JPS60220209A - Oil pressure actuator - Google Patents
Oil pressure actuatorInfo
- Publication number
- JPS60220209A JPS60220209A JP7405984A JP7405984A JPS60220209A JP S60220209 A JPS60220209 A JP S60220209A JP 7405984 A JP7405984 A JP 7405984A JP 7405984 A JP7405984 A JP 7405984A JP S60220209 A JPS60220209 A JP S60220209A
- Authority
- JP
- Japan
- Prior art keywords
- input shaft
- groove
- oil
- output shaft
- housing
- 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
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/12—Characterised by the construction of the motor unit of the oscillating-vane or curved-cylinder type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/20—Type of damper
- B60G2202/22—Rotary Damper
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Servomotors (AREA)
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
本発明は出力軸の外周に入力軸を嵌合し、入力軸とハウ
ジングとの間に静圧軸受を設けた油圧アクチュエータに
関するものである。DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a hydraulic actuator in which an input shaft is fitted around the outer periphery of an output shaft, and a hydrostatic bearing is provided between the input shaft and a housing.
従来例の構成とその問題点
第１図は従来例を示すもので、１は出刃軸、２は入力軸
、３−ａ、ｂ、ｃ、ｄはハウジング、４はＭｌの排油通
路、６は第１の圧油通路、６−ａ。Structure of the conventional example and its problems Figure 1 shows the conventional example, where 1 is a cutting shaft, 2 is an input shaft, 3-a, b, c, d is a housing, 4 is an Ml oil drain passage, 6 is the first pressure oil passage, 6-a.
ｂ、ｃ、ｄは出力軸側案内弁、７−８．、ｂ、ｃ。b, c, d are output shaft side guide valves, 7-8. , b, c.
ｄは入力軸側案内弁、８はロータ、９けハウジング３−
ａ、ｂ、ｃ、ｄを固定するだめのボルト、１ｏは０リン
ク、１１−ＩＬ 、 ｂは油室、１２−ａ。d is input shaft side guide valve, 8 is rotor, 9 housing 3-
Bolts for fixing a, b, c, d, 1o is 0 link, 11-IL, b is oil chamber, 12-a.
ｂは圧排油通路である。第２図は第１図の矢視図ＡＡ、
第３図は第１図の矢視図ＢＢ、第４図は矢３ ”−”
視図ＣＣを示すもので、１３は固定駒である。b is an exclusive oil passage. Figure 2 is an arrow view AA in Figure 1,
3 shows a view BB in the direction of arrow 1, and FIG. 4 shows a view CC in the direction of arrow 3"-", and 13 is a fixed piece.
第１．２，３．４図において、入力軸２と出力軸１との
間に角度偏差が生ずると、入力軸案内弁７−ＩＬ 、
ｂ 、 Ｏ、ｄと出力軸側案内弁ｅ−ａ、ｂ。1.2 and 3.4, when an angular deviation occurs between the input shaft 2 and the output shaft 1, the input shaft guide valve 7-IL,
b, O, d and output shaft side guide valves ea, b.
ｃ、ｄは偏差に比例して重なり、第１の圧油通路６と圧
排油通路１２−ＩＬ、ｂの一方とが連通ずることにより
、ロータ８および固定駒１３によって２室に分けられた
油室１１−ａ、ｂの一方に高圧油が供給され、同時に第
１の排油通路４と圧排油通路１２−ａ、ｂの一方とが連
通ずることにより油室１１−ａ、ｂの一方から排油され
ることにより、偏差を補償する方向に出力軸にトルクが
発生し、その結果、出力軸１は入力軸２に追従して回転
する。c and d overlap in proportion to the deviation, and by communicating between the first pressure oil passage 6 and one of the pressure discharge oil passages 12-IL, b, the oil is divided into two chambers by the rotor 8 and the fixed piece 13. High-pressure oil is supplied to one of the chambers 11-a and 11-b, and at the same time, the first oil drain passage 4 and one of the pressure discharge oil passages 12-a and 12-b communicate with each other, so that high-pressure oil is supplied from one of the oil chambers 11-a and 11-b. By draining the oil, torque is generated on the output shaft in a direction that compensates for the deviation, and as a result, the output shaft 1 rotates following the input shaft 2.
