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WO2007029009A1 - Actionneur electrohydraulique - Google Patents

Actionneur electrohydraulique Download PDF

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Publication number
WO2007029009A1
WO2007029009A1 PCT/GB2006/003332 GB2006003332W WO2007029009A1 WO 2007029009 A1 WO2007029009 A1 WO 2007029009A1 GB 2006003332 W GB2006003332 W GB 2006003332W WO 2007029009 A1 WO2007029009 A1 WO 2007029009A1
Authority
WO
WIPO (PCT)
Prior art keywords
actuator
pump
hydraulic
cylinder
shaft
Prior art date
Application number
PCT/GB2006/003332
Other languages
English (en)
Inventor
Guruge Elmo Laksham Perera
Vasu Rao
Original Assignee
Em Digital Limited
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 Em Digital Limited filed Critical Em Digital Limited
Priority to EP06779350A priority Critical patent/EP1937982A1/fr
Publication of WO2007029009A1 publication Critical patent/WO2007029009A1/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
    • F15B15/18—Combined units comprising both motor and pump
    • 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
    • F15B9/00—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member
    • F15B9/02—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type
    • F15B9/08—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor
    • F15B9/09—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor with electrical control means

Definitions

  • the present invention relates to electromagnetic actuators and hydraulics, and more particularly relates to an apparatus for providing a combined electro-hydraulic actuator.
  • Electromagnetic actuators are typically used as linear motors to provide a large force on an armature which is positioned within a channel formed by the motor. The use of electromagnetic actuators is desirable when a large force is required to be exerted in a linear direction.
  • Hydraulic actuators perform a similar function to electromagnetic actuators in that they are capable of controlling mechanical motion. However, the latter uses high pressure hydraulic pumping which requires frequent maintenance and is energy inefficient. There are certain advantages in using an hydraulic actuator such as the capability for the pressure of the actuator to be controlled in order to lock it in position.
  • the present invention aims to combine the two separate actuators in order to provide the advantages of both actuators in a single system.
  • an electro-hydraulic system comprising a electromagnetic actuator and a hydraulic actuator relatively arranged such that the movement of the hydraulic actuator is controlled by the movement of electromagnetic actuator.
  • a pump arrangement which serves as an interface between the electromagnetic actuator and the hydraulic actuator and is configured to enable both forward and reverse movement of the hydraulic actuator by way of electrically controlled valves.
  • the electrohydraulic system can be incorporated into an integral self-contained unit and a hydraulic actuator is provided with its own electrically controlled pump.
  • a hydraulic actuator is provided with its own electrically controlled pump.
  • this obviates the need for hydraulic piping and auxiliary hydraulic devices to be connected to the system and enables the system to be controlled electrical/electronic inputs only.
  • Fig 1 is a schematic diagram showing the basic principle of operation according to a preferred, embodiment of the present invention
  • Fig. IA is a schematic diagram showing an alternative arrangement of the valves of Fig.
  • Fig 2 is a detailed diagram of one state of a valve used in Fig 1 ;
  • Fig 3 is a detailed diagram of another state of the valve used in Fig 2;
  • Fig 4 is a detailed diagram showing an upper part of the pump in Fig 1 ;
  • Fig 5 is an overall diagram showing the integrated design of the apparatus in Fig 1.
  • Fig. 6 is a modification to the embodiment shown in Fig 1.
  • Fig. 7 is a timing diagram showing the position of various valves shown in Fig. 6. As shown in Fig 1, a linear electromagnetic actuator 1 operates a reciprocating pump 2.
  • the type of linear actuator most suited to this embodiment comprises a non-magnetic shaft Ia arranged to move along a linear actuator cylinder Ib.
  • the shaft Ia is attached to an armature Ic which moves within the cylinder Ib as a result of the magneto motive force created by the switching of current in a plurality of current carry conductor coils Id which are arranged along the periphery of the cylinder Ib. Between each coil Id is an air gap Ie and this configuration is repeated along the periphery.
  • the switching of the current in the coils can be digitally controlled by for example a computer and therefore it is possible to control the movement of the shaft Ia along the cylinder Ib.
  • the cylinder 2a of the pump 2 has an electrically controlled valve arrangement 3 comprising two non-return valves 3 a, along with two shut-off valves 3b in series as shown in Fig 1.
  • the non-return valves 3 a admit flow in opposite directions. In operation only one of the shut-off valves 3b is open and the other closed. This makes the pump deliver fluid in opposite directions.
  • the size of the pump piston is not large enough to accommodate these integral non-return and shut-off valves, they may be placed outside independently as shown in Fig Ia. In this case, standard solenoid or other electrically operated shut-off valves 30b are used.
  • diaphragm based small sized accumulators 4 which are incorporated in the integral design, to allow for slight volume changes due to compressible nature of real fluids and also account for temperature expansion/contraction of the fluid.
  • the delivered fluid from the pump directly enters a double acting hydraulic reciprocating actuator 5.
  • This will cause hydraulic piston 6 to move by an amount depending on the amount of fluid delivered and the relative cross-sectional areas of the pump 2 and the hydraulic actuator 5.
  • the force supplied by the hydraulic actuator 5 is amplified by the area ratio of the pump 2 and hydraulic actuator piston 6.
