KR20100125073A - Actuator with accumulator and motion platform using the same - Google Patents

Abstract

PURPOSE: An actuator with an accumulator and a motion platform using the same are provided to improve the operating efficiency by driving a heavy simulator installed on the upper plate of a motion platform with a small-capacity driving unit. CONSTITUTION: An actuator(10) comprises a first cylinder(11), a first piston(12), a driving unit(13), a second cylinder(21), a second piston(22), a plurality of fixing members(30), and a hybrid accumulator(40). The second cylinder is parallely installed along the length of the first cylinder. The second piston is inserted to the second cylinder and reciprocates along with the first piston. The fixing members are installed between the first and the second cylinder to fix them. The hybrid accumulator is filled with gas(45) and oil(44) separately in order to compensate the load transferred to the actuator.

Description

Actuator with load compensator and motion platform using the same

The present invention relates to an actuator having a load compensating device, and more particularly, by using a mixed load compensator in which gas and oil are separated and filled, thereby preventing a change in gas repulsion force due to a change in gas volume due to a change in ambient temperature. The present invention relates to an actuator capable of securing stable driving of a motion platform and increasing durability. In addition, by adjusting the gas repelling force of the mixed load compensator in which the gas and oil are separated and filled, it is possible to reduce the load on the load applied to the actuator, and to operate a large load even with a low power and a small drive unit. The present invention relates to an actuator capable of increasing the acceleration performance of the upward movement of the first piston.

1 is a perspective view showing a state in which an actuator is mounted on a conventional motion platform. As shown in FIG. 1, a commonly used motion platform includes a plurality of actuators configured in three to six axes to deliver a realistic movement for a simulation simulator, a virtual reality game, or the like for an airplane or a ship. (10) is provided. The plurality of actuators 10 are provided between the upper plate 50 and the lower plate 60 of the motion platform to operate to incline or rotate the upper plate 50 of the motion platform in different directions through different reciprocating motions.

Therefore, the large simulator device provided on the upper plate 50 of the motion platform is supported and fixed only by the three to six actuators 10 and is inclined or rotated in all directions. As a result, each actuator 10 is subjected to a large load, which hinders smooth reciprocation, and it is not possible to accurately and quickly drive the large simulator device provided on the upper plate 50 as desired. Therefore, when applied to an experimental simulator device that requires a precise amount of exercise, there is a problem with a lot of errors. In addition, there is a problem that the failure or damage of the actuator occurs due to the load due to the excessive load.

Accordingly, this conventional problem could be solved through an actuator having a gravity compensation device according to Korean Patent No. 0783038 registered and filed by the present applicant. However, only the gas is used in the gravity compensation device according to the applicant's registered patent, which causes a problem in that the repulsive force cannot be kept constant due to the change in the gas volume according to the ambient temperature change. In addition, the gas repelling force reduction and actuator durability degradation due to the natural outflow of the gas by driving only the gas to the gravity compensation device for a long time was inevitable problems.

Therefore, the present invention was created in order to solve the above problems, and a mixed load compensator in which gas is filled with a fluid (oil) having a small volume change due to temperature change is used. It is an object of the present invention to provide an actuator having a load compensating device capable of securing stable driving by maintaining a constant repulsive force due to gas as well as improving durability compared to the case of filling only conventional gas.

In addition, since a small amount of high pressure gas and oil are separated and filled, a load compensating device can be used to prevent direct outflow of gas even when the packing and the damage to the second piston are in use while the actuator is in use. It is an object of the present invention to provide an actuator provided.

Other objects, specific advantages and novel features of the invention will become apparent from the following detailed description and the preferred embodiments described in conjunction with the accompanying drawings.

Means for achieving the object of the present invention, in the actuator 10 including the first cylinder 11, the first piston 12 and the drive unit 13, along the longitudinal direction of the first cylinder (11) A second cylinder 21 provided side by side; A second piston 22 inserted into the second cylinder 21 to reciprocate along the first piston 12 and provided in parallel with the longitudinal direction of the first piston 12; A plurality of fixing members (30) provided between the first cylinder (11) and the second cylinder (21) for fixing the mutually between the first piston (12) and the second piston (22); The second piston 22 is provided at the other end opposite to one end of the second cylinder 21 is inserted, the gas 45 and oil 44 is separated and filled therein to transfer the load transmitted to the actuator 10 It characterized in that it comprises a; mixed load compensation portion 40 to compensate.

