EP4377575B1 - Hydraulischer drehsteller - Google Patents

Hydraulischer drehsteller

Info

Publication number
EP4377575B1
EP4377575B1 EP22760782.7A EP22760782A EP4377575B1 EP 4377575 B1 EP4377575 B1 EP 4377575B1 EP 22760782 A EP22760782 A EP 22760782A EP 4377575 B1 EP4377575 B1 EP 4377575B1
Authority
EP
European Patent Office
Prior art keywords
actuator
piston
shaft
cylindrical cavity
cavity
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.)
Active
Application number
EP22760782.7A
Other languages
English (en)
French (fr)
Other versions
EP4377575C0 (de
EP4377575A1 (de
Inventor
Paolo CARINI
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.)
Siaem Sas Di Carini Stefano E Paolo & C
Original Assignee
Siaem Sas Di Carini Stefano E Paolo & C
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 Siaem Sas Di Carini Stefano E Paolo & C filed Critical Siaem Sas Di Carini Stefano E Paolo & C
Publication of EP4377575A1 publication Critical patent/EP4377575A1/de
Application granted granted Critical
Publication of EP4377575C0 publication Critical patent/EP4377575C0/de
Publication of EP4377575B1 publication Critical patent/EP4377575B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • F15B15/02—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member
    • F15B15/06—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member for mechanically converting rectilinear movement into non- rectilinear movement
    • F15B15/068—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member for mechanically converting rectilinear movement into non- rectilinear movement the motor being of the helical type
    • 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
    • F15B15/02—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member
    • F15B15/06—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member for mechanically converting rectilinear movement into non- rectilinear movement
    • 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
    • F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
    • F15B15/1404—Characterised by the construction of the motor unit of the straight-cylinder type in clusters, e.g. multiple cylinders in one block