上記油圧アクチュエータのように案内弁がスラスト面に
ある場合、案内弁部のスラスト方向の圧力により入力軸
２が・・ウジング３−ｄに押しつけられ、また、スラス
ト面に圧力が一様にかからない場合はねじりモーメント
が加わるために入力軸２を駆動するのに高出力トルクの
大型モータが必要であり、ロボットの関節部に油圧アク
チュエータを組み込んだ場合、構成の小型化の点で問題
があった。When the guide valve is on the thrust surface as in the above hydraulic actuator, the input shaft 2 is pressed against the housing 3-d due to the pressure in the thrust direction of the guide valve, and when the pressure is not applied uniformly to the thrust surface Since a torsional moment is applied, a large motor with high output torque is required to drive the input shaft 2, and when hydraulic actuators are incorporated into the joints of the robot, there is a problem in terms of miniaturization of the structure.
発明の目的
本発明は上記従来の油圧アクチュエータの問題点を解消
したもので、人力軸の低入力トルク化とともにロボット
関節部に油圧アクチュエータを適用した際の構成の小型
化を目的とする。OBJECTS OF THE INVENTION The present invention solves the above-mentioned problems of the conventional hydraulic actuator, and aims to reduce the input torque of the human power axis and downsize the configuration when the hydraulic actuator is applied to the robot joint.
発明の構成
本発明の油圧アクチュエータは、出力軸と、前記出力軸
の外側に嵌合された入力軸と、前記入力軸と前記出力軸
との間に構成されメカニカルフィードバック機能を有す
る箭内弁と、前記出力軸の表面より円周方向に向かって
突出しているロータと、前記出力軸、前記入力軸、前記
案内弁、＠記ロータを内部に収納するハウジングと、前
記ハウジング内に前記ロータが摺動するために設けられ
た油室と、前記油室内に前記ハウジングより突出してい
る固定駒と、前記出力軸内および前記入力軸内にあり圧
油供給源と前記案内弁とを連通して５ ぺ−ｚ゛
いる第１の圧油通路と、前記出力軸内および前記入力軸
内にあり圧油供給源のタンクと前記案内弁とを連通して
いる第１の排油通路と、前記案内弁と前記油室とを連通
している圧排油通路と、前記入力軸表面に設けられた第
１の溝および第２の溝と、前記第１の溝と前記第１の圧
油通路とを連通ずる第２の圧油通路と、前記第２の溝と
前記第１の排油通路とを連通ずる第２の排油通路と、前
記第１の溝と前記第２の溝と前記入力軸表面と前記ハウ
ジングの内壁面との間に構成される静圧軸受とを備えて
いるだめに、入力軸の低入力トルク化および油圧アクチ
ュエータをロボット関節部に適用した際の構成の小型化
ができるという効果を有する。Composition of the Invention The hydraulic actuator of the present invention includes: an output shaft, an input shaft fitted on the outside of the output shaft, and an internal valve configured between the input shaft and the output shaft and having a mechanical feedback function. a rotor that protrudes from the surface of the output shaft in a circumferential direction; a housing that houses the output shaft, the input shaft, the guide valve, and the rotor therein; and the rotor slides within the housing. an oil chamber provided for this purpose, a fixing piece protruding from the housing into the oil chamber, and a pressure oil supply source located within the output shaft and the input shaft communicating with the guide valve. - a first pressure oil passage located in the output shaft and the input shaft and communicating with the pressure oil supply source tank and the guide valve; and a pressure oil passage communicating with the oil chamber, a first groove and a second groove provided on the surface of the input shaft, and a pressure oil passage communicating the first groove and the first pressure oil passage. a second pressure oil passage that communicates with the second oil drainage passage; a second oil drainage passage that communicates the second groove and the first oil drainage passage; the first groove, the second groove, and the input shaft surface; Since the hydraulic actuator is provided with a static pressure bearing constructed between the housing and the inner wall surface of the housing, it is possible to reduce the input torque of the input shaft and to downsize the configuration when the hydraulic actuator is applied to the robot joint. have an effect.