In addition, the gas and oil mixed load compensation unit 40, the hydraulic line 41 is provided at the other end opposite to one end of the second cylinder 21, the second piston 22 is inserted; And a pressure tank 43 having a third piston 42 formed at the other end opposite to one end connected to the second cylinder 21 of the hydraulic line 41 and reciprocating therein. It features.

In addition, the internal space adjacent to the second cylinder 21 among the internal space of the second cylinder 21, the internal space of the hydraulic line 41, and the pressure tank 43 partitioned by the third piston 42 is provided with hydraulic pressure. The oil 44 flowing through the line 41 is provided, and the gas 45 is provided in the other inner space of the inner space of the pressure tank 43 partitioned by the third piston 42. .

In addition, a through hole 48 formed smaller than the inner diameter of the second cylinder 21 is formed in the longitudinal section of the second cylinder 21 provided with the mixed load compensation unit 40, and the inner diameter of the second cylinder 21 is smaller than the inner diameter of the second cylinder 21. Small through-holes 48 are formed, and the gas and oil mixed load compensation unit 40 has holes corresponding to the through-holes 48 and includes a third piston 42 reciprocating therein. One pressure tank 43; penetrates into the inner space adjacent to the second cylinder 21 of the inner space of the second cylinder 21 and the inner space of the pressure tank 43 divided by the third piston 42; The oil 44 flowing through the hole 48 is provided, and the gas 45 is provided in the other inner space of the inner space of the pressure tank 43 partitioned by the third piston 42. .

In addition, it is characterized in that it further comprises a gas valve 46 formed at the other end opposite to one end of the pressure tank 43 adjacent to the second cylinder 21 to allow the gas 45 to flow in or out.

In addition, the pressure tank 43 is characterized in that the pressure gauge 47 or a pressure sensor for monitoring the pressure of the gas 45 is further provided.

In addition, the driving unit 13 is characterized in that the general motor, step motor, servo motor or linear servo motor.

In addition, the lower plate 60 in contact with the ground; An upper plate 50 spaced apart from the lower plate 60 and seated on the upper surface of the simulator apparatus; And an actuator (1) provided between the lower plate (60) and the upper plate (50) and having a load compensating device for providing power to the upper plate (50).

According to the present invention, the gas is filled through the gas valve after exposing the first piston of the actuator to the maximum from the first cylinder in order to always maintain the repulsive force against the load of the simulator apparatus provided on the motion platform. Accordingly, the repulsive force of the gas with respect to the load is always applied to the first piston of the reciprocating actuator to compensate for a portion of the load, thereby increasing the load that the driving unit can bear. In addition, by increasing the gas repulsion force against the load by adjusting the amount or pressure of the gas filled in the pressure tank there is an effect that can increase the acceleration performance of the upward movement of the first piston by the drive unit provided in the actuator. In addition, the low-power, small drive unit can drive a large load simulator provided on the motion platform top plate, thereby increasing the operating efficiency of the actuator.

In addition, according to the present invention, a mixed load compensator in which a fluid (oil) and a gas having a small volume change with temperature change are filled together is used. This reduces the degree of change of the gas volume according to the change of ambient temperature than the load compensator which only fills the conventional gas, thereby maintaining a constant repulsive force by the gas, thereby ensuring stable driving of the actuator and improving the durability of the actuator. There is.

In addition, since a small amount of high-pressure gas and oil are separated and filled, direct outflow of gas is prevented even when the packing and the breakage of the packing provided in the second piston are in use during the use of the actuator, thereby reducing the reduction of repulsive force caused by the gas.

In addition, the actuator having a load compensating device according to the present invention is applied to the first piston by using the repulsive force of the gas provided inside the mixed load compensating unit loads generated by the large simulator device provided on the motion platform top plate being driven or stopped The load on the applied load can be reduced. Therefore, there is an effect that the failure of the actuator can be significantly reduced by preventing wear or damage of the threads provided on the lead screw of the actuator and the inner circumferential surface of the first piston.

In addition, the actuator having a load compensating device according to the present invention, in addition to the load by the large simulator device provided on the upper surface of the motion platform, the motion platform user, the impact that may be caused by the micro shock or emergency stop generated during the operation and stopping process, etc. There is an effect that can be buffered.

In addition, maintenance and repair is easy by monitoring the pressure of the gas through a pressure gauge or pressure sensor.

Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of the present invention.

<Actuator Configuration>

(First embodiment)

Figure 2a is a cross-sectional view of the actuator with a load compensation device according to the present invention. As shown in FIG. 2A, the actuator 1 having a load compensating device according to the present invention includes an actuator 10, a second cylinder 21, a second piston 22, a fixing member 30, and a mixed load. Compensation unit 40 is configured.

The actuator 10 here consists of a first cylinder 11, a first piston 12 and a drive 13. At this time, the first cylinder 11 serves to induce a stable reciprocating motion of the first piston 12, is formed in a tubular shape is provided with a drive unit 13 on one side and the other side is open. The cylinder 11 may be formed of a metal material or a synthetic resin material. However, when a large load is applied, such as a motion platform, it is preferable to form the metal material.

In addition, the first piston 12 serves to drive the motion platform by transmitting the power transmitted by the driving unit 13 to the large simulator device provided in the motion platform upper plate 50, the first cylinder 11 Inserted into the open one side of the) is connected to the drive unit (13). Here, the first piston 12 is formed in a tubular shape of an outer diameter smaller than the inner diameter of the first cylinder 11 so as to be inserted into the first cylinder 11 to reciprocate. And the length of the first piston 12 is formed so as to protrude to the outside of the first cylinder (11) even if inserted into the first cylinder (11) to the maximum by the drive unit (13). In this case, the first piston 12 may be formed of a metal material or a synthetic resin material. However, when a large load is applied, such as a motion platform, it is preferable to form the metal material.

In addition, the driving unit 13 serves to provide power to reciprocate the first piston 12 by generating a rotational force, and faces one side of the first cylinder 11 into which the first piston 12 is inserted. It is provided on the other side. The drive unit 13 is a lead screw 14 is connected to the rotating shaft of the drive unit 13 so that the first piston 12 can reciprocate. In addition, a screw thread corresponding to the lead screw 14 is provided on the inner circumferential surface of the tubular first piston 12 so that the first piston 12 reciprocates according to the rotation of the lead screw 14 connected to the rotation shaft of the driving unit 13. Do it. In this case, the driving unit 13 may use a general motor, step motor, servo motor or linear servo motor. In particular, when a linear servomotor is used, the same effect as that of the lead screw 14 system in the first embodiment of the present invention can be obtained. On the other hand, the drive unit 13 of the actuator 10 is a drive unit 13 using hydraulic, pneumatic or electromagnetic force in addition to the method of reciprocating the first piston 12 by the lead screw 14 method using the above-described electric motor Can be used.

The second cylinder 21 serves to induce a stable reciprocating motion of the second piston 22, and is provided side by side along the longitudinal direction of the first cylinder (11). Here, the second cylinder 21 is formed in a tubular shape, the hydraulic line 41 is provided on one side and the other side is open. At this time, the length of the second cylinder 21 is formed equal to or smaller than the length of the first cylinder 22 to be provided side by side. The cylinder 11 may be formed of a metal material or a synthetic resin material. However, when a large load is applied, such as a motion platform, it is preferable to form the metal material.

The second piston 22 serves to distribute the load of the large simulator apparatus provided in the motion platform upper plate 50 directly transmitted to the first piston 12 to the mixed load compensator 40. The second piston 22 is inserted into one open side of the second cylinder 21 is provided in parallel with the longitudinal direction of the first piston 12. Here, the second piston 22 is formed in a tubular shape having an outer diameter smaller than the inner diameter of the second cylinder 21 so as to be inserted into and reciprocated in the second cylinder 21. At this time, both ends of the second cylinder 21 is formed in a blocked structure. The oil 44 provided in the second cylinder 21 may be prevented from flowing out by packing the one side along the outer circumferential surface of the second piston 22 inserted into the second cylinder 21. On the other hand, the length of the second piston 22 is formed so as not to fall outside the second cylinder 21 even in the reciprocating motion of the first piston 12 is provided side by side with the second piston 22. In this case, the second piston 22 may be formed of a metal material or a synthetic resin material. However, when a large load is applied, such as a motion platform, it is preferable to form the metal material.