  • the relationships are derived under theoretical analysis. In order that the continuity is satisfied for incompressible fluid, the dimensions of the piston rod 6 and cylinder bore 7 are to be chosen appropriately. Furthermore this continuity can extend for compressible fluids by computing the average values and causing the actuator 5 to respond to maintain the continuity by matching the requirements by way of employing a fast response (eg 1 ms) actuator.
  • the switching on and off of the shut-off valves 3b enables reverse/forward action of the hydraulic actuator 5. As shown in more detail in Fig 2, 3 and 4, this is achieved through use of electrically controlled protruding members 10 which allow the valve body to slide to open/close positions inside the pump piston cylinder 2a.
  • the non-return and shut-off valve is incorporated into the cylinder 2a.
  • a spring 60 retains ball 70 of the non-return valve 3 a and the shut-off valve 3b is shown in the open state in Fig 2.
  • Numeral 9 represents the pressure side of the cylinder 2a.
  • Numeral 8 represents the other side of the cylinder 2a and fluid enters the valve as shown from this side.
  • the condition when the shut-off valve 3b is in a shut-off state is shown in Fig 3.
  • the system may be designed as an integral self-contained unit as shown in Fig 5.
  • the advantage of this type of integral unit is that it requires only electric wiring input into the unit so as to control the electromagnetic actuator and pump and avoids the use of hydraulic piping. That is, the hydraulic actuator forming part of the integral unit is provided with its own electrically controlled pump obviating the need of fluid reservoirs motors and other pumps which are required as auxiliary units for conventional hydraulic systems. Therefore, high pressure hydraulic piping can be dispensed with and pressure drops which are usually encountered in pipelines can be avoided. It will be appreciated that it is possible to adapt the system to enable more than one hydraulic actuator to be controlled by the same pump.
  • a valve arrangement 300 is provided which results in a higher overall efficiency of the electro-hydraulic system.
  • the modification is shown in Fig. 6.
  • the electromagnetic actuator 1 as described in Fig. IA is provided and a shaft 100a protrudes from one side of the cylinder Ib of the actuator 1.
  • the shaft 100a differs to that in Fig IA in that the distal end is not directly attached to a pump cylinder.
  • distal end of the shaft 100a in mounted in order to control the movement of a mechanical framework comprising three members 110, 111, 112.
  • the distal end of shaft 100a is attached to first member 110 at one end thereof.
  • the other end of the first member 110 is attached to one end of the second member
  • the framework is arranged such that movement of the shaft 100a in a first direction will cause movement of the second member 111 in the first direction.
  • a first compression spring 114 is positioned to contact the third member 112 when the shaft 100a comes the end of its stroke and is fully extended.
  • a second compression spring 115 is positioned to contact the first member 110 when the shaft 100a approaches the end of its stroke within the cylinder Ib.
  • the springs 114,115 may be helical or equivalent types.
  • the kinetic energy of the armature Ic of the linear actuator 1 driving a pump 500 at the extremities of the stroke is stored and released.
  • a middle portion of the second member 111 forms part of a double acting pump 200 and the member 111 is arranged to move within a cylinder 200a forming the housing of the pump 200.
  • An actuator bore 220b is attached to the second member 111 and the double acting pump 200 includes a number of ports such that the volume of fluid moved within the cylinder 200a as a result of the movement of the second member 111 and thus the bore 220b, fluid is able to exit the respective ports.
  • a valve arrangement 300 is arranged to operate on the basis of the double acting pump 200.
  • Valve 301 and 302 are delivery and suction valves with two possible positions.
  • Valve 303, 304, 305 are delivery and suction valves with three possible positions.
  • the pump 500 comprises a piston rod 600 and a cylinder bore 700 similar to that shown in Fig. 1 and IA.
  • the valve 305 is arranged to compensate low pressure volume which is described below.
  • Fig. 7 shows the valve position timing for valves 301,302,303, and 305 over one pump cycle.
  • the bold line indicates the particular position of each respective valve.
  • displacement x 0 when the double acting actuator bore 220b is in a middle position within the cylinder 200a.
  • the compression springs 114,115 come into action at the ends of the pump strokes.
  • the KE of the pump piston and armature is stored in the spring during the overshoot of pump piston 600 and returned to the masses for the reverse stroke.
  • Positions 1 and 3 of Valve 303 are set to give one directional flow for the double acting pump 200.
  • Positions 1 and 3 of Valve 304 provide forward and reverse motion of load piston.
  • the middle position of Valve 304 locks and load piston.
  • Compensation low pressure volume is used to accommodate the volume difference of the piston causes different swept volumes on either side of the actuator piston.
  • the volume capacity of this should be about 3 to 4 times the volume of the piston rod in the main actuating cylinder. This reservoir will also allow for temperature and compressibility effects. Although this volume is shown integral with the actuator cylinder, it may be placed away where that is required.
  • Safety pressure valves are not shown in Fig. 6.
  • the hydraulic actuation is utilised as an instantaneous hydraulic lever unlike conventional systems where the energy is converted and stored as high pressure fluid and released in a separate step.
  • the electro-hydraulic actuator has a high static resistance which follows from the use of a hydraulic load cylinder, when its inlet and outlet valves are shut off and the fluid within the cylinder trapped.

