000 claims description 9
- 229910052738 indium Inorganic materials 0.000 claims description 6
- APFVFJFRJDLVQX-UHFFFAOYSA-N indium atom Chemical compound [In] APFVFJFRJDLVQX-UHFFFAOYSA-N 0.000 claims description 6
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 claims description 5
- QSHDDOUJBYECFT-UHFFFAOYSA-N mercury Chemical compound [Hg] QSHDDOUJBYECFT-UHFFFAOYSA-N 0.000 claims description 5
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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
- 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
- F15B7/00—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/06—Use of special fluids, e.g. liquid metal; Special adaptations of fluid-pressure systems, or control of elements therefor, to the use of such fluids
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/04—Constructional details
- H02N2/043—Mechanical transmission means, e.g. for stroke amplification
-
- H—ELECTRICITY
- H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
- H10N—ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
- H10N30/00—Piezoelectric or electrostrictive devices
- H10N30/20—Piezoelectric or electrostrictive devices with electrical input and mechanical output, e.g. functioning as actuators or vibrators
-
- H—ELECTRICITY
- H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
- H10N—ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
- H10N30/00—Piezoelectric or electrostrictive devices
- H10N30/50—Piezoelectric or electrostrictive devices having a stacked or multilayer structure
-
- H—ELECTRICITY
- H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
- H10N—ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
- H10N35/00—Magnetostrictive devices
-
- 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
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/885—Control specific to the type of fluid, e.g. specific to magnetorheological fluid
Definitions
- the invention relates to an actuator device and a Ver drive for locking a locking body and Entrie gelung the locking body.
- Actuators are known which operate electromechanically. Such actuator devices regularly have actuation times of more than 10 milliseconds and consequently operate too slowly.
- actuator devices which comprise a che mix explosion drive.
- actuator devices are for one thing not sufficiently safe operable.
- the actuator device according to the invention is designed for locking and comprises a solid-state actuator and to the solid-state actuator mechanically connected in series Hydraulikikein unit.
- the hydraulic unit of the actuator device according to the invention on a hydraulic volume, which is filled with a hydraulic fluid and preferably filled.
- the hydraulic volume can be filled substantially completely with the hydraulic fluid.
- Preference as hydraulic fluid should fill the hydraulic volume so far that by this hydraulic fluid transmission of force and / or mechanical kinetic energy between different elements of the hydraulic unit (in particular special between a drive element and a Abretesele element) is possible.
- the solid-state actuator with the hydraulic unit "mechanically in series” is to be understood in the present context that Festkör peraktor and hydraulic unit are connected so that a mechanical movement of a part of the solid state actuator transfer to a corresponding part of the hydraulic unit
- the hydraulic unit is in particular designed to transmit this movement of the corresponding part of the hydraulic device to an element, in particular an outer one, of the element, such a transmission being essential. may be associated with a particular gear ratio and / or with an integration of several individual movements.
- This element preferably has a clamping surface for clamping the locking body in the form of a Klemmkör pers and / or a projection for locking, ie for the positive fixing of the locking body in the form of a positive locking body.
- a locking body in the form of a clamping body can be fixed.
- a positive locking so a lock to be understood, the Arretierkör by means of the hydraulic unit and preferably, in particular special additional, element, is positively fixed and thus forms a form-fitting body.
- the positive locking body comprises a recess and the element has a projection corresponding to the recess.
- the element comprises a recess and the form-fitting body has a projection corresponding to the recess.
- This element can be part of the hydraulic unit or can be an additional, ie "outer res" element, which is connected in series with the hydraulic unit in a mechanical manner.
- solid-state actuators as provided in the inventions to the invention Aktor
- the deflection times of such solid state actuators may be at least 20 microseconds, preferably at most 50 microseconds, and / or at most 100 milliseconds.
- Hydrau like unit is also a deflection of the solid state be particularly low delay and virtually lossless transferable, so that means of Aktor responded a nearly instantaneous locking of the locking body as a result of activation Fest stressesaktors is effected. Consequently, the locking body can either be released without significant time delay or prevented from moving.
- the actuator device according to the invention can be switched very quickly.
- the locking time and / or Entarret ist betra at least 50 microseconds and / or at most 100 milliseconds.
- the actuator device according to the invention is destructively usable. Especially in comparison to Exploded drives the actuator device according to the invention is therefore not only unique, but repeatedly used. Because the inven tion proper actuator device can put back to the original state, so that the actuator device is reusable. Furthermore advantageously, the actuator device according to the invention can be used without any damage to possibly existing peripheral devices and thus in a particularly reliable manner due to the omission of explosion-proof drives.
- the actuator device according to the invention is also formed mechanically wear.
- the actuator device according to the invention also comprises a locking body, which can be locked with the actuator device.
- a locking body can be locked, which is not necessarily part of the invention Ak gate device.
- the actuator device has a spring element and / or drive element, which is arranged and designed to apply force to the arresting body and / or to drive the arresting body, in particular on the arresting body.