実施例の説明
以下に本発明の一実施例を図にもとづいて説明する。第
５図は本発明における一実施例を示すもので１６は第１
の溝、１４は第１の溝１６と第１の圧油通路６とを連通
ずる第２の圧油通路、１７は第２の溝、１６は第２の溝
１７と第１の排油通６ベ゛
路４とを連通ずる第２の排油通路である。第６図は第５
図の断面ＡＡの矢視図、第７図は第６図の断面ＢＢの矢
視図、第８図は第６図の断面ＣＣの矢視図、第９図は入
力軸の外観図、第１０図は第９図のＡ−Ａの矢視図、第
１１図は第９図のｌ１ｂＢの矢視図、第１２図は第９図
の断面Ｃ−Ｃの矢視図である。DESCRIPTION OF EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 5 shows one embodiment of the present invention, and 16 is the first embodiment.
, 14 is a second pressure oil passage that communicates the first groove 16 and the first pressure oil passage 6, 17 is a second groove, and 16 is a communication between the second groove 17 and the first oil drain passage. This is a second oil drain passage that communicates with the 6-way 4. Figure 6 is the 5th
7 is a view of cross section BB in FIG. 6, FIG. 8 is a view of cross section CC of FIG. 6, and FIG. 9 is an external view of the input shaft. 10 is a view taken along the line AA in FIG. 9, FIG. 11 is a view taken along the line l1bB in FIG. 9, and FIG. 12 is a view taken along the line C-C in FIG. 9.
第５．６，７，８，９，１０，１１．１２図において、
入力軸２と出力軸１との間に角度偏差が生ずると、入力
軸側案内弁７−ａ、ｂ、ｃ、ｄと出力軸側案内弁６−ａ
、ｂ、ｃ、６は偏差に比例して重なり、第１の圧油通路
６と圧排油通路１２−ａ、ｂの一方とが連通ずることに
より、ロータ８および固定駒１３によって２室に分けら
れた油室１１−ａ、ｂの一方に高圧油が供給され、同時
に第１の排油通路４と圧排油通路１２−ａ、ｂの一方と
が連通ずることにより油室１１−ａ、ｂの一方から油が
排油されることにより、偏差を補償する方向に出力軸１
にトルクが発生し、その結果、出力軸１は入力軸２に追
従して回転する。入力軸７ ° ゛
２の第２の圧油通路１４から第１の溝１６へ供給された
高ｆ−Ｅ油が人力軸２とハウジング３−Ｃおよび３−
ｄの内壁とのすき壕を通り、圧油供給源のタンクと連通
している第１の排油通路４および第２の排油通路１６と
連通している第２の溝１７に流れ込む時に生じる圧力に
より、人力軸２とハウジング３−Ｃ，３−ｄとを非接触
の状態に保つことにより、案内弁部のスラスト面にかか
る力を打ち消し、常に低トルクで入力軸を回転可能とす
ることができる。In Figures 5.6, 7, 8, 9, 10, 11.12,
When an angular deviation occurs between the input shaft 2 and the output shaft 1, the input shaft side guide valves 7-a, b, c, d and the output shaft side guide valve 6-a
, b, c, and 6 overlap in proportion to the deviation, and by communicating the first pressure oil passage 6 with one of the discharge oil passages 12-a and 12-b, the rotor 8 and the fixed piece 13 divide it into two chambers. High-pressure oil is supplied to one of the oil chambers 11-a and 11-b, and at the same time, the first oil drain passage 4 and one of the oil discharge passages 12-a and 12-b communicate with each other, so that the oil chambers 11-a and 11-b are The oil is drained from one side of the output shaft 1 in the direction that compensates for the deviation.
