CN101397874B - Actuator for controlling door movement with sensor - Google Patents
Actuator for controlling door movement with sensor Download PDFInfo
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- CN101397874B CN101397874B CN 200810165679 CN200810165679A CN101397874B CN 101397874 B CN101397874 B CN 101397874B CN 200810165679 CN200810165679 CN 200810165679 CN 200810165679 A CN200810165679 A CN 200810165679A CN 101397874 B CN101397874 B CN 101397874B
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Abstract
The present invention provides a device used for moving door, which comprises an actuator (10) that includes two opposite actuating cylinders (11, 12). The actuating cylinders are axially aligned and protrude oppositely from a center body (13) which is provided with an output pinion (14) controlled by the actuating cylinders. The pinion (14) is used for directly correlating with a detecting encoder (15) which is used for detecting the motion of pinion.
Description
Technical field
The present invention relates to a kind of equipment for moving door and actuator.
Background technique
In the prior art, the hydraulic actuator that is used for door is known to comprise two relative actuator cylinders, and described actuator cylinder is axially aligned and relatively stretched out from centerbody, and described centerbody has the output pinion by actuator cylinder control.These type actuator are commonly used to imbed suitable recess, and described recess is positioned at the pivotal point of the door that will be moved, so that power output can be connected to door suitably.
This actuator comprises electric pump, and it provides pressure fluid under the order of the control gear that the opening and closing order by door obtains.
In order to identify and keep braking point or deceleration slope starting point, usually use auxiliary device, for example be suitable for being arranged to the electric switch that the passage by door or some motion transmitting elements activates.This is so that must correctly locate and regulate this auxiliary element.In addition, the Security that usually needs resistance to compression to collapse makes it possible to detect the deceleration of going out or blocks and stop its motion.This is not easy the auxiliary device of locating and managing so that must introduce other.
Therefore gap in the driver or the impact of driver external factor all must be finished and must be subjected to as few as possible to all things reliably.
Also need to when auxiliary detection device breaks down, change rapidly and easily auxiliary detection device, further reduce the operation of regulating new equipment.The technological scheme that is provided by prior art can not meet these demands fully.
Summary of the invention
Overall purpose of the present invention is to overcome defects, and a kind of motion actuation device is provided, and makes it possible to realize the motion of accurately detection and control gate, and does not need auxiliary device.
Owing to will realize above-mentioned purpose, according to the present invention, a kind of equipment for moving door, comprise actuator, actuator comprises again two relative actuator cylinders, and described actuator cylinder is axially aligned and relatively stretched out from centerbody, and described centerbody has the output pinion by actuator cylinder control, it is characterized in that the detection encoder that moves for detection of small gear is associated with described small gear.
Description of drawings
For the explanation that makes innovative principle of the present invention and the advantage of prior art is clearer relatively, by accompanying drawing, the below openly uses the possible embodiment of described principle in the mode of example.In the accompanying drawings:
Fig. 1 is the perspective schematic view of actuator in accordance with the principles of the present invention;
Fig. 2 is the decomposed figure of details of the actuator of Fig. 1;
Fig. 3 is according to the present invention and comprises the schematic representation of equipment of the actuator of Fig. 1.
Embodiment
With reference to the accompanying drawings, the hydraulic actuator for door shown in Figure 1 totally represents with 10, comprises two relative actuator cylinders 11,12, and described actuator cylinder is axially aligned and relatively stretched out from centerbody.Output pinion 14 stretches out from centerbody 13 tops, according to no longer in mechanism's (being generally rackwork) of the as well known to those skilled in the art and easy imagination of this demonstration or description, by the rotation of oil hydraulic cylinder control output pinion 14 at both direction.Actuator is used for imbedding suitable recess so that small gear is connected suitably with the door that will be moved generally.
Figure 2 illustrates encoder ring around the decomposition view in small gear zone.As shown in the figure, small gear is passed in the closing lid 17 of the seat in the centerbody 13, and small gear terminates as with the motion of being controlled by two cylinders and is connected.In relevant situation, small gear for example has the gear 18 that connects tooth bar, and unshowned tooth bar is moved by oil hydraulic cylinder.