- the locking body is beholz beatable with a high force, which can accelerate the locking body, so far he is not locked.
- the spring element or drive element to a pressure accumulator and / or a magnet and / or a spring.
- the locking body can advantageously be applied to constructive tively simple manner with a high force.
- the actuator device has at least one clamping surface, which is designed for the frictional engagement of the locking body in particular in the form of a clamping body.
- the locking body can be easily determined by applying force in the direction obliquely, in particular senk right, to a predetermined direction of movement of the Arrestier body in its movement. It is understood that the movement of the Arretier stressess must not be a center of gravity movement of the locking body. It is in principle also sufficient and possible that a surface of the locking body relative to the hydraulic unit is movable and can be fixed by locking, such as in the case of a mere rotation tion of the locking body, which just does not include relationssbe movement of the locking body.
- the actuator device is preferably formed in the case of Ar ret ist in the form of a clamp, the clamping body circumferentially, preferably fully, to clamp.
- a circumferential clamping of the clamping body By means of a circumferential clamping of the clamping body, a large contact surface for the frictional fixing of the clamping body can be used. Consequently, in this development of the invention washerbil particularly large clamping forces on the clamping body can be realized.
- the locking body apart from the form fit possibly provided recesses and / or Vorsprün conditions, cylindrical, preferably circular cylindrical shape and suitably forms a shaft.
- the locking body has a polygonal cross-section.
- the clamping surface on the clamping body completely or at least partially corresponding shape. In this education further advantageously a clamping bush is realized.
- clamping forces of several kilonewtons can be achieved with the actuator device according to the invention.
- clamping by means of positive locking similar holding forces can be achieved.
- the actuator device according to the invention can be used, in particular when the actuator device has a clamping body, similar to an electrically portable retaining magnet, in particular with regard to the intended intended use.
- a liquid metal is to be understood here as meaning a metal (that is to say a metallic element or else an alloy of a plurality of metallic elements) which has a liquid state of aggregation in an operating state of the actuator device.
- the liquid metal at room temperature and the operating pressure of the hydraulic unit may be in a liquid state. It can also be particularly advantageous even at lower temperatures than the room temperature or the operating temperature of the Aktorein device according to the invention are present in a liquid state, this is depending but not necessarily agile for the functioning of the invention.
- a significant advantage of this development of the inventive actuator device is that a liquid metal compared to conventional hydraulic fluids has a significantly lower compressibility. As a result, who reduces the mechanical losses and increases the efficiency of the actuator device according to the invention compared to the prior art.
- Another advantage of the actuator device according to the invention is that the thermal expan sion coefficient of a liquid metal is generally significantly ge ringer than conventional hydraulic fluids.
- the actuator device according to the invention due to the largely incompressible hydraulic fluid as well as due to the comparatively ge wrestle thermal expansion coefficients therefore extremely ro bust against mechanical tolerances and Temperaturausdeh calculations.
- the actuator device according to the invention Due to the designability of the hydraulic unit with a small volume and the low compressibility of the hydraulic fluid, the actuator device according to the invention also has particularly low natural frequencies in this development. so that actuation times of well below one microsecond are possible.
- the hydraulic fluid may advantageously comprise gallium and / or indium and / or tin and / or mercury.
- Such metals are advantageously suitable components for achieving a low melting point in a metallic alloy.
- the hydraulic fluid has both gallium and indium and tin. According to a particularly preferred embodiment of the invention, it even consists exclusively of the three metals mentioned.
- the hydraulic fluid may be a alloy known in the art as galatin. Galinstan is a eutectic alloy comprising about 68.5 weight percent gallium and about 21.5 weight percent indium and about 10 weight percent tin. Such an alloy has a very low melting point of about -19 ° C.
- suitable low-melting alloys are available, in particular, under the name Indalloy 51 and Indalloy 60 from the US company Indium Corporation in Utica, NY.
- suitable gallium-based alloys are in particular those alloys which are described in the patents US5800060B1 and US7726972B1.
- they may also comprise additives of other metals, for example zinc (in particular between about 2 and 10% by weight).
- the described alloys which are formed with gallium and / or indium and / or tin, have the advantage that they have a low toxicity and are thus relatively unsuitable for health and environmental damage.
- Mercury is also a suitable liquid metal or alloy for low melting point alloys, but has the fundamental drawback of being highly toxic.
- the hydraulic volume of the hydraulic unit of the actuator device can in principle be very well hermetically sealed against the external environment
- the use of mercury or mercury-containing alloys in principle not excluded and may be advantageous for certain applications.
- the hydraulic fluid may be a eutectic alloy.
- a eutectic alloy is particularly preferred because it achieves a much lower melting point with the who can than with their individual metallic components.
- the hydraulic fluid is liquid at atmospheric pressure at a temperature of 20 ° C., expediently at 0 ° C., in particular even at -10 ° C. and, in particular, at -20 ° C.