The fixing member 30 is provided between the first cylinder 11 and the second cylinder 21, and fixes the mutually between the first piston 12 and the second piston 22. As a result, the second piston 22 stably performs the reciprocating motion according to the reciprocating motion of the first piston 12 of the actuator 10. Two or more fixing members 30 may be provided. However, the fixing member 30 may be provided between the first cylinder 11 and the second cylinder 21 to fix each end. In addition, the fixing member 30 provided between the first piston 12 and the second piston 22 is adjacent to the motion platform upper plate 50 within a range that does not interfere with the reciprocating motion of the first piston 12. It is good to provide one or two pieces at one end of the first piston 12 and the second piston 22.

The mixed load compensator 40 serves to prevent breakdown or damage of the actuator 10 generated by the load of the large simulator device provided on the motion platform upper plate 50 directly to the first piston 11. It is provided in the other end which opposes the one end of the 2nd cylinder 21 into which the 2nd piston 22 is inserted. Here, the gas 45 and the oil 44 are separated and filled in the mixed load compensation part 40 to perform the load compensation action.

Mixed load compensation unit 40 according to the present invention is composed of a hydraulic line 41, the third piston 42 and the pressure tank 43, as shown in Figure 2a. At this time, the hydraulic line 41 is to transfer the load of the large simulator device provided in the motion platform upper plate 50 distributed by the second piston 22 to the pressure tank 43, the second piston 22 is It is provided at the other end opposite to the one end of the second cylinder 21 to be inserted. The hydraulic line 41 may be formed of a metal material formed of a synthetic resin material or a mesh that is flexible in tubular shape and can withstand internal pressure.

In addition, the pressure tank 43 is a load compensation action by transmitting the load of the large simulator device provided on the motion platform upper plate 50 distributed by the second piston to the gas 45 provided in the pressure tank 43. Do this. The pressure tank 43 has a third piston 42 formed at the other end opposite to one end connected to the second cylinder 21 of the hydraulic line 41 and reciprocating therein. Here, the gas 45 and the oil 44 are respectively provided in the internal space formed by the second cylinder 21, the hydraulic line 41, the third piston 42 and the pressure tank 43 and the third piston 42 Are separated on the basis of) and are prevented from intermixing with each other. At this time, the hydraulic pressure is stored in the inner space adjacent to the second cylinder 21 among the inner space of the second cylinder 21, the inner space of the hydraulic line 41, and the pressure tank 43 partitioned by the third piston 42. The oil 44 flowing through the line 41 is provided, and the gas 45 is provided in the other inner space of the inner space of the pressure tank 43 partitioned by the third piston 42. Here, the oil 44 used in the actuator 1 having the load compensating device according to the present invention is used for oil for hydraulic equipment. And the gas 45 uses nitrogen gas which is hard to be liquefied even if a large pressure is applied at room temperature.

The shape of the pressure tank 43 can be produced in various shapes as needed. However, it is preferable to form a tubular shape so as to withstand internal pressure well so that both ends of the tube form a hemispherical shape.

The mixed load compensation unit 40 according to the present invention is provided with a gas valve 46 for inflow or outflow of the gas 45. As a result, the pressure of the gas 45 inside the pressure tank 43 may be adjusted to maintain durability of the actuator 10. The gas valve 46 is formed at the other end opposite to one end of the pressure tank 43 adjacent to the second cylinder 21.

In addition, the pressure gauge 47 or the pressure sensor is for monitoring the pressure of the gas 45 provided in the pressure tank 43. The pressure gauge 47 or the pressure sensor 47 may be easily provided to one side of the pressure tank 43. .

The oil inlet 49 is prepared for the leakage or evaporation of the oil 44 due to abrasion or breakage of the packing between the second cylinder 21 and the second piston 22, and the pressure at which the oil 44 is provided. The tank 43 or the second cylinder 21 is formed on one side.

Thus, the actuator 10 is provided with the second cylinder 21, the second piston 22, the fixing member 30 and the mixed load compensation unit 40, the actuator (1) having a load compensation device according to the present invention Is completed.

(Second embodiment)

3 is a sectional view of an actuator provided with a load compensating device according to a second embodiment of the present invention. As shown in FIG. 3, a through hole 48 formed smaller than the inner diameter of the second cylinder 21 is formed in the longitudinal section of the second cylinder 21 that is coupled to the mixed load compensator 40. The gas and oil mixed load compensation part 40 includes a pressure tank 43 having a hole corresponding to the through hole 48 and having a third piston 42 reciprocating therein.

