WO2015007943A1 - Actionneur commandé par un fluide sous pression - Google Patents

Actionneur commandé par un fluide sous pression Download PDF

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Publication number
WO2015007943A1
WO2015007943A1 PCT/FI2014/050247 FI2014050247W WO2015007943A1 WO 2015007943 A1 WO2015007943 A1 WO 2015007943A1 FI 2014050247 W FI2014050247 W FI 2014050247W WO 2015007943 A1 WO2015007943 A1 WO 2015007943A1
Authority
WO
WIPO (PCT)
Prior art keywords
actuator
pressure medium
piston
pressure
shaft
Prior art date
Application number
PCT/FI2014/050247
Other languages
English (en)
Inventor
Markku Mikkonen
Jouko Tiainen
Original Assignee
Timaco Oy
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Timaco Oy filed Critical Timaco Oy
Publication of WO2015007943A1 publication Critical patent/WO2015007943A1/fr

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
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/3604—Devices to connect tools to arms, booms or the like
    • E02F3/3677—Devices to connect tools to arms, booms or the like allowing movement, e.g. rotation or translation, of the tool around or along another axis as the movement implied by the boom or arms, e.g. for tilting buckets
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
    • E02F9/2271—Actuators and supports therefor and protection therefor
    • 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

Definitions

  • the invention relates to a pressure medium operated actuator that has been defined more specifically in the preamble of the independent claim related thereto.
  • a hydraulic cylinder is arranged to the frame of the torque device, which hydraulic cylinder produces the hydraulic function of the actuator with a piston, being movable inside the actuator in the hydraulic cylinder's longitudinal direction, and a turning plate, being in a mechanical connection with the above in a so called direct driving manner with a threading and toothing in the side of the piston, which turning plate by its rotative motion taking place in one plane produces the desired turning motion of the actuator's output head.
  • the above mentioned implementation is based on a traditional hydraulic cylinder's piston that is moved back and forth in the longitudinal direction and a turning plate coupled mechanically to the piston, which is first of all an unnecessarily complex construction.
  • the purpose of the pressure medium operated actuator according to the present invention is to provide a decisive improvement in terms of the above-described problems and thus to substantially upgrade the prior art of the field.
  • the actuator according to the invention is principally characterized by what has been presented in the characterizing part of the independent claim related thereto.
  • the most important benefits gained by the pressure medium operated actuator according to the invention notably include the simplicity and efficiency of its structure, construction and use especially thanks to the "floating" piston implementation utilized therein, thanks to which even high powers are possible to be transmitted with optimal structures. Thus service and maintenance needs required by the mechanical power transmission may completely be avoided.
  • the actuator according to the invention in torque link use maintains constant both torque momentum and speed during the whole motion of the piston, while the power transmitting shaft or the casing of the pressure medium unit spins around its longitudinal axis. Thanks to this there is no need for overscaling the actuator's structural parts, when also the need of the pressure medium, such as a hydraulic oil in the process is significantly decreased.
  • the actuator according to the invention is easily applicable to a variety of frame structures and in connection with beam systems to be connected to either the casing structure of its frame or to its shaft.
  • the actuator according to the invention can also with very simple structures easily and in a reliable manner be sealed and equipped with bearings, thanks to which the actuator according to the invention does not require out of the ordinary service or maintenance.
  • the actuator according to the invention is furthermore easy to be delivered to various uti- lisation sites as a so called standard component or, if necessary, specifically tailormade to every utilisation site, while taking into account the forces it is to transmit and the movement trajectories needed.
  • the actuator according to the invention is furthermore easily modified to e.g.
  • the actuator according to the invention is furthermore easily modified in a way that the shafts or e.g. the output ends of the joints used in connection with the same producing the output ends' movements are in deviant positions related to each other with regard to e.g. traditional 90° or 180° angle.
  • FIG. 5 shows furthermore as a perspective view an assembly of an alternative actuator according to the invention
  • fig. 6 shows furthermore as a perspective view of an assembly of an alternative actuator according to the invention
  • fig. 8 shows the use of the actuator according to fig. 7a-7c in an excavator's boom structure.
  • the invention relates to a pressure medium operated actuator, such as a torque link or like, which is meant to produce hydraulically and/or pneumatically by means of a pressure medium being led therein a rotative motion w in one plane of at least one of its output ends I.
  • the actuator has at least fastening and coupling means for fastening thereof to a utilisation target and coupling thereof to a pressure medium system driving the same and a pressure medium arrangement for carrying out a pressure medium function of the actuator by a piston, being movable in a pressure room by influence of the pressure medium, and by a swivel member, whereby the swivel member by means of its rotation z in one plane brings about the desired rotative motion w of the actuator's output head I.
  • the pressure medium arrangement and its swivel member are arranged e.g. with reference to figures la-lc, 3a-3c, 5 and 6 at least as one built-in pressure medium unit 1, whereby the piston lb, moving in the pressure room la by rotating z, when viewed in a crosswise plane p perpendicular to the longitudinal direction s of the actuator, around a centerline x parallel with a longitudinal direction s of the actuator, acts as the swivel member that produces the rotative motion w of the actuator's output head I.
  • the pressure medium unit 1 comprises:
  • the piston lb in the pressure medium unit 1. is coupled in a removable and freely to its place settling manner in connection with a shaft 2 transmitting its rotation z and a casing structure lc surrounding the pressure room la.
  • a gasket arrangement 4 between the piston lb, the shaft 2 and the casing structure lc comprises a washer 4a that goes uninterruptedly, when viewed in the longitudinal direction s, around front, rear and head edges of the piston lb.
  • shaft gaskets 4b on the opposite walls of the pressure room lcl, lc2 are also shown.
  • the piston lb is arranged as an advantageous embodiment to be pushed in the radial direction r into the recess 2a in the shaft 2, thus getting tightened in its place in the recess by the washer 4a beign mounted in the centrical groove lbl therein, which at the same time tightens the piston's lb front and back edges to the front and back walls lcl, lc2 of the casing structure lc as well as to its upper surface to the gasket structure lc surrounding the pressure room la in the radial direction r.
  • the pressure room la of the pressure medium unit 1 is, when viewed in the crosswise plane p, sector shaped in the same angle as the piston's lb desired ⁇ 360° rotation z.
  • the pressure room la in the pressure medium unit 1 is, when viewed in the crosswise plane p, circular, whereby a desired ⁇ 360° rotation z of the piston lb is limited by one or more intermediate walls 5 in the pressure room.
  • the intermediate wall 5 is coupled in the pressure room la with coupling arrangements 6 enabling its fastening in a removable and/or by its placement adjus- table manner.
  • coupling arrangements 6 enabling its fastening in a removable and/or by its placement adjus- table manner.
  • adjustment of the desired rotative motion of an actuator that is to be delivered as a so called standard structure is made possible according to the need at any given time by coupling one or more intermediate walls 5 at a suitable point in a perforation on the casing structure's front and back walls lcl, lc2.
  • a desired ⁇ 360° rotative motion w of the actuator and/or increasing of its power is/are arranged by coupling at least two pressure medium units 1 in the same frame R of the actuator one after the another in the longitudinal direction in a way that both output heads I of the actuator are at an angle of 180°.
  • the same frame R of the actuator is provided with two pressure medium units 1 perpendicular to each other in order to produce perpendicular rotative motions w; w' , w" of the output heads I of the actuator.
  • an actuator e.g. according to figure 8 is enabled as a torque link in the boom structure of an excavator, the link at the center of the boom structure being a usual tilting joint T.
  • the power of the actuator may be increased by coupling e.g. at least two pressure medium units 1 operating in separate sectors Pi, P2 on the same crosswise plane p to operate together by a parallel coupling of the pressure medium flow.
  • This principle manifests itself especially in the embodiment according to figure 5.
  • the above mentioned power increase may naturally also be executed e.g. with pistons in pressure rooms coupled on the principle of parallel flow coupling to the same shaft one after the other in the longitudinal direction.
  • Such an embodiment is needed e.g. when the desired rotative motion of the actuator is larger than what may be produced with e.g. pressure rooms arranged in the above mentioned sectors Pi, P2.
  • the output head I of the actuator is formed of a spindle 2b being an extension of the shaft 2.
  • the output heads I of the actuator comprise locking flanges 2b' on the opposite ends of the actuator and respectively in embodiments according to figures, shaft fittings 2b".
  • the actuator according to the invention such as a torque link, may be coupled to its utilisation target either by the torque link's shaft or casing.
  • the casing of a torque link connected by its shaft is rotative, the transmission of the pressure medium to the pressure room/rooms is led furthermore advantageously through the shaft.
  • the actuator according to the invention may be exploited, depending on the utilisation target, in addition to or instead of hydraulic solutions with partly or fully pneumatic functioning, such as with compressed air etc.
  • the above presented device contructions may furthermore be modified by using sealing arrangements and structures deviant from what has been presented, whereby e.g. the output heads of the actuator may be in deviant directions from the 90° or 180° angles with respect to each other.
  • twisting articulations such as a universal joint coupling, for transmission of rotative motion in connection with the actuator's one or more output heads, with which power may be transmitted in the above described manner in deviating angles from the right angle with respect to the longitudinal direction of the actuator.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Actuator (AREA)

Abstract

L'invention concerne un actionneur commandé par un fluide sous pression, tel qu'une liaison de couple ou analogue, destiné à produire, au moyen d'un fluide sous pression circulant dans ce dernier, un mouvement rotatif (w) dans un seul plan sur au moins l'une de ses extrémités de sortie (I). L'actionneur comprend au moins des moyens de fixation et de couplage (K) pour le fixer à une cible d'utilisation et le coupler à un système de fluide sous pression qui l'entraîne, et un agencement de fluide sous pression destiné à exécuter une fonction de fluide sous pression de l'actionneur au moyen d'un piston mobile dans une chambre de pression sous l'influence du fluide sous pression, et d'un élément pivotant qui par sa rotation (z) dans un seul plan entraîne le mouvement rotatif désiré (w) de la tête de sortie de l'actionneur (I). L'agencement de fluide sous pression et son élément pivotant sont agencés au moins sous forme d'une seule unité de fluide sous pression intégrée (1), le piston (lb) se déplaçant par rotation (z) dans la chambre de pression (la) lorsqu'il est visualisé en coupe (p) perpendiculaire à la/aux direction(s) longitudinale (s) de l'actionneur, autour d'une ligne centrale (x) parallèle à la direction longitudinale (s) de l'actionneur, qui agit comme l'élément pivotant qui produit le mouvement rotatif (w) de la tête de sortie de l'actionneur (I).
PCT/FI2014/050247 2013-07-19 2014-04-08 Actionneur commandé par un fluide sous pression WO2015007943A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FI20135784 2013-07-19
FI20135784 2013-07-19