- the liquid metal is then at least down to the genann th temperature and possibly even at lower temperatures in the liquid state.
- Such a low-melting liquid metal is particularly suitable as a hydraulic fluid for the application described, even if the operating temperature of the actuator device according to the invention is well above the temperature mentioned. In any case, at such a low melting temperature, the choice of operating temperature for the invention Ak gate device is not particularly severely limited.
- the operating temperature is not just scarce, but significantly above the melting temperature of the liquid metal used.
- the distance between the operating temperature and the melting temperature may be at least 10 ° C.
- the hydraulic fluid is liquid at an operating temperature and at an operating pressure of the actuator.
- the compression modulus of the hydraulic fluid is above 10 GPa, for example between 20 GPa and 60 GPa. Such a high compression modulus can be easily achieved by the use of a liquid metal and has the consequence that the mechanical losses in the hydraulic unit are low and that accordingly the efficiency of the actuator device is high.
- the thermal expansion coefficient of the hydraulic fluid is below 0.001 1 / K, in particular below 0.00015 1 / K.
- Such a low coefficient of thermal expansion can be easily achieved by the use of a liquid metal and has the consequence that temperature fluctuations during operation of the actuator device result in only small changes in position in the individual elements of the hydraulic unit.
- the viscosity of the liquid metal is above 0.5 mm 2 / s, for example between 1 mm 2 / s and 100 mm 2 / s.
- Such a high viscosity contributes to the reduction of Lecka conditions between the individual parts of the line and thus to maintaining the required pressure gradient.
- the density of the liquid metal is below 8 g / cm 3 , for example between 5 g / cm 3 and 7 g / cm 3 .
- One of the art low density contributes to reducing the losses in the hydraulic unit and thus to a good efficiency of the actuator device.
- the material parameters mentioned here for the liquid metal as hydraulic fluid should apply to the operating conditions of the actuator device, ie their operating temperature and operating pressure.
- the operating temperature can be in particular at room temperature and it can the material parameters may be specified as parameters at room temperature.
- the hydraulic volume of the hydraulic device which essentially corresponds to the liquid volume used for the liquid metal used before preferably, may generally be below 10 milliliters.
- Such a low volume of liquid is generally advantageous in order to minimize the mechanical losses (in particular friction losses and compression losses) of the hydraulic fluid during operation of the hydraulic unit. This also applies generally to conventional hydraulic fluids.
- the stated low liquid quantities advantageously contribute even more to reducing the losses and thermal influences to a minimum.
- the boundary walls of the hydraulic volume, in particular the drive and driven chambers and hydraulic line (s) of the hydraulic unit, are particularly advantageous formed from or with a material and / or beschich tet with a material which also in permanent contact with the vorzugswei se used respective liquid metal is chemically resistant.
- Many metals are susceptible to corrosion on prolonged contact with liquid gallium or gallium-containing alloys. In order to protect the boundary walls from such corrosion, they may be made of a resistant material gebil det and / or be hen with a resistant protective layer verse. Suitable resistant materials are refractory metals such as tantalum, tungsten or ruthenium.
- sufficiently pure iron or steel in particular the material sold by the company Carpenter Steel under the name Consumet
- nickel, titanium nitride (TiN) or diamond-like coatings can also be highly resistant to gallium-containing liquid metals.
- the hydraulic unit is anaded det, emanating from the solid-state actuator movement a transmission ratio of unequal to 1 to be ing ing element, in particular designed for clamping jaw, or provided with a projection and / or a recess from positive-locking element, which is designed to fix ees locking body by positive engagement to transmit.
- the said "moving element" does not necessarily have to be part of the hydraulic unit
- the translation ratio can be chosen to be smaller than 1, so that the mechanical stroke on the outlet side of the hydraulic unit (ie in particular the side connected to the element to be moved) the element having the element) is larger than the stroke on the entrance side of the hydraulic unit (ie, the part connected to the solid-state actuator) .
- the hydraulic unit has at least one drive chamber and an output chamber and preferably a drive chamber and output chamber connecting hydraulic line.
- the drive chamber and output chamber can be directly, i. without mediating hydraulic line, be connected to each other and arranged together.
- the hydraulic volume additionally includes other parts not mentioned here, in particular still further chamber (s) and / or Lei device (s).
- the hydraulic volume may be formed in particular special with one or more valves between individual components of the volume.
- Actuator devices with such designed hydraulic units are particularly well suited to the design of the drive chamber and the output chamber due to the particular design. set correct transmission ratio for the hydraulic unit.
- a comparatively large stroke in the region of the output chamber of the hydraulic unit can be achieved in particular even with a small stroke of the solid-state actuator.
- the drive chamber may in particular have an associated drive element to and / or the output chamber may have an associated drive element.
- drive and output elements may be in particular elements Kolbenele or similar acting elements, which are suitably coupled in terms of movement with the solid state actuators.