Definitions

  • the present invention concerns a hydraulic rotary actuator, in particular a helical hydraulic rotary actuator.
  • Helical rotary actuators are hydraulic actuators configured to convert the linear displacement of a piston into rotary movement, by means of helical gears. They are compact, simple and efficient. They produce a high instant torque in both directions of rotation.
  • helical actuators are generally used for the movement of parts in the sector of agricultural and earth moving machines, in the maritime sector, in lifting systems, for controlling valves and, more generally, for applications requiring rotation of members along a limited and predefined arc of rotation.
  • said actuators can provide in output a rotation of 90°, 180° or, in some cases, up to 360°.
  • Said actuators generally comprise an outer cylindrical-shaped casing, a shaft and a piston integral with a cylindrical sleeve.
  • the piston is mounted sliding in the cylindrical casing while the shaft is mounted rotatably with respect to the casing and is housed passing through the piston and the cylindrical sleeve.
  • a helical toothing is obtained which engages a first corresponding helical toothing obtained on the inner surface of the piston sleeve.
  • the outer surface of the piston sleeve carries a second helical toothing that engages a crown wheel integral with the housing.
  • the piston sleeve is hydraulically sealed between the housing and the shaft.
  • a hydraulic pressure is applied to an inlet in the casing, the piston sleeve is axially displaced and rotates in a first direction of rotation since the toothing on its outer diameter and the crown wheel of the housing force said piston sleeve to rotate.
  • Hydraulic rotary actuators having the same technical features mentioned in the pre-characterizing portion of the appended claim 1 are already known from patent documents, WO 87/00590 A1 , GB 470099 A and JP S51 17786A for examples.
  • the object of the present invention is to propose a hydraulic rotary actuator that overcomes the drawbacks of the known art cited above.
  • an object of the present invention is to provide a hydraulic rotary actuator which is simpler to produce in construction terms, and is therefore also cheaper than the known ones.
  • the actuator comprises a body that defines at least one cylindrical inner cavity with an axis Xc.
  • the cylindrical cavity houses in a sliding manner a piston which defines and separates, inside said cavity, a first chamber and a second chamber that can be supplied with a pressurized hydraulic fluid, through respective passages obtained in the body, to cause displacement of the piston in the cylindrical cavity.
  • the piston comprises in general a substantially cylindrical body.
  • the length of the piston is less than the length of the cylindrical cavity; the difference between the two lengths is therefore equal to the maximum stroke that can be performed by the piston in the cavity.
  • At least one seat is obtained adapted to house a seal that co-acts with the inner surface of the cavity of the body to provide the seal between the first chamber and the second chamber.
  • the piston is also provided with a through seat which extends between a first end and a second end.
  • a shaft is inserted which is rotatably mounted in the body around an axis of rotation Xa.
  • Said shaft carries at least at one of its ends a connection flange, obtained in the same piece as the shaft or made integral with it by means of screws or other fastening means, which allows connection of the actuator to a part of the device/apparatus in which it is used.
  • a section of the outer surface of the shaft is provided with a first threading or toothing adapted to engage a corresponding second threading or toothing obtained on the surface of the piston seat.
  • the axis of rotation Xa of the shaft which coincides with the axis of the seat obtained in the piston, is arranged eccentric with respect to the axis Xc of the cylindrical cavity, which coincides with the axis of the piston body.
  • the actuator due to the eccentric positioning of the shaft with respect to the cavity and the piston, the latter is not able to rotate in the cylindrical cavity.
  • the piston By applying a hydraulic pressure in one of the two chambers, the piston moves in the cylindrical cavity, rotating the shaft due to the coupling of the two toothings/threadings obtained respectively on the shaft and on the surface of the piston seat.
  • the eccentric arrangement of the shaft means that the body can be made to work as a reaction element which, preventing the piston from rotating, allows transmission of the rotary movement to the shaft.
  • the configuration of the actuator described above has various advantages compared to that of the actuators of the known art described above.
  • the structure of the actuator is simpler due to the presence of one single threading/toothing pair, compared to the two helical toothing pairs of the actuators of the known art.
  • the actuator body can be lighter.
  • the body is generally made of steel since it has to carry on the inner surface, or in any case on a collar welded to the inner surface, the helical toothing that co-acts with the toothing of the piston sleeve.
  • the actuator according to the invention since no toothings or threads are provided on the inner surface of the cavity, it is possible to produce the body with materials having a lower mechanical resistance and also a lower specific weight, like aluminium or other light alloys.
  • the actuator according to the present invention can be produced using a pair of helical toothings on the piston and on the shaft, in the description below reference will be made to a preferred embodiment in which a pair of threadings is used.
  • the ratio Ec/Dp between the eccentricity Ec1 and the diameter of the piston Dp is between 1/12 and 1/8.
  • the threading obtained on the shaft and the threading obtained on the piston have a helix angle ( ⁇ ) preferably equal to or greater than 20°, more preferably between 25° and 35°.
  • the choice of the helix angle depends essentially on the desired characteristics of the actuator in terms of reactivity, maximum arc of rotation and dimensions of the body (length).