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)

Abstract

L'invention concerne un système électrohydraulique comprenant un actionneur électromagnétique (1) et un actionneur hydraulique (5) disposés de manière relative de telle sorte que le mouvement de l'actionneur hydraulique (5) soit commandé par le mouvement de l'actionneur électromagnétique (1). L'actionneur électromagnétique (1) est de préférence un moteur linéaire comportant un arbre (Ia) agencé pour aller et venir en réponse à un signal électrique fourni à l'actionneur électromagnétique. Une pompe (2) est de préférence disposée entre l'actionneur électromagnétique (1) et l'actionneur hydraulique (8), et elle provoque un mouvement de l'actionneur hydraulique (15), sous l'effet du mouvement de l'arbre du moteur linéaire (1).
PCT/GB2006/003332 2005-09-09 2006-09-11 Actionneur electrohydraulique WO2007029009A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP06779350A EP1937982A1 (fr) 2005-09-09 2006-09-11 Actionneur electrohydraulique

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB0518462.7 2005-09-09
GB0518462A GB0518462D0 (en) 2005-09-09 2005-09-09 Electro-hydraulic actuator

Publications (1)

Publication Number Publication Date
WO2007029009A1 true WO2007029009A1 (fr) 2007-03-15

Family

ID=35221236

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB2006/003332 WO2007029009A1 (fr) 2005-09-09 2006-09-11 Actionneur electrohydraulique

Country Status (3)

Country Link
EP (1) EP1937982A1 (fr)
GB (1) GB0518462D0 (fr)
WO (1) WO2007029009A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2815831A1 (fr) * 2013-05-16 2014-12-24 Alfing Kessler Sondermaschinen GmbH Dispositif de séparation par rupture
US20150159679A1 (en) * 2012-07-19 2015-06-11 Dániel Alexander Wamala Pulse controlled linear actuator
WO2019108819A1 (fr) * 2017-11-30 2019-06-06 Umbra Cuscinetti, Incorporated Système d'actionnement électromécanique pour pompe à fluide à entraînement par piston

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3008534A1 (de) * 1979-03-08 1980-09-18 Singer Co Linearmotor
US4726741A (en) * 1985-07-26 1988-02-23 Gte Valeron Corporation Magnetostrictive pump with hydraulic cylinder
US5018950A (en) * 1988-03-11 1991-05-28 Reinhart Lawrence W Electrohydraulic method and apparatus
WO1998011357A1 (fr) * 1996-09-12 1998-03-19 Etrema Products, Inc. Actionneur compact, unite de commande et appareil de pompage afferents
WO2001077531A1 (fr) * 2000-04-11 2001-10-18 Saab Ab Dispositif de reglage electrohydraulique
EP1019885B1 (fr) * 1997-09-17 2004-05-12 Advanced Motion Technologies LLC Appareil pouvant imprimer un mouvement

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3008534A1 (de) * 1979-03-08 1980-09-18 Singer Co Linearmotor
US4726741A (en) * 1985-07-26 1988-02-23 Gte Valeron Corporation Magnetostrictive pump with hydraulic cylinder
US5018950A (en) * 1988-03-11 1991-05-28 Reinhart Lawrence W Electrohydraulic method and apparatus
WO1998011357A1 (fr) * 1996-09-12 1998-03-19 Etrema Products, Inc. Actionneur compact, unite de commande et appareil de pompage afferents
EP1019885B1 (fr) * 1997-09-17 2004-05-12 Advanced Motion Technologies LLC Appareil pouvant imprimer un mouvement
WO2001077531A1 (fr) * 2000-04-11 2001-10-18 Saab Ab Dispositif de reglage electrohydraulique

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150159679A1 (en) * 2012-07-19 2015-06-11 Dániel Alexander Wamala Pulse controlled linear actuator
US9746004B2 (en) * 2012-07-19 2017-08-29 Dániel Alexander Wamala Pulse controlled linear actuator
EP2815831A1 (fr) * 2013-05-16 2014-12-24 Alfing Kessler Sondermaschinen GmbH Dispositif de séparation par rupture
WO2019108819A1 (fr) * 2017-11-30 2019-06-06 Umbra Cuscinetti, Incorporated Système d'actionnement électromécanique pour pompe à fluide à entraînement par piston
US10480547B2 (en) 2017-11-30 2019-11-19 Umbra Cuscinetti, Incorporated Electro-mechanical actuation system for a piston-driven fluid pump

Also Published As

Publication number Publication date
GB0518462D0 (en) 2005-10-19
EP1937982A1 (fr) 2008-07-02

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