- At the drive and driven chambers for example, as Zylin or be designed as a bellows.
- a desired gear ratio is in a derarti conditions hydraulic unit, in particular by different shape and / or size of the respective drive and driven chambers and / or by different choice of the drive and Ab drive elements adjustable.
- the hydraulic unit has at least one drive chamber partially limiting zendes drive element, which is movable by means of the fixed body actuator. In this case, by moving the drive element to a flow of the hydraulic fluid between rule drive chamber and output chamber effected.
- the Hyd raulikisme may additionally comprise at least one output chamber partially limiting drive element, wel ches in turn by the flowing hydraulic fluid is movable bar and on an output side of the hydraulic unit, in particular an outer, to move element can move.
- the solid-state actuator preferably by means of the drive element as described above, hydra lik tendkeit from the output chamber in the drive chamber movable, and / or a pressure reduction of the output chamber effected.
- the hydraulic unit of the actuator device according to the invention may optionally additionally have a storage chamber for the hydra lik gallkeit.
- the storage chamber is pressurized, in particular by means of a chamber arranged in the reservoir gas pressure accumulator and / or by means of a flexible wall of the storage chamber kraftbeauf usedden spring, i. a resilient element.
- the storage chamber is pressurized, wherein the pressurized storage chamber for pressurizing the driven chamber, in particular by means of a pressurization of the drive chamber, is formed and hydraulically connected.
- the pressurized pantry can act on the pressure chamber from the pressure in which with means of a control of the solid state actuator as described above be a pressure reduction is effected. Consequently, by means of this development of the invention, the output kairaner biasing such that the locking body permanently locked by means of the pressurized output chamber, et wa clamped or locked, wherein, if necessary, the locking body can be released due to the pressure reduction of the output chamber.
- the drive chamber is realized by means of a hydraulic cylinder, in which a guided in the hydraulic cylinder hydraulic piston limits a drive chamber.
- the hydraulic piston limits the drive chamber on a side facing the solid-state actuator.
- said solid-state actuator is a piezoelectric actuator.
- Piezoelectric actuators have proven to be particularly promising embodiments of the solid state actuator in the past. With them, a particularly precise movement can be achieved. Their main disadvantage, namely their low mechanical stroke, can be compensated as described by the subsequent hydraulic unit.
- the piezoelectric actuator of the actuator device is designed as a piezo stack actuator.
- a piezo stack actuator is basically known from the prior art series circuit of a plurality of individual piezo elements, which are arranged as a layer stack. Such a stack actuator is particularly advantageous, even with the piezoelectric actuator to achieve a higher amplitude of movement than would be possible with a single piezoelectric element.
- the invention is not necessarily limited to a piezoelectric actuator as a solid state actuator.
- many of the known advantages and disadvantages of piezo actuators also apply to other types of solid state actuators.
- a comparatively small stroke can be magnified ßert by the subsequent hydraulic unit.
- said solid-state actuator for example, a mag netostrictive actuator or an electrostrictive actuator.
- the solid state actuator may also be a shape memory actuator.
- the actuator device has a control device, which is directed to control the solid state factor depending on a BEWE supply variable of the locking body.
- the motion size is expedient ge with a location and / or a Geschwin speed and / or acceleration of the locking body forms.
- a force application of the locking body takes the place of the movement variable.
- vorgese Henen hydraulic device are thus not alone, to some extent digital, locking forces for a Arretierkör by locking with maximum arresting force state and a non-locking state adjustable, but it are also all intermediate states, in the case of Arretie tion in the form of clamping all between clamping with maximum clamping force and not clamping state befindli chen states, adjustable.
- the actuator device according to the invention on a sol chen control device which provides the solid state actuator such that the clamping body, after it has been accelerated as a result of annenhe environment of clamping is decelerated, in particular such that a rebound of the clamp body of a possibly existing stop can be avoided.
- the control device is preferably designed to control a control of the filling of the output chamber and consequently a position of the braking force on the clamping body by means of feedback, by a movement variable such as in particular a speed value and / or an acceleration value and / or a local value of the clamping body or a derived therefrom size and / or a force applied to the locking body for feedback.
- the control device for regulating the clamping force is formed by the filling of the output chamber and / or the deflection of the solid state actuator, the control variable and the speed and / or acceleration and / or the location of the clamping body and / or a force applied to the locking body, the guide - or controlled variable forms.
- the control is then taken after the clamping device has released the clamp body and the Fe derelement has accelerated the clamp body.
- the control device is designed to decelerate the sprag con trolled or debounce.
- the inventive method is used to clamp a clamping body and pulls it to a erfindungsgsmäße actuator device, wherein the actuator device with a solid state actuator and one to the solid-state actuator mechanically in series maral ended hydraulic unit is formed.
- the hydraulic unit has no hydraulic volume which can be filled or filled with a hydraulic fluid.