Torque is generated, and as a result, the output shaft 1 rotates following the input shaft 2. The high f-E oil supplied from the second pressure oil passage 14 of the input shaft 7° 2 to the first groove 16 is connected to the human power shaft 2 and the housings 3-C and 3-.
This occurs when the oil passes through the groove with the inner wall of d and flows into the second groove 17 that communicates with the first oil drain passage 4 and the second oil drain passage 16 that communicate with the tank of the pressure oil supply source. By keeping the human power shaft 2 and the housings 3-C, 3-d in a non-contact state using pressure, the force applied to the thrust surface of the guide valve part is canceled out, and the input shaft can always be rotated with low torque. I can do it.
発明の効果
以上のように本発明では、メカニカルフィードバック機
能を備え、入力軸が出力軸の外側に嵌合された油圧アク
チュエータにおいて、入力軸とハウジングとの間に静圧
軸受を設けることにより、入力軸の低人力トルク化およ
びロボットの関節部に油圧アクチュエータを適用した際
に小型の低出力トルクのモータで入力軸を回転できるだ
めに構成を小型化することができた。Effects of the Invention As described above, in the present invention, in a hydraulic actuator equipped with a mechanical feedback function and in which the input shaft is fitted outside the output shaft, by providing a hydrostatic bearing between the input shaft and the housing, the input By reducing the manual torque of the shaft and applying hydraulic actuators to the joints of the robot, we were able to downsize the configuration by being able to rotate the input shaft with a small, low-output torque motor.
第１図は従来の油圧アクチュエータの断面図、第２図は
第１図のＡ−Ａ断面の矢視図、第３図は第１図のＢ−Ｂ
断面の矢視図、第４図は第１図のＣ−Ｃ断面の矢視図、
第６図は本発明における油圧アクチュエータの一実施例
の断面図、第６図は第６図のＡ−Ａ断面の矢視図、第７
図は第６図のＢ−Ｂ断面の矢視図、第８図は第６図のＣ
−Ｃ断面の矢視図、第９図は本発明における油圧アクチ
ュエータの一実施例の入力軸の正面図、第１０図は第９
図の人−Ａ線における矢視図、第１１図は第９図のＢ−
Ｂ線における矢視図、第１２図は第９図のＣ−Ｃ断面の
矢視図である。
１・・・出力軸、２・・・・・入力軸、４・・・・・第
１の排油通路、６・・・・・・第１の圧油通路、１６・
・・・・第１の溝、１７・・・・・第２の溝。
代理人の氏名 弁理士 中 尾 敏 男 ほか１名第１
図
第２図
第３図
第４図
第５図
第６図
第７図
第８図
１
第９図
第１０図
第１１図
ノＧ
第１２図
７Fig. 1 is a cross-sectional view of a conventional hydraulic actuator, Fig. 2 is a cross-sectional view taken along line A-A in Fig. 1, and Fig. 3 is a cross-sectional view taken along line B-B in Fig. 1.
A cross-sectional view in the direction of arrows, FIG. 4 is a view in the direction of arrows of the CC cross section in FIG. 1,
FIG. 6 is a cross-sectional view of one embodiment of the hydraulic actuator of the present invention, FIG. 6 is a cross-sectional view taken along line A-A in FIG.
The figure is a cross-sectional view taken along line B-B in Figure 6, and Figure 8 is a view of C in Figure 6.
9 is a front view of an input shaft of an embodiment of the hydraulic actuator according to the present invention, and FIG.
Figure 11 is a view taken from the person-A line in the figure, and B- in Figure 9.
12 is a view taken along line B, and FIG. 12 is a view taken along line C--C in FIG. 9. DESCRIPTION OF SYMBOLS 1... Output shaft, 2... Input shaft, 4... First oil drain passage, 6... First pressure oil passage, 16...
