EP0177876A1 - Entraînement linéaire - Google Patents

Entraînement linéaire Download PDF

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Publication number
EP0177876A1
EP0177876A1 EP85112396A EP85112396A EP0177876A1 EP 0177876 A1 EP0177876 A1 EP 0177876A1 EP 85112396 A EP85112396 A EP 85112396A EP 85112396 A EP85112396 A EP 85112396A EP 0177876 A1 EP0177876 A1 EP 0177876A1
Authority
EP
European Patent Office
Prior art keywords
cylinder
linear drive
piston
valves
valve
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.)
Granted
Application number
EP85112396A
Other languages
German (de)
English (en)
Other versions
EP0177876B1 (fr
Inventor
Wolf-Dieter Dr. Goedecke
Reinhard Dr. Schwenzer
Ralf Huber
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Gas Gesellschaft fur Antriebs- und Steuerungstechnik Mbh & Cokg
Original Assignee
Gas Gesellschaft fur Antriebs- und Steuerungstechnik Mbh & Cokg
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 Gas Gesellschaft fur Antriebs- und Steuerungstechnik Mbh & Cokg filed Critical Gas Gesellschaft fur Antriebs- und Steuerungstechnik Mbh & Cokg
Publication of EP0177876A1 publication Critical patent/EP0177876A1/fr
Application granted granted Critical
Publication of EP0177876B1 publication Critical patent/EP0177876B1/fr
Expired legal-status Critical Current

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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
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT

Definitions

  • the invention relates to a linear drive, in particular a servo linear drive, with a piston running linearly in a cylinder bore of a cylinder housing, with cylinder heads closing the end of the cylinder housing and with valves arranged in the region of the cylinder heads, with which a pressure medium for deflecting the piston can be supplied to the cylinder bore.
  • the cylinder heads with Installation spaces are provided which are connected to the cylinder bore via a channel and can be inserted into the valves in the form of a valve cartridge.
  • Such a linear drive is known from DE-OS 31 30 056. Further pneumatic drives are described in DE-OS 32 35 784, DE-AS 26 48 608, DE-OS 20 62 134 and DE-OS 33 26 098.
  • Linear drives of the type mentioned are used for various positioning tasks, for example in handling devices. They are used for the uniaxial movement of, for example, a gripper or another tool or another drive of another linear or rotary axis.
  • the known linear drives have in common that a piston is deflected by a pneumatic or hydraulic pressure medium in a cylinder housing and its movement is transmitted to an external housing part by means of a piston rod or - rodless - by means of a rope or band.
  • This housing part and the cylinder housing are provided with flange-like connections in order to be able to establish the connection to a tool or other drives.
  • the cylinder housing is terminated at the end with two cylinder heads, on each of which a valve unit is placed in the axial direction from the outside.
  • Hose and cable connections to both valve units are therefore required to control the valves of both valve units, and further tools or drives flanged to the linear drive again require separate tubing and cabling.
  • valve units attached to the cylinder heads on both sides has the disadvantage that the total length of the drive becomes significantly greater than the actually usable travel length and that the weight becomes quite high, which can be disadvantageous in particular if one of the free ends of the linear drive must be moved with a relatively heavy attached valve unit in the room.
  • the invention is therefore based on the object of developing a linear drive of the type mentioned in such a way that the external tubing and cabling is reduced to a minimum, that the overall length and weight can be reduced and thus the working speed can be increased, so that it is preferably used as a servo -Linear drive can be used, that is, for example as a signal / path converter for handling devices.
  • the invention thus has the essential advantage over the known linear drives that no separate valve unit has to be provided, but rather that the entire wiring and tubing is integrated into the drive itself.
  • the connection of the valve and cylinder bore on the one hand and the feeds for pressure medium and control lines on the other hand is also integrated in the cylinder head itself, so that there is no need for additional routing of cables or hoses.
  • the use of a valve in the form of a valve cartridge has the advantage that the maintenance of linear drives according to the invention is greatly simplified and that different valve types can also be easily exchanged for different control tasks.
  • the invention also has the very significant advantage that all the necessary hoses and cables only have to be routed to one of the two cylinder heads and that the internal forwarding of pressure media and control signals takes place within the drive itself. This eliminates cables and hoses that run freely in the room, as is still required in the prior art. This not only eliminates known sources of interference, it also increases freedom of movement and working speed, because there is no need to consider separate hoses or cables from the other cylinder head.
  • valve cartridge is arranged with its longitudinal axis transverse to the longitudinal axis of the cylinder bore.
  • This measure has the advantage that acceleration forces acting in the longitudinal axis of the drive cannot be transmitted to the elements of the valve, in particular the valve slide extending in the longitudinal axis of the valve cartridge, during operation of the drive. The function of the valve is therefore reliably guaranteed even with large acceleration forces of the drive.
  • At least one cylinder head is provided with further installation spaces for valves, from which channels lead to a flange-like surface of the cylinder head.
  • the two cylinder heads are constructed identically, and installation spaces are provided in both cylinder heads, in which there are 3/2-servo valves with which the channels can be optionally switched to a pressure source or an outlet.
  • valves are designed as directional servo valves.
  • valves are designed as pressure servo valves.
  • This measure has the advantage of an internal pressure feedback to improve the control behavior, and there are practically no adjustment problems.
  • valves are designed as a pressure servo valve and as a directional servo valve.
  • This variant combines the advantages of the two variants mentioned above.
  • an installation space with a 4/3-way servo valve is arranged in a cylinder head, and another channel leading to the cylinder bore is provided in the other cylinder head, whereby this is connected to the installation space via the longitudinal channel.
  • the channel and the other channel can be blocked or optionally switched to a pressure source or an outlet.
  • This embodiment has the advantage that neither adjustment nor drift problems can occur.
  • valve is designed either as a directional servo valve or as a pressure servo valve.
  • a length measuring device can be provided with which the linear movement of the piston relative to the cylinder housing is detected. This length measuring device thus detects the actual position of the piston, which can be compared in an electronic control unit with a target position, the difference between the two values being used to control the valves.
  • FIG. 1 10 designates a linear drive.