- the solid-state actuator is controlled in particular as a function of a force of movement or force of the clamping body.
- Fig. 1 shows a first embodiment of a
- Fig. 2 shows a second embodiment of a
- Fig. 3 shows a third embodiment of a
- the drawing figure 1 shows a first embodiment of an actuator according to the invention with a hydraulic unit in a schematic diagram schematically.
- the invention Ak gate device 10 comprises a spring element 20, in this example, a compression spring in the form of a helical spring wel Ches is disposed on a front side 30 of a circular cylindrical shaft 40 and the shaft 40 at this end face 30 in the axial direction A. with force.
- a translation unit 70 which provides a path of the shaft 40 translated into a path of an actuator element 60, translated in the embodiment shown with a translation factor greater than one, ie, a movement of the shaft 40 is translated into a greater by this translation factor way of the actuator element 60.
- the translation unit 70 has a contact pressure spring. In wide ren, not specifically illustrated embodiments, however, the translation unit 70 may be formed in any other way ge.
- the actuator element 60 is movable against a mechanical stop 80. In contrast to the translation unit 70 be movable actuator element 60 of the mechanical stop 80 is fixed. If the actuator element 60 and the mechanical stop 80 abut one another, then the actuator device 10 is in a disengaged state. Are actuator 60 and mecha African stop 80 spaced from each other, then the actuator device 10 is in an operating condition.
- Actuator 60 and mechanical stop 80 may be performed in principle in different ways.
- actuator element 60 and mechanical stop 80 are designed as plates.
- Lich actuator element 60 and mechanical stop 80 depending but also be formed in any other way.
- the actuator element 60 is spaced from the mechanical stop 80, i.
- the Ak gate device 10 is in an operating condition.
- the spring element 20 is prestressed ge in the axial direction A and is at its relaxation as a result of Arretie tion of the shaft 40 prevented in the axial direction A.
- the shaft 40 is fixed in the axial direction A by means of a clamping jaw 100, which is subjected to force in the radial direction on the shaft 40 and the shaft 40 frictionally holds in its axial position.
- the jaw 100 is designed to be able to interrupt the application of force to the shaft 40 and to release the shaft 40 axially.
- the spring element 20 can relax and the shaft 40 in the axial direction A kraftbeierhat. Due to the force acting on the shaft 40 by means of the spring element 20, the shaft 40 is movable in the axial direction A, so that the Ak torelement 60 to the mechanical stop 80 is too movable and the actuator device is silent.
- the jaw 100 is part of a hydraulic unit 120, by means of which the clamping jaw 100 is controlled in a controlled manner movable as described below:
- the hydraulic unit 120 forms, together with the clamping jaw 100 and the shaft 40 which can be clamped by means of the clamping jaw 100, a clamping device for ultrafast pressure reduction.
- the hydraulic unit 120 has a solid-state actuator 130 which, in the exemplary embodiment shown, is formed with a piezoactuator.
- This solid state actuator 130 is shown in theticiansbei play by means of a drive chamber 140 of a double acting hydraulic cylinder 150 coupled in the form of a piston cylinder. Coupled means in this context that the solid state actuator 130 is so connected to a limitation of the drive chamber 140 of the hydraulic cylinder 150 that the drive chamber 140 due to a deflection of the Festissonak sector 130 changes its volume.
- the drive chamber 140 of the piston cylinder in a known per se manner of a piston piston in an axial direction of the piston cylinder movable hydraulic piston 160 volume limited and the solid state actuator 130 with the hydraulic raulikkolben 160 coupled in motion, approximately positively with a front end 164 of the hydraulic piston 160 arranged handle 166, connected.
- a hydraulic cylinder 150 in the form of a me-metallic bellows present which has a movable end face, which is supply coupled with the solid-state actuator 130.
- the hydraulic cylinder 150 can also be realized in other ways. According to the invention is in particular special, that by means of a movement of the solid-state actuator 130, a hydraulic drive volume is changed.
- the hydraulic piston 160 separates two volumes. At a front side of the hydraulic piston 160 close to the solid-state actuator 130, the drive volume of the drive chamber 140 is applied, i. upon deflection of the Festkör peraktors 130 in the direction of the hydraulic piston 160 to the drive volume of the drive chamber 140 increases in size.
- Another volume 190 of the hydraulic cylinder 150 is located on a solid body actuator 130 far side of the Hydraulikkol bens 160 at.
- Hydraulikflüs fluid 195 Drive volume of the drive chamber 140 and further volume 190 of the hydraulic cylinder 150 are filled with a Hydraulikflüs fluid 195.
- the hydraulic fluid can be formed 195 with water or other liquid ge ge.
- the hydraulic fluid 195 with a liquid metal, example, Galinstan formed. Liquid metal has a particularly low compressibility and a particularly low thermal expansion coefficient.
- the additional volume 190 is connected to the drive volume via a leakage that is always present in practice.