  • the number of leads of the shaft and piston threadings varies according to the diameter of the piston and the helix angle.
  • At least two seats are obtained adapted to each house an annular guide element adapted to co-act with the surface of the cylindrical cavity.
  • said guide elements are interposed between the piston body and the surface of the cylindrical cavity and slide in contact with the latter, preventing direct contact with the piston body.
  • Said annular guide elements preferably have a substantially rectangular flattened section.
  • said guide elements are preferably made of reinforced composite materials such as, for example, Bearite TM or other equivalent polymer materials, with a similar or higher pressure resistance value.
  • the actuator body comprises a central part, with an annular wall that defines the inner cylindrical cavity, and two closing elements, adapted to close respective open ends of the annular wall.
  • the central part is typically a machined monolithic element.
  • the closing elements are connected to said central part by means of screws or similar.
  • the ends of the shaft are rotatably housed in the respective closing elements.
  • the shaft is supported in said closing elements by bearings, for example ball or roller bearings, or similar.
  • each of the two chambers can be connected to a pressurised hydraulic fluid source by means of specific hydraulic passages.
  • Each hydraulic passage comprises a first section, produced in the annular wall of the central part, and a second section, produced in the corresponding closing element, where said second section emerges on an inner face of said corresponding closing element facing the corresponding chamber.
  • This configuration allows the maximum piston stroke to be obtained (which in turn is proportional to the available arc of rotation) with the same length of the actuator body and without arranging fittings, couplings and the like on said closing elements.
  • the actuator body is provided with fastening means for connecting the actuator to a support structure of the device or of the apparatus in which it is used.
  • said fastening means comprise holes, if necessary threaded, obtained in one or both the closing elements or, if necessary, also on the central part of the body.
  • an actuator assembly comprising two actuators according to one or more of the variations described above.
  • the actuator assembly comprises one single common body for the two actuators, the two cylindrical cavities of which are arranged with the respective axes Xc, Yc perpendicular to each other.
  • said axes Xc, Yc of the first cavity and the second cavity are respectively arranged on parallel planes and are offset from each other.
  • This variation is designed for applications comprising an articulation that requires a double rotation on two axes perpendicular to each other.
  • Said articulation is applied, for example, in lifting equipment, in particular in systems for the movement of baskets, aerial platforms or equivalent equipment, where a rotation around a first horizontal axis is required to regulate the "pitch" of the basket/platform and a second rotation around a vertical axis to orient said basket/platform in the horizontal plane.
  • the structure of the two actuators is substantially identical in terms of operating concept.
  • the second cylindrical cavity houses a second piston of the second actuator with a through seat which houses a second shaft, the rotation axis Ya of which is perpendicular to the axis Xa of the first shaft of the first actuator.
  • the surfaces of the shaft and of the seat are provided with respective reciprocally engaged threads.
  • the number 1 indicates overall a hydraulic rotary actuator according to the present invention.
  • the body 10 comprises in turn a central part 11 and two closing elements 12, 13.
  • At least one pair of guide elements 32 is provided, each of which is arranged in the area of an end of the piston 30.
  • the length of the piston 30 there can be four of said guide elements, as in the example of the figures from 1 to 4, or more.
  • a seat 35 is obtained in which the shaft 40 is rotatably housed.
  • Said seat 35 comprises a cylindrical hole, the axis of which coincides with the axis Xa of the shaft 40 and is parallel to the axis Xc of the cylindrical cavity 14. The hole extends throughout the length of the piston 30.
  • the axis of rotation Xa of the shaft 40 is eccentric with respect to the axes Xc of the cylindrical cavity 14 and Xp of the piston 40.
  • a flange 46 is made in one piece with the shaft 40 while a second flange 47 is fixed to the opposite end of the shaft 40 by means of screws 47a and if necessary drive pins.
  • the closing elements 12, 13 are provided with connection means, holes 18 in the example illustrated, which allow the body 10 of the actuator to be fixed to the other part of the device/apparatus.
  • FIGS 5 , 6 and 7 illustrate an actuator 1 according to another embodiment of the present invention.
  • the operation and particular characteristics are the same as those described for the variation of figures 1 to 4 .
  • the shaft 40 has only one connection flange 46, preferably integral with it.
  • the opposite end of the shaft 40 is covered with a cover 25 fixed to the closing element 13 in the area of the seat 17.
  • Figures 8 to 10 illustrate an actuator assembly 200 that comprises a first actuator 1 and a second actuator 100 produced according to the inventive concepts described for the previous variations.
  • the first actuator 1 generally having larger dimensions and therefore providing a higher torque, has the task of controlling the pitch movement (rotation around a horizontal axis Xa) of the basket or platform to keep the support surface parallel to the ground during deployment of the lifting arm.
  • the second actuator 100 has the task of controlling rotation of the basket or platform around a vertical axis Ya to orient them in the horizontal plane.
  • Said actuator assembly allows considerable simplification of the movement system used in lifting systems of the known art, where in general the pitch movement is governed by a linear hydraulic piston and the rotation movement is governed by a helical rotary actuator of the known art like those described above.