  • a cylinder housing 11 encloses a cylinder bore 12 in which a piston 13 runs.
  • the piston 13 actuates a piston rod 14 which is guided on both sides through passage bores 15 and 16 in cylinder heads 17 and 18, respectively.
  • One end 19 of the piston rod 14 carries a flange (not shown in FIG. 1) for connection to further drives or tools.
  • An opposite end 20 of the piston rod 14 cooperates with a length measuring device 21, which is only schematically indicated in FIG. 1.
  • the cylinder head 17 is provided with a lower installation space 30 which extends transversely to the longitudinal axis of the linear drive 10 and is connected to the cylinder bore 12 via a channel 31.
  • an upper installation space 32 is provided in the cylinder head 17, from which, however, a channel 33 leads to a surface 41 of the cylinder head 17, which may be flange-shaped.
  • the opposite cylinder head 18 is constructed identically to the cylinder head 17 and consequently has installation spaces 30a, 32a and channels 31a or 33a and a surface 41a.
  • the surfaces 41 or 41a have a flange-like design, further drives or tools can be attached to them, as has already been described above for the flange at the end 19 of the piston rod 14.
  • the linear drive 10 is then a link in a chain of drives and / or tools which, for example, form a handling device.
  • a single-acting piston 13 can also be used in the exemplary embodiment according to FIG. 1, in which the piston 13 is supported, for example, with respect to the cylinder head 18 via a spring, and the installation space 30a then need not be provided.
  • the valve cartridge 35 comprises a preliminary stage 36, which can be, for example, a torque motor, a moving coil, a moving coil-nozzle-baffle system or an electromagnet.
  • the valve cartridge 35 also includes a main stage 37 which for example, a slide valve or a seat valve.
  • a slide 38 can be seen which acts between an inflow 39 and an outflow 40.
  • the installation space 30 therefore only needs to be provided from the outside with a control cable for the preliminary stage 36 and a compressed air connection for the main stage 37.
  • the longitudinal axis of the slide 38 extends transversely to the longitudinal axis of the linear drive 10, so that with acceleration forces acting in the direction of the longitudinal axis of the linear drive 10 during operation of the drive there are no disturbances with regard to the axial position of the slide 38 can result.
  • longitudinal channels 34 and 34a can also be provided running parallel to the cylinder bore 12.
  • the longitudinal channel 34 can be provided for the pressure medium, for example compressed air, and the longitudinal channel 34a for receiving electrical control cables.
  • Fig. 4 shows a schematic representation of the control of a linear drive 50 according to the invention, which works with a piston-cylinder unit 51, which is double-acting.
  • a piston rod 52 cooperates at one end with a length measuring unit 53, while a working end 54 of the piston rod 52 is provided with a flange in the manner already mentioned.
  • the piston-cylinder unit 51 is provided with a left port 56 and a right port 57 for the pressure medium.
  • a 3/2-way servo valve 58 and 59 leads to the left port 56 and the right port 57, respectively.
  • the two inputs of the valves 58, 59 are connected to a pressure source 60 and an outlet 61, respectively.
  • Excitation coils 63 and 64 of the valves 58, 59 are connected to an electronic control device 65.
  • a value which corresponds to the actual position value of the piston is fed to the control device 65 via a line 66 from the length measuring unit 53.
  • a setpoint value can be supplied to the control device 65 via an input 67. From the difference between the target value and the actual value, the control device 65 forms signals with which the coils 63 and 64 are controlled.
  • valves 58, 59 are in the position shown in FIG. 4, the piston is pressurized on both sides and remains in the position shown.
  • the left connection 56 is connected to the outlet 61 and the piston can move to the left.
  • valves 58, 59 are designed as directional servo valves.
  • valves 70, 71 are connected in the same way as already shown in FIG. 4, but valves 70, 71 are designed as pressure servo valves. for which purpose lines 72 and 73 are led from the connections 56 and 57 to the end face of the slide of the valves 70, 71.
  • This internal pressure feedback leads to an improvement in the control behavior, so that adjustment problems which can occasionally occur with the directional servo valves 58, 59 according to FIG. 4 are avoided.
  • the further variant according to FIG. 6 now represents a combination of the two variants according to FIGS. 4 and 5, because a pressure servo valve 75 is provided at port 56 and a directional servo valve 76 is provided at port 57.
  • a common 4/3-way servo valve 80 is used instead of two valves, in the middle switching position shown in FIG. 7, both connections 56, 57 are blocked. Switches that However, valve 80, for example to the right, connections 56, 57 are connected crosswise to pressure source 60 and outlet 61, respectively, and the piston (see FIG. 4) moves to the right.
  • a piston-cylinder unit 85 which has a single-acting piston 86.
  • the piston 86 is supported to the right by a spring 87, and therefore only a single valve, in the exemplary embodiment namely a 3/2-way servo valve 88, is required, which is connected via a connection 89 to the piston 86 to the left Pressure chamber is connected.
  • the valve 88 In the position of the valve 88 shown in FIG. 8, the piston 86 is moved to the right against the force of the spring 87, and a rest position of the piston 86 can be achieved by cyclically switching the valve 88.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Actuator (AREA)
  • Servomotors (AREA)
  • Fluid-Pressure Circuits (AREA)
EP85112396A 1984-10-09 1985-10-01 Entraînement linéaire Expired EP0177876B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3436946A DE3436946C2 (de) 1984-10-09 1984-10-09 Linearantrieb
DE3436946 1984-10-09