- the Le ckage is symbolized in Fig. 1 with a hydraulic piston 160 paral lel connected throttle 200.
- the additional volume 190 is fluid-conductively connected to a reservoir 210 filled with hydraulic fluid 195.
- the reservoir 210 is biased by means of a pressurizing means 220, that is, with a pressure, here an overpressure acted upon.
- a pressure here an overpressure acted upon.
- the pressurizing means 220 is in the illustrated exemplary embodiment, a gas pressure located in the reservoir 210 memory.
- the pressurizing means 220 may also be formed with a spring which such a force applied to a flexible wall of the reservoir, that the reservoir 210 is acted upon by a pressure.
- the drive chamber 140 is fluid-conducting means Fluidleitun 235 connected to an output chamber 230, in which for realizing a clamping of the shaft 40, a pressure drop can be realized:
- the solid state actuator 130 When the solid state actuator 130 jumps, i. controlled by a voltage pulse, the solid state actuator 130 is deflected in the direction s and drives the handle 166 of the hydraulic raulikkolbens 160 axially. As a result, hydraulic fluid 195 is pushed into the reservoir 210. Since the pressurizing medium 220 has a lower spring rigidity compared with the hydraulic fluid 195, the pressure increase due to the small expansion of the solid-state actuator 130 is small. As a result of the deflection of the hydraulic piston 160, however, a change in volume in the hydraulic From drive chamber 230.
- the pressure drop is proportional to the quotient of re lativer volume change and compressibility of the hydraulic fluid:
- the relative change in volume means the volume change referred to an initial volume before the volume change.
- the absolute change in volume is given by the solid-state actuator 130 in the illustrated embodiment.
- the hydraulic initial volume is kept as low as possible for a high pressure drop and a hydraulic fluid 195 chosen with FITS low compressibility.
- the coefficient of thermal expansion of a liquid metal such as galinstan is 0.000126 1 / K, which is only one fifth of glycerin and only half of water. Thereby, the temperature-related influence on the pressure in the output chamber 230 can be reduced.
- the solid-state actuator 130 with the hydraulic drive chamber as shown in Fig. 1 may be provided twice or more times.
- the output chamber 230 of the hydraulic unit 120 has a shape of a circular cylindrical tube, which surrounds the Wel le 40 along an axial portion in full.
- the output chamber 230 is brought into a circumferential tube 240 and thus fixed externally circumferentially.
- inflowing hydraulic fluid 195 is a réelle barnmes water of the output chamber 230 of the hydraulic unit 120 verrin gerbar, so that the output chamber 230 frictionally depending on a flowing hydraulic fluid 195 to the Wel le 40 around this applies.
- the shaft 40 can be frictionally fixed: Due to the initial initial pressure in the hydraulic system, the jaw 100 is in the direction of the shaft 40 Kirschagt to kraftbe, so that the shaft 40 is clamped in the initial state.
- the shaft 40 should be released from the jaw 100, so that the spring element 20 can relax and the shaft 40 accelerates in the axial direction A.
- the spring element 20 is as described above forms out as a mechanical compression spring.
- a mechanical compression spring instead of a mechanical compression spring, a compressed gas spring or other spring element 20 IN ANY.
- the hitherto clamped in the jaw 100 shaft 40 can be released by the or - in the case of several parallel-connected Festkör peraktoren 130 - the solid state actuators 130 who controlled the to a pressure reduction in the output chamber 230 to be.
- the clamping between the jaw 100 and shaft 40 is releasable and the shaft 20 can be accelerated due to the spring element.
- the shaft 40 is movable with be particularly low time delay.
- an electromechanical drive can be provided, wherein the drive energy is kept, for example, in capacitors.
- the controller is configured to control the filling of the output chamber 230 and, consequently, adjust the braking force on the shaft 40 by the jaw 100 by means of feedback, by an acceleration value and a speed and a local value of the shaft 40 is pulled to the feedback.
- the clamping force is adjusted by means of filling the output chamber 230 such that the shaft 40 at its stop of the actuator element 60 to the mechanical impact on 80 is braked abruptly.
- this Re gelung is only taken after the jaw 100 has released the shaft 40 and the spring element 20 has the shaft 40 has accelerated.
- the actuator device 10 is designed to accelerate the shaft 40 in the direction of the mechanical stop 80.
- the Ak gate device 10 can also be formed to remove the shaft 40 from the mechanical stop African 80, for example, by corre sponding arrangement of the spring element 20 on the shaft 40th
- FIG. 2 further embodiment of an actuator device 10 'according to the invention largely corresponds to the embodiment shown in Fig. 1 an inventions to the invention actuator device 10th
- the actuator device 10 ' deviating from the above-described embodiment instead of a clamped with a jaw 100 shaft 40 with a Rie gel 100' clampable shaft 40 'on.
- the shaft 40 'on a fully extending constriction 42', which forms a recess into which the latch 100 'can engage.