At this time, the inner space of the second cylinder 21 and the inner space of the pressure tank 43 divided by the third piston 42 flows by the through-hole 48 in the inner space adjacent to the second cylinder 21. Oil 44 is provided. In addition, the gas 45 is provided in the other inner space of the inner space of the pressure tank 43 partitioned by the third piston 42.

The pressure tank 43 according to the second embodiment of the present invention is the same as that described in the first embodiment. However, in relation to the shape of the pressure tank 43, it is preferable to form a terminal opposite to one end contacting the second cylinder 21 in a hemispherical shape so as to withstand internal pressure well.

The mixed load compensator 40 according to the second embodiment of the present invention is provided with a gas valve 46 for inflow or outflow of the gas 45 as in the first embodiment. As a result, the pressure of the gas 45 inside the pressure tank 43 may be adjusted to maintain durability of the actuator 10. The gas valve 46 is formed at the other end opposite to one end of the pressure tank 43 adjacent to the second cylinder 21.

In addition, the pressure gauge 47 or the pressure sensor is for monitoring the pressure of the gas 45 provided in the pressure tank 43. 45) The spill can be easily identified.

The oil inlet 49 is prepared for the outflow or evaporation of the oil 44 due to the wear or breakage of the packing between the second cylinder 21 and the second piston 22, and the pressure at which the oil 44 is provided. The tank 43 or the second cylinder 21 is formed on one side.

<Action>

Since the configuration of the first and second embodiments of the present invention is only the difference between the hydraulic line 41 and the through hole 48, the same operation will be described.

2A is a cross-sectional view of an actuator equipped with a load compensating device according to a first embodiment of the present invention. FIG. 2B is a cross-sectional view of the operating state in which the first piston of FIG. 2A is inserted a predetermined length into the first cylinder by the driving unit. Figure 4 is a perspective view of the operating state of the actuator with a load compensation device according to the present invention.

As shown in FIG. 2A, in order to achieve the object according to the present invention, the first piston 12 of the actuator 10 is exposed as much as possible from the first cylinder 11 and then the gas 45 through the gas valve 46. ). As shown in FIG. 2B, when the driving unit 13 is operated such that the first piston 12 is inserted into the first cylinder 11 by a predetermined length, the second piston 22 connected to the first piston 12 is connected. ) Is pushed to push the oil (44). At this time, the third piston 42 inside the pressure tank 43 is also pushed to compress the gas 45.

As such, the first piston 12 is exposed to the maximum from the first cylinder 11, the gas 45 is filled through the gas valve 46, and the driving unit 13 is operated to insert the first piston 12 a predetermined length. Since the driving in the direction of increasing the repulsive force (B) of the gas (45) can act as a burden on the drive unit (13). However, the load of the driving unit 13 is not only attenuated, but rather the gas 45 when the load A of the simulator device provided in the motion platform upper plate 50 to be described below is loaded on the first piston 12. Due to the repulsive force (B) of a certain portion of the load (A) is compensated for there is a net function that the load (A) that the drive unit 13 can bear increases.

As shown in FIG. 4, three to six actuators 1 including the load compensating device according to the present invention are provided between the motion platform upper plate 50 and the lower plate 60 to drive the upper plate 50. . However, if necessary, the actuator 1 having a load compensating device may be used only in part. The top plate 50 is placed on the simulator device of several hundred Kg to several tons. At this time, the gravity by the simulator device reaching a few hundred Kg to several tons always acts perpendicular to the ground and is transmitted to the first piston 12 provided in the plurality of actuators 10.

As in the embodiment of the present invention, if the drive unit 13 does not have a gravity compensator in the case of driving the first piston 12 by using the lead screw 14, the lead screw 14 is stopped or driven. ) And the thread provided on the inner circumferential surface of the piston bear a large load on the load (A). The load on the load A may cause abrasion or breakage of the threads provided on the inner circumferential surface of the lead screw 14 and the first piston 12, which may cause a failure of the actuator.

Accordingly, the actuator 1 having the load compensating device according to the present invention transfers the load A transmitted to the first piston 12 to the second piston 22 provided in parallel with the first piston 12. Done. The load A transmitted to the second piston 22 is transmitted to the oil 44 provided in the inner space across the second cylinder 21, the hydraulic line 41, and the third piston 42. The load A transmitted to the oil 44 is applied to the gas 45 provided in the internal space over the third piston 42 and the pressure tank 43 which is a space other than the space in which the oil 44 is provided. Delivered. At this time, the gas 45 is compressed due to the nature of the gas by the transmitted load (A) and at the same time generates a repulsive force (B) against the load (A).