...First groove, 17...Second groove. Name of agent: Patent attorney Toshio Nakao and 1 other person No. 1
Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 1 Figure 9 Figure 10 Figure 11-G Figure 12 Figure 7
Claims (1)
記入力軸と前記出力軸との間に構成されメカニカルフィ
ードバック機能を有する案内弁と、前記出力軸の表面よ
り円周方向に向かって突出しているロータと、前記出力
軸、前記入力軸、前記案内弁、前記ロータを内部に収納
するハウジングと、前記ハウジング内に前記ロータが摺
動するために設けられた油室と、前記油室内に前記ハウ
ジングより突出している固定駒と、前記出力軸内および
前記入力軸内にあり圧油供給源と前記案内弁とを連通し
ている第１の圧油通路と、前記出力軸内および前記入力
軸内にあり、圧油供給源のタンクと前記案内弁とを連通
している第１の排油通路と、前記案内弁と前記油室とを
連通している圧排油通路と、前記入力軸表面に設けられ
た第１の溝および第２の溝と、前記第１の溝と前記第１
の圧２べ 油通路を連通ずる第２の圧油通路と、前記第２の溝と前
記第１の排油通路とを連通ずる第２の排油通路と、前記
第１の溝と前記第２の溝と前記入力軸表面と前記ハウジ
ングの内壁部との間に構成される静圧軸受とを備えた油
圧アクチュエータ。[Scope of Claims] An output shaft, an input shaft fitted on the outside of the output shaft, a guide valve having a mechanical feedback function and configured between the input shaft and the output shaft, and a guide valve of the output shaft. a rotor protruding from a surface in a circumferential direction; a housing that accommodates the output shaft, the input shaft, the guide valve, and the rotor therein; and a housing provided for the rotor to slide within the housing. a fixed piece protruding from the housing into the oil chamber; and a first pressure oil passage located within the output shaft and the input shaft and communicating between the pressure oil supply source and the guide valve. and a first oil drain passage that is located within the output shaft and the input shaft and communicates between a tank of a pressure oil supply source and the guide valve, and a first oil drain passage that communicates between the guide valve and the oil chamber. a first groove and a second groove provided on the surface of the input shaft; a first groove and the first groove provided on the surface of the input shaft;
a second pressure oil passage that communicates with the pressure oil passage; a second oil drain passage that communicates the second groove with the first oil drain passage; and a second oil drain passage that communicates with the second oil drain passage; A hydraulic actuator comprising a hydrostatic bearing configured between a surface of the input shaft and an inner wall of the housing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7405984A JPS60220209A (en) | 1984-04-13 | 1984-04-13 | Oil pressure actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7405984A JPS60220209A (en) | 1984-04-13 | 1984-04-13 | Oil pressure actuator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS60220209A true JPS60220209A (en) | 1985-11-02 |
Family
ID=13536239
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7405984A Pending JPS60220209A (en) | 1984-04-13 | 1984-04-13 | Oil pressure actuator |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60220209A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1999017030A1 (en) * | 1997-09-29 | 1999-04-08 | Pnp Luftfedersysteme Gmbh | Radial oscillating motor |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5482589A (en) * | 1977-12-14 | 1979-06-30 | Shimadzu Corp | Electro-hydraulic servo motor |
| JPS5618726U (en) * | 1979-07-21 | 1981-02-19 | ||
| JPS577845U (en) * | 1980-06-13 | 1982-01-16 |
-
1984
- 1984-04-13 JP JP7405984A patent/JPS60220209A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5482589A (en) * | 1977-12-14 | 1979-06-30 | Shimadzu Corp | Electro-hydraulic servo motor |
| JPS5618726U (en) * | 1979-07-21 | 1981-02-19 | ||
| JPS577845U (en) * | 1980-06-13 | 1982-01-16 |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1999017030A1 (en) * | 1997-09-29 | 1999-04-08 | Pnp Luftfedersysteme Gmbh | Radial oscillating motor |
| US6181034B1 (en) | 1997-09-29 | 2001-01-30 | Pnp Luftfedersysteme Gmbh | Radial oscillating motor |
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