Publications (1)

Publication Number Publication Date
WO2015007943A1 true WO2015007943A1 (fr) 2015-01-22

Family

ID=51301075

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/FI2014/050247 WO2015007943A1 (fr) 2013-07-19 2014-04-08 Actionneur commandé par un fluide sous pression

Country Status (2)

Country Link
FI (1) FI10538U1 (fr)
WO (1) WO2015007943A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108608459A (zh) * 2018-08-09 2018-10-02 江苏钧微动力科技有限公司 机器人用液压驱动关节
CN108757619A (zh) * 2018-08-09 2018-11-06 江苏钧微动力科技有限公司 螺纹插装式旋转直驱电液伺服阀
CN110651128A (zh) * 2016-08-05 2020-01-03 伍德沃德有限公司 多腔室旋转活塞致动器
US10954973B2 (en) 2017-07-14 2021-03-23 Woodward, Inc. Unsupported piston with moving seal carrier
US12012976B2 (en) 2022-03-16 2024-06-18 Woodward, Inc. Multi-axis rotary piston actuator

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2870556A (en) * 1954-12-06 1959-01-27 Riddell Joseph Murray Fluid power motor apparatus
US3633773A (en) * 1969-11-25 1972-01-11 Billings R O Hydraulic actuators for orienting implements on cranes
US4009644A (en) * 1972-07-14 1977-03-01 Chukyo Electric Co., Ltd. Rotary actuator
WO1990011901A1 (fr) * 1989-04-07 1990-10-18 Onspot Ab Mecanisme d'actionnement
US4989652A (en) * 1987-12-28 1991-02-05 Osa Ab Rotor for crane-mounted working implements, especially tree-processing units
WO2003082725A1 (fr) * 2002-04-02 2003-10-09 Indexator Ab Systeme d'un rotateur

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2870556A (en) * 1954-12-06 1959-01-27 Riddell Joseph Murray Fluid power motor apparatus
US3633773A (en) * 1969-11-25 1972-01-11 Billings R O Hydraulic actuators for orienting implements on cranes
US4009644A (en) * 1972-07-14 1977-03-01 Chukyo Electric Co., Ltd. Rotary actuator
US4989652A (en) * 1987-12-28 1991-02-05 Osa Ab Rotor for crane-mounted working implements, especially tree-processing units
WO1990011901A1 (fr) * 1989-04-07 1990-10-18 Onspot Ab Mecanisme d'actionnement
WO2003082725A1 (fr) * 2002-04-02 2003-10-09 Indexator Ab Systeme d'un rotateur

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11280356B2 (en) 2016-08-05 2022-03-22 Woodward, Inc. Multi-axis rotary piston actuator
CN110651128A (zh) * 2016-08-05 2020-01-03 伍德沃德有限公司 多腔室旋转活塞致动器
US11391305B2 (en) 2016-08-05 2022-07-19 Woodward, Inc. Multi-chamber rotary piston actuator
US20220205465A1 (en) * 2016-08-05 2022-06-30 Woodward, Inc. Multi-axis rotary piston actuator
US11512719B2 (en) 2017-07-14 2022-11-29 Woodward, Inc. Unsupported piston with moving seal carrier
US10954973B2 (en) 2017-07-14 2021-03-23 Woodward, Inc. Unsupported piston with moving seal carrier
WO2020029584A1 (fr) * 2018-08-09 2020-02-13 江苏钧微动力科技有限公司 Joint hydraulique pour robot
CN108608459B (zh) * 2018-08-09 2020-07-28 江苏钧微动力科技有限公司 机器人用液压驱动关节
CN108608459A (zh) * 2018-08-09 2018-10-02 江苏钧微动力科技有限公司 机器人用液压驱动关节
US11434938B2 (en) 2018-08-09 2022-09-06 Jiangsu Dreamwell Dynamics Technology Co., Ltd Hydraulically driven joint for robot
CN108757619A (zh) * 2018-08-09 2018-11-06 江苏钧微动力科技有限公司 螺纹插装式旋转直驱电液伺服阀
CN108757619B (zh) * 2018-08-09 2024-05-10 江苏钧微动力科技有限公司 螺纹插装式旋转直驱电液伺服阀
US12012976B2 (en) 2022-03-16 2024-06-18 Woodward, Inc. Multi-axis rotary piston actuator

Also Published As

Publication number Publication date
FI10538U1 (fi) 2014-07-09

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