- the latch 100 ' is formed as a radially inwardly occidentalis admirre ckender, fully circumferentially on an inner periphery of the Abtriebskam number 230 arranged projection, which thus radially into the recess 42' einkragt.
- the output chamber 230 has this in the axial direction shorter dimensions compared to the previous embodiment.
- the shaft 40 ' can be fixed in a form-fitting manner by means of the bolt 100'.
- the illustrated in Fig. 3 embodiment of inventions to the invention actuator device 10 '' corresponds to the circumstance described below the previously described embodiment of the actuator device 10 'according to the invention.
- the latch 100 ' in addition to a translation 270, which provides a movement of an inner periphery of the drive chamber from 230 with a translation factor, so that the latch 100' is not moved directly, but is translated accordingly translated the translation factor.
- actuator devices In the case of the exemplary embodiments illustrated with reference to Figures 1 to 3, these are so-called “normally-closed” actuator devices, ie the shafts 40, 40 'are permanently fixed in the operating state, ie locked in.
- the shafts 40, 40' are only in the If necessary, such as a critical state, released and accelerated by means of the spring elements 20.
- actuator devices can also be embodied as "normal-ly-open" -actuator devices in further exemplary embodiments that are not specifically illustrated, in which case the shafts are only fixed if necessary, as a rule in an exceptional case.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Actuator (AREA)
- Combustion & Propulsion (AREA)
- Fluid-Pressure Circuits (AREA)
- Sawing (AREA)
- Braking Arrangements (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP17203689.9A EP3490017A1 (de) | 2017-11-27 | 2017-11-27 | Aktoreinrichtung mit festkörperaktor und hydraulikeinheit |
PCT/EP2018/081249 WO2019101601A1 (de) | 2017-11-27 | 2018-11-14 | Aktoreinrichtung und verfahren zur arretierung und zur entriegelung |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3718150A1 true EP3718150A1 (de) | 2020-10-07 |
Family
ID=60473369
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP17203689.9A Pending EP3490017A1 (de) | 2017-11-27 | 2017-11-27 | Aktoreinrichtung mit festkörperaktor und hydraulikeinheit |
EP18810903.7A Active EP3692581B1 (de) | 2017-11-27 | 2018-11-14 | Aktuator bestehend aus festkörperaktuator und hydraulik einheit und verfahren zum schalten |
EP18810902.9A Pending EP3718150A1 (de) | 2017-11-27 | 2018-11-14 | Aktoreinrichtung und verfahren zur arretierung und zur entriegelung |
Family Applications Before (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP17203689.9A Pending EP3490017A1 (de) | 2017-11-27 | 2017-11-27 | Aktoreinrichtung mit festkörperaktor und hydraulikeinheit |
EP18810903.7A Active EP3692581B1 (de) | 2017-11-27 | 2018-11-14 | Aktuator bestehend aus festkörperaktuator und hydraulik einheit und verfahren zum schalten |
Country Status (5)
Country | Link |
---|---|
US (1) | US12006956B2 (de) |
EP (3) | EP3490017A1 (de) |
JP (1) | JP7160382B2 (de) |
CN (1) | CN111373558B (de) |
WO (2) | WO2019101603A1 (de) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB201905246D0 (en) * | 2019-04-12 | 2019-05-29 | Exergyn Ltd | Gas separated cycling of SMA/NTE bundles in a fluid environment for power production cycle or heat pump cycles |
WO2020211937A1 (de) | 2019-04-17 | 2020-10-22 | Siemens Aktiengesellschaft | Hubübertrager für eine aktoreinrichtung |
DE102019219728A1 (de) | 2019-12-16 | 2021-06-17 | Siemens Aktiengesellschaft | Elektrische Schalteinrichtung |
EP4104286B1 (de) * | 2020-02-14 | 2024-03-27 | MetisMotion GmbH | Aktorvorrichtung sowie verfahren zum betreiben einer solchen aktorvorrichtung |
DE102020108755A1 (de) * | 2020-03-30 | 2021-09-30 | Fresenius Medical Care Deutschland Gmbh | Pumpe mit elektroaktiven Polymeren |
CN112682285B (zh) * | 2020-11-30 | 2021-11-19 | 浙江万里学院 | 一种温感驱动机构 |