Landscapes

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

Claims (8)

  1. Ein hydraulischer Drehaktuator (1), umfassend:
    - einen Körper (10), umfassend einen zentralen Teil (11) mit einer ringförmigen Wand, die mindestens einen zylindrischen Hohlraum (14) mit einer Achse (Xc) und zwei Verschlusselementen (12, 13) definiert, geeignet, die jeweiligen offenen Enden der besagten ringförmigen Wand zu schließen;
    - einen Kolben (30), der in dem zylindrischen Hohlraum (14) beweglich untergebracht und geeignet ist, in dem besagten Hohlraum (14) eine erste Kammer (20) und eine zweite Kammer (21) zu trennen, die mit einem unter Druck stehenden Hydraulikfluid versorgt werden können, wobei der besagte Kolben (30) einen durchgehenden Sitz (35) zwischen einem ersten und einem zweiten Ende aufweist; und
    - eine Welle (40), die in dem durchgehenden Sitz (35) des Kolbens (30) untergebracht und im Körper (10) um eine Drehachse (Xa) drehbar gelagert ist, wobei die besagte Welle (40) am Ende mindestens einen Verbindungsflansch (46) trägt;
    wobei die Enden der Welle (40) in Sitzen (17) drehbar untergebracht sind, die in den Verschlusselementen (12, 13) ausgebildet sind,
    wobei ein Abschnitt (41) der Welle (40) an der Außenfläche mit einem ersten Gewinde (42) versehen ist, geeignet, in ein entsprechendes zweites Gewinde (36) einzugreifen, das an der Oberfläche des Sitzes (35) des Kolbens (30) ausgebildet ist,
    wobei die Drehachse (Xa) der Welle exzentrisch mit einer Exzentrizität (Ec) in Bezug auf die Achse (Xc) des zylindrischen Hohlraums (14) angeordnet ist;
    wobei jede der beiden Kammern (20, 21) mit einer Quelle eines unter Druck stehenden Hydraulikfluids mittels spezifischer hydraulischer Durchgänge (22, 23) verbindbar ist, wobei der Aktuator (1) dadurch gekennzeichnet ist, dass jeder hydraulische Durchgang einen ersten Abschnitt (22), der in der ringförmigen Wand des zentralen Teils (11) hergestellt ist, und einen zweiten Abschnitt (23), der in dem entsprechenden Verschlusselement (12, 13) hergestellt ist, umfasst, wobei der besagte zweite Abschnitt an einer Innenfläche des besagten entsprechenden Verschlusselements (12, 13) hervortritt, die der entsprechenden Kammer (20, 21) gegenüberliegt.
  2. Der Aktuator (1) gemäß Anspruch 1, wobei das Verhältnis Ec/Dp zwischen der Exzentrizität (Ec) und dem Durchmesser des Kolbens (Dp) zwischen 1/12 und 1/8 liegt.
  3. Der Aktuator (1) gemäß Anspruch 1 oder 2, wobei das auf der Welle erzeugte Gewinde (42) und das auf dem Sitz (36) des Kolbens (30) erzeugte Gewinde (36) einen Schrägungswinkel (φ) gleich oder größer als 20° aufweisen.
  4. Der Aktuator (1) gemäß einem jeden der vorhergehenden Ansprüche, wobei auf der Außenfläche des Kolbens (30) mindestens zwei Sitze (31) ausgebildet sind, geeignet, jeweils ein ringförmiges Führungselement (32) aufzunehmen, geeignet, mit der Oberfläche des zylindrischen Hohlraums (14) zusammenzuwirken, der gleitend darauf ruht, um einen direkten Kontakt zwischen der besagten Oberfläche des zylindrischen Hohlraums (14) und dem Kolben (30) zu verhindern.
  5. Der Aktuator (1) gemäß einem jeden der vorhergehenden Ansprüche, wobei die besagten Verschlusselemente (12, 13) oder wahlweise auch das zentrale Teil (11) mit Löchern (18, 19) versehen sind, die eine Befestigung des Aktuators (1) an einem Teil einer Vorrichtung oder eines Apparates, in dem er verwendet wird, ermöglichen.
  6. Eine Aktuatorgruppe (200), umfassend einen ersten Aktuator (1) und einen zweiten Aktuator (100) gemäß einem jeden der vorhergehenden Ansprüche, wobei ein einziger Körper (210) vorgesehen ist, in dem ein erster zylindrischer Hohlraum (14) und ein zweiter zylindrischer Hohlraum (114) ausgebildet sind, wobei die Achse (Xc) des ersten zylindrischen Hohlraums (14) senkrecht zur Achse (Yc) des zweiten Hohlraums (114) steht.
  7. Die Aktuatorgruppe gemäß Anspruch 6, wobei die Achsen (Xc, Yc) des ersten Hohlraums (14) und des zweiten Hohlraums (114) jeweils auf einer Ebene parallel und versetzt zueinander angeordnet sind.
  8. Die Aktuatorgruppe gemäß Anspruch 1, wobei das zentrale Teil (11) und die beiden Verschlusselemente (12, 13) aus Aluminium oder anderen gleichwertigen Leichtmetalllegierungen hergestellt sind.
EP22760782.7A 2021-07-27 2022-07-27 Hydraulischer drehsteller Active EP4377575B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT102021000020063A IT202100020063A1 (it) 2021-07-27 2021-07-27 Attuatore rotante idraulico
PCT/IB2022/056935 WO2023007392A1 (en) 2021-07-27 2022-07-27 Hydraulic rotary actuator

Publications (3)

Publication Number Publication Date
EP4377575A1 EP4377575A1 (de) 2024-06-05
EP4377575C0 EP4377575C0 (de) 2025-07-16
EP4377575B1 true EP4377575B1 (de) 2025-07-16

Family

ID=78463624

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22760782.7A Active EP4377575B1 (de) 2021-07-27 2022-07-27 Hydraulischer drehsteller

Country Status (3)

Country Link
EP (1) EP4377575B1 (de)
IT (1) IT202100020063A1 (de)
WO (1) WO2023007392A1 (de)

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB470099A (en) * 1936-01-01 1937-08-03 Express Lift Co Ltd Improvements in fluid pressure operated piston engines
JPS5117786A (ja) * 1974-08-01 1976-02-12 Haruji Hayashi Rootariiakucheetaa
US4313367A (en) 1979-11-13 1982-02-02 Weyer Paul P Rotary actuator
WO1987000590A1 (en) * 1985-07-16 1987-01-29 Weyer Paul P Rotary actuator
US8904917B2 (en) 2011-04-15 2014-12-09 Rosenboom Machines & Tool, Inc. Fluid power helical rotary actuator

Also Published As

Publication number Publication date
WO2023007392A1 (en) 2023-02-02
EP4377575C0 (de) 2025-07-16
EP4377575A1 (de) 2024-06-05
IT202100020063A1 (it) 2023-01-27

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