Publications (2)

Publication Number Publication Date
EP0177876A1 true EP0177876A1 (fr) 1986-04-16
EP0177876B1 EP0177876B1 (fr) 1989-10-11

Family

ID=6247430

Family Applications (1)

Application Number Title Priority Date Filing Date
EP85112396A Expired EP0177876B1 (fr) 1984-10-09 1985-10-01 Entraînement linéaire

Country Status (4)

Country Link
US (1) US5016519A (fr)
EP (1) EP0177876B1 (fr)
JP (1) JPH0665883B2 (fr)
DE (1) DE3436946C2 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3524414A1 (de) * 1985-04-16 1986-10-23 GAS Gesellschaft für Antriebs- und Steuerungstechnik mbH & Co KG, 7742 St Georgen Linearantrieb
EP0519185A1 (fr) * 1991-06-19 1992-12-23 Robert Bosch Gmbh Vérin commandé par un fluide sous pression
WO1996031704A1 (fr) * 1995-04-01 1996-10-10 Peters Indu-Produkt Elektrotechnik-Elektronic Gmbh Actionneur pour verin de commande

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3436946C2 (de) * 1984-10-09 1994-06-09 Mannesmann Ag Linearantrieb
DE3507167C3 (de) * 1985-03-01 1996-06-13 Festo Kg Kolben-Zylinder-Anordnung
DE3709173A1 (de) * 1987-03-20 1988-09-29 Knorr Bremse Ag Doppeltwirkender druckmittelzylinder
DE3741425C3 (de) * 1987-12-08 1997-12-04 Mannesmann Ag Linearantrieb
DE4041370C2 (de) * 1990-12-20 1995-06-01 Mannesmann Ag Profilrohr für kolbenstangenlosen Arbeitszylinder
DE4108158C2 (de) * 1991-03-14 2002-11-28 Festo Ag & Co Linear-Antriebsvorrichtung
JPH05111884A (ja) * 1991-10-21 1993-05-07 Matsushita Electric Ind Co Ltd 移行装置
KR200276748Y1 (ko) * 2001-12-07 2002-05-27 박외숙 환봉형 체인 로드레스 실린더
US7980269B2 (en) 2008-12-03 2011-07-19 Robert Bosch Gmbh Control valve assembly for load carrying vehicles
US9120492B2 (en) 2008-12-03 2015-09-01 Aventics Corporation Control valve assembly for load carrying vehicles
DE102013006231A1 (de) * 2013-04-11 2014-10-16 Liebherr-Components Kirchdorf GmbH Arbeitszylinder und Baumaschine bzw. Hebezeug

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US2976852A (en) * 1959-09-21 1961-03-28 Modernair Corp Valve-in-head pneumatic cylinder
GB889149A (en) * 1958-11-21 1962-02-07 Lawrence Henry Gardner Improvements in or relating to fluid control valves
US3060901A (en) * 1960-05-31 1962-10-30 Ling Temco Vought Inc Hydraulic actuator with integrally housed valve
US3233523A (en) * 1962-10-17 1966-02-08 Scovill Manufacturing Co Fluid cylinder and valve control means therefor
FR1436078A (fr) * 1965-03-10 1966-04-22 Crouzet Sa Dispositif permettant l'adaptation d'un distributeur quatre voies 5 orifices à l'arrière d'un vérin pouvant être normalisé
DE2918294A1 (de) * 1978-05-12 1979-11-15 Parisienne Outillage Zylinder fuer ein pneumatikelement
DE3130056A1 (de) * 1981-07-30 1983-02-10 Festo-Maschinenfabrik Gottlieb Stoll, 7300 Esslingen Steuerventilanordnung fuer einen druckmittel-arbeitszylinder
DE8310037U1 (de) * 1984-09-13 Robert Bosch Gmbh, 7000 Stuttgart Arbeitszylinder

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Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE8310037U1 (de) * 1984-09-13 Robert Bosch Gmbh, 7000 Stuttgart Arbeitszylinder
GB889149A (en) * 1958-11-21 1962-02-07 Lawrence Henry Gardner Improvements in or relating to fluid control valves
US2976852A (en) * 1959-09-21 1961-03-28 Modernair Corp Valve-in-head pneumatic cylinder
US3060901A (en) * 1960-05-31 1962-10-30 Ling Temco Vought Inc Hydraulic actuator with integrally housed valve
US3233523A (en) * 1962-10-17 1966-02-08 Scovill Manufacturing Co Fluid cylinder and valve control means therefor
FR1436078A (fr) * 1965-03-10 1966-04-22 Crouzet Sa Dispositif permettant l'adaptation d'un distributeur quatre voies 5 orifices à l'arrière d'un vérin pouvant être normalisé
DE2918294A1 (de) * 1978-05-12 1979-11-15 Parisienne Outillage Zylinder fuer ein pneumatikelement
DE3130056A1 (de) * 1981-07-30 1983-02-10 Festo-Maschinenfabrik Gottlieb Stoll, 7300 Esslingen Steuerventilanordnung fuer einen druckmittel-arbeitszylinder

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3524414A1 (de) * 1985-04-16 1986-10-23 GAS Gesellschaft für Antriebs- und Steuerungstechnik mbH & Co KG, 7742 St Georgen Linearantrieb
EP0519185A1 (fr) * 1991-06-19 1992-12-23 Robert Bosch Gmbh Vérin commandé par un fluide sous pression
WO1996031704A1 (fr) * 1995-04-01 1996-10-10 Peters Indu-Produkt Elektrotechnik-Elektronic Gmbh Actionneur pour verin de commande

Also Published As

Publication number Publication date
DE3436946C2 (de) 1994-06-09
JPS6192302A (ja) 1986-05-10
EP0177876B1 (fr) 1989-10-11
JPH0665883B2 (ja) 1994-08-24
US5016519A (en) 1991-05-21
DE3436946A1 (de) 1986-04-10

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