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FR96254E (fr) * | 1966-01-05 | 1972-06-16 | Anciens Etablissements T M B | Mandrin a serrage par fluide. |
JPS5864391A (ja) | 1981-10-14 | 1983-04-16 | Tatsuo Okazaki | 連続式水電解装置における水量制御機構 |
JPS59169406U (ja) * | 1983-04-29 | 1984-11-13 | 合資会社 ヒロタカ精機 | 中間停止シリンダ用圧力発生装置 |
JPS61162297A (ja) * | 1985-01-09 | 1986-07-22 | Ube Ind Ltd | 圧力伝達方法 |
JPS62102952A (ja) * | 1985-10-31 | 1987-05-13 | Kuroda Precision Ind Ltd | 位置決め装置 |
JPS63235708A (ja) * | 1987-03-24 | 1988-09-30 | Masahiko Kanai | 電気−油圧式アクチユエ−タ |
US5063542A (en) * | 1989-05-17 | 1991-11-05 | Atlantic Richfield Company | Piezoelectric transducer with displacement amplifier |
DE4227434C2 (de) | 1992-08-19 | 1994-08-18 | Geraberger Thermometerwerk Gmb | Fieberthermometer |
FR2728037B1 (fr) * | 1994-12-09 | 1997-05-30 | Dld International | Structure heterogene d'accumulation ou de dissipation d'energie, procedes d'utilisation d'une telle structure, et appareils associes d'accumulation ou de dissipation d'energie |
DE19535081C2 (de) | 1995-09-21 | 1999-12-16 | Ferromatik Milacron Maschinenb | Zwei-Platten-Spritzgießmaschine |
DE19705049C1 (de) | 1997-02-03 | 1998-09-03 | Mannesmann Ag | Schließeinheit für eine Zwei-Platten-Spritzgießmaschine |
DE19726125C2 (de) * | 1997-06-20 | 1999-04-15 | Telefunken Microelectron | Verfahren zur Einspritzung von Kraftstoff |
US6000687A (en) * | 1998-11-19 | 1999-12-14 | Hydra-Lock Corporation | Actuator for hydraulic tool holder |
DE19854348C1 (de) * | 1998-11-25 | 2000-04-27 | Fortuna Werke Maschf Ag | Spindel für eine Werkzeugmaschine sowie Verfahren zum Einstellen einer Vorspannung eines in der Spindel angeordneten Wälzlagers |
DE10017178A1 (de) * | 2000-04-07 | 2001-10-18 | Eisenschmidt Torsten | Anordnung zum Betätigen von Vakuumschaltkammern mit Piezoaktuator |
EP2126377A1 (de) | 2007-03-16 | 2009-12-02 | Csir | Wachsaktuator und verfahren zur betätigung mittels eines wachsaktuators |
US7726972B1 (en) | 2009-07-17 | 2010-06-01 | Delphi Technologies, Inc. | Liquid metal rotary connector apparatus for a vehicle steering wheel and column |
DE102012206834A1 (de) * | 2012-04-25 | 2013-10-31 | Siemens Aktiengesellschaft | Aktorvorrichtung und Verfahren zum Einstellen einer Position eines linear beweglichen Elements |
DE102013211289A1 (de) | 2013-06-17 | 2014-12-18 | Siemens Aktiengesellschaft | Vorrichtung und Verfahren zum Anheben von Objekten |
CN104343928A (zh) * | 2013-07-31 | 2015-02-11 | 中国科学院理化技术研究所 | 基于液态金属的液压传动装置 |
US20150345519A1 (en) * | 2014-05-25 | 2015-12-03 | Jan Vetrovec | Magnetohydrodynamic actuator |
DE102014219772A1 (de) * | 2014-09-30 | 2016-03-31 | Siemens Aktiengesellschaft | Vakuumschaltröhre |
DE102015100801B4 (de) | 2015-01-20 | 2019-11-14 | Langenstein & Schemann Gmbh | Stauchvorrichtung und Verfahren jeweils zum Elektrostauchen von Werkstücken |
DE102016208274A1 (de) | 2016-05-13 | 2017-11-16 | Siemens Aktiengesellschaft | Kopplungsglied für ein elektrisches Schaltgerät |
-
2017
- 2017-11-27 EP EP17203689.9A patent/EP3490017A1/de active Pending
-
2018
- 2018-11-14 CN CN201880076654.9A patent/CN111373558B/zh active Active
- 2018-11-14 JP JP2020545858A patent/JP7160382B2/ja active Active
- 2018-11-14 EP EP18810903.7A patent/EP3692581B1/de active Active
- 2018-11-14 EP EP18810902.9A patent/EP3718150A1/de active Pending
- 2018-11-14 US US16/761,556 patent/US12006956B2/en active Active
- 2018-11-14 WO PCT/EP2018/081260 patent/WO2019101603A1/de unknown
- 2018-11-14 WO PCT/EP2018/081249 patent/WO2019101601A1/de unknown
Also Published As
Publication number | Publication date |
---|---|
JP7160382B2 (ja) | 2022-10-25 |
WO2019101601A1 (de) | 2019-05-31 |
CN111373558A (zh) | 2020-07-03 |
CN111373558B (zh) | 2024-01-05 |
EP3692581B1 (de) | 2022-06-01 |
EP3490017A1 (de) | 2019-05-29 |
US20210172464A1 (en) | 2021-06-10 |
EP3692581A1 (de) | 2020-08-12 |
JP2021504653A (ja) | 2021-02-15 |
WO2019101603A1 (de) | 2019-05-31 |
US12006956B2 (en) | 2024-06-11 |
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