In order to always maintain the repulsive force (B) against the load (A), as described above, the first piston 12 of the actuator 10 is exposed to the maximum from the first cylinder 11 through the gas valve 46 The gas 45 is filled. As a result, the reaction force B of the gas 45 against the load A is always applied to the first piston 12 of the actuator 10 which reciprocates, so that a certain portion of the load A is compensated for. The load A that the drive unit 13 can bear increases. On the other hand, the driving unit 13 of the actuator 10 by increasing the gas repulsion force (B) to the load (A) by adjusting the amount or pressure of the gas 45 to be filled after the maximum exposure of the first piston (12). Acceleration performance of the upward movement of the first piston 12 by) can be increased. In addition, the low-power, small drive unit 13 can drive a large load simulation apparatus provided in the motion platform upper plate 50. In this case, the amount or pressure of the gas 45 filled after the maximum exposure of the first piston 12 may be variously changed according to the weight of the simulation apparatus provided in the motion platform upper plate 50.

Unlike the invention according to Patent No. 0783038 registered and filed by the applicant, in the present invention, the mixed load compensator 40 filled with the oil 44 and the gas 45 having a small volume change according to the temperature change is used. do. As a result, the degree of change in the volume of the gas 45 according to the change in the ambient temperature is reduced as compared with the case where only the conventional gas 45 is used as in the case of Patent No. 0783038. Therefore, as the repulsive force B by the gas 45 can be kept constant, the durability of the actuator 10 and the stability of the driving are improved. In addition, it is possible to reduce the repulsive force (B) due to the natural outflow of the gas by using a smaller amount of gas than when using only gas. In addition, since the oil 44 and the gas 45 are separated from each other by the third piston 42 provided in the pressure tank 43, the gas 45 is not mixed with the oil 44.

Therefore, the actuator 1 having the load compensating device according to the present invention is a mixed load carrying the load A transmitted to the first piston 12 during the driving or stopping of the large simulator device provided on the motion platform upper plate 50. The load A applied to the first piston 12 may be partially compensated using the repulsive force B of the gas 45 provided in the compensator 40 to reduce the load. Therefore, the failure of the actuator 10 can be remarkably reduced by preventing wear or damage of the threads provided on the lead screw 14 of the actuator 10 and the inner circumferential surface of the first piston 12.

In addition, the actuator 1 having the load compensating device according to the present invention may be a micro-impact or emergency occurring during the motion platform user, the operation and the stopping process, in addition to the load A by the large simulator device provided on the upper surface of the motion platform 50. It is possible to cushion shocks that may be caused by stopping.

In addition, maintenance and repair can be easily performed by checking the pressure of the appropriate gas 45 through the pressure gauge 47 or the pressure sensor.

< motion  Platform Configuration>

The motion platform according to the invention consists of an actuator 1 having an upper plate 50, a lower plate 60 and a load compensating device. Here, the motion platform is a device that delivers a realistic feeling of motion for a training simulator device such as a vehicle or a ship airplane.

Here, the lower plate 60 is provided to support the motion platform so that the simulator device can be stably driven, and is positioned to contact the ground. At this time, the shape of the lower plate 60 may be formed in a polygonal or circular plate shape.

The upper plate 50 transmits the power generated by the actuator 1 having the load compensating device to the simulator device. The upper plate 50 is spaced apart from the lower plate 60 and the simulator device is fixed to the upper surface of the upper plate 50. The top plate 50 may be manufactured in various shapes according to the simulator device.

The actuator 1 having a load compensating device provides power to the upper plate 50 to incline or rotate the upper plate 50 in all directions, and a plurality of actuators are provided between the lower plate 60 and the upper plate 50. The upper and lower plates 50 and 60 are connected to each other. At this time, the actuator 1 having a load compensation device provided between the lower plate 60 and the upper plate 50 may be three to six. The specific configuration of the actuator 1 having such a load compensating device is the same as that described in the above-described first and second embodiments.

As described above, those skilled in the art will understand that the present invention can be implemented in other specific forms without changing the technical spirit or essential features. It is therefore to be understood that the above-described embodiments are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is defined by the appended claims rather than the detailed description, and all changes or modifications derived from the meanings and equivalent concepts of the claims should be construed as being included in the scope of the present invention.

The following drawings, which are attached in this specification, illustrate the preferred embodiments of the present invention, and together with the detailed description thereof, serve to further understand the technical spirit of the present invention, and therefore, the present invention is limited only to the matters described in the drawings. It should not be interpreted.

1 is a perspective view showing a state in which an actuator is mounted on a conventional motion platform.

2A is a cross-sectional view of an actuator equipped with a load compensating device according to a first embodiment of the present invention.

FIG. 2B is a cross-sectional view of the operating state in which the first piston of FIG. 2A is inserted a predetermined length into the first cylinder by the driving unit.

3 is a sectional view of an actuator provided with a load compensating device according to a second embodiment of the present invention.

Figure 4 is a perspective view of the operating state of the actuator with a load compensation device according to the present invention.

<Description of the symbols for the main parts of the drawings>

1: Actuator with load compensation device

10: Actuator 11: first cylinder

12: first piston 13: drive unit

14: lead screw 21: second cylinder

22: second piston 30: holding member

40: mixed load compensation part 41: hydraulic line

42: third piston 43: pressure tank

44: oil 45: gas

46: gas valve 47: pressure gauge

48: through hole 49: oil inlet

50: top plate 60: bottom plate

Claims (8)

In the actuator 10 which comprises the 1st cylinder 11, the 1st piston 12, and the drive part 13, A second cylinder 21 provided side by side in the longitudinal direction of the first cylinder 11; A second piston (22) inserted into the second cylinder (21) to reciprocate along the first piston (12) and provided in parallel with the longitudinal direction of the first piston (12); A plurality of fixing members (30) provided between the first cylinder (11) and the second cylinder (21) and fixing each other between the first piston (12) and the second piston (22); The second piston 22 is provided at the other end opposite to one end of the second cylinder 21 is inserted, the gas 45 and the oil 44 is separated and filled therein and transmitted to the actuator 10. An actuator with a load compensation device, comprising: a mixed load compensation unit 40 for compensating for the loaded load. The method of claim 1, The gas and oil mixed load compensation unit 40, A hydraulic line 41 provided at the other end opposite to one end of the second cylinder 21 into which the second piston 22 is inserted; And And a pressure tank 43 formed at the other end opposite to one end connected to the second cylinder 21 of the hydraulic line 41 and having a third piston 42 reciprocating therein. Actuator having a load compensation device, characterized in that. The method of claim 2, An inner space adjacent to the second cylinder 21 of an inner space of the second cylinder 21, an inner space of the hydraulic line 41, and an inner space of the pressure tank 43 partitioned by the third piston 42. In the space, the oil 44 flowing by the hydraulic line 41 is provided, and in the other inner space of the inner space of the pressure tank 43 partitioned by the third piston 42, the gas 45 Actuator having a load compensation device, characterized in that provided. The method of claim 1, The through-hole 48 formed smaller than the inner diameter of the second cylinder 21 is formed in the longitudinal section of the second cylinder 21 is provided with the mixed load compensation portion 40, The gas and oil mixed load compensation unit 40, A pressure tank 43 having a hole corresponding to the through hole 48 and having a third piston 42 reciprocating therein; The through-hole 48 is formed in an inner space adjacent to the second cylinder 21 among the inner space of the second cylinder 21 and the inner space of the pressure tank 43 divided by the third piston 42. The oil 44 which is flowed by the gas 44 is provided, and the gas 45 is provided in the other inner space of the inner space of the pressure tank 43 partitioned by the third piston 42. Actuator with compensation device. The method according to claim 3 or 4, And a gas valve 46 formed at the other end opposite to one end of the pressure tank 43 adjacent to the second cylinder 21 to inflow or outflow of the gas 45. Actuator with load compensation device. The method of claim 5, Actuator having a load compensation device, characterized in that the pressure tank (43) on one side of the pressure gauge (47) or pressure sensor for monitoring the pressure of the gas (45) is further provided. The method of claim 1, The actuator 13 is an actuator having a load compensation device, characterized in that the general motor, step motor, servo motor or linear servo motor. In a motion platform using the actuator (1) having a load compensation device according to claim 1, A lower plate 60 in contact with the ground; An upper plate 50 spaced apart from the lower plate 60 and seated on an upper surface of the simulator device; And And an actuator (1) provided between the lower plate (60) and the upper plate (50) and having the load compensating device for providing power to the upper plate (50).

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