In the embodiment shown, encoder comprises by tooth 20 and is connected to dish 19 on the small gear, and described tooth is so that coil 19 and be integral with small gear when rotated.Dish is received in the suitable housing 21, tightens on lid 17, tegmentum 22 closures up again.Encoder comprises the sensor device 23 for detection of dish 19 rotations.The character of sensor device depends on the technology for detection of dish 19 rotations.In a preferred embodiment, encoder is magnetic type, because dish is suitable for being magnetized and sensor device is detection device for detection of the changes of magnetic field that is caused by disc spins.
The periphery of dish can be provided with radial teeth 24, and it is by being detected by sensor device.In the situation of magnetic sensor, tooth is magnetized.Interchangeable, the periphery of dish can be level and smooth or be shaped in addition.
Sensor device preferably for example forms the incremental encoder that not only can detect the small gear amount of exercise but also can detect moving direction, expects easily such as those skilled in the art.
As among Fig. 2 well shown in, housing 21 has outside connection seat 25 at sidepiece, be used for removably connecting sensor device, described sensor device preferably is contained near the head end of connector shape case 26 in the connector shape case 26, faces with each other in the periphery of coiling when connecting with seat 25 with the head of convenient case 26.
For the correct position during connector is kept being present, but the mutual locking device that between connector and seat, has buckle to remove.Advantageously, this locking device comprises the elastic tongue piece 27 that is connected with corresponding tooth 28.Tooth can be first to be positioned on the case and tongue piece can be positioned on the seat, and vice versa.
Therefore in the situation of sensor fault, the removal of sensor and replacing are fast and are easy to.
Schematically show the equipment that is used for moving door that is referred to by 30 integral body in Fig. 3, it comprises actuator 10.Described equipment comprises oil hydraulic pump 31, and it has electric drive motor 32 and supplies with fluid to described actuator cylinder 11,12.This realizes that by self known oil hydraulic circuit 36 this oil hydraulic circuit is provided with suitable one-way valve and safety check, thereby is supplied to and another cylinder is discharged according to cylinder of motor sense of rotation, and vice versa.Fluid is taken from suitable case 33.
The pump motor comes electric control by electric control device 34, and electric control device 34 receives from the position information of encoder and other command information 35 (open/close, braking etc.).Control gear preferably has the system of the microcontroller of suitable programmed.Found that advantageously the pump motor is d.c. motor (for example 24V d.c. motor), it is controlled by feeding back by control gear based on the position information that is received by encoder.Thus, door can be controlled as and have accurate favourable acceleration and deceleration slope.Compare with alternating current motor/pump unit, d.c. motor can move under higher rotating speed, thus having reduced with respect to the loss of the volumetric loading of total efficiency.
And, because encoder in the situation that does not need the machinery metering, can easily be set termination and middle braking point.When moving under the situation of obstacle is arranged, control gear 34 can detect failure condition at once, because the position information that is provided by encoder does not have error ground directly to show deceleration or the cut of small gear.
How to realize purpose of the present invention about this point is very clear.
By control braking point or deceleration starting point and the resistance to compression Safety function that collapses, be applied directly to the angle that encoder on the outlet axis of robot device makes it possible to accurately to control robot device and move.
In fact, encoder so that under the help that does not have auxiliary device braking point or deceleration slope starting point accurately can repeatedly be identified and be kept.In addition, by the feedback that provides, carry out more accurately the angular motion of robot device.The precision that reads that is applied directly to the encoder of outlet on the axis is not subjected to the impact of error in the motion effective accuracy or middle clearance and meets safety standard.
Very large simplification is arranged in the use and help installation, maintenance and reparation.Encoder can be by software administration, and software is automatically managed initial setting up (for example by self study) and kept this setting.The quick connector structure is not so that encoder can have very rapidly replacing or reparation in the situation of instrument.
Because principle of the present invention, robot device drives very large flexibility.Simple and the cheap control of d.c. motor band encoder feedback (easily realizing by regulating power supply voltage) is so that how size and the weight of door all obtain desired only hydraulic pressure.
Therefore, might optimize a management of startup/deceleration transition and install faster, because the system compensation step is more immediately for example to meet the impact curve by the industrial safety standard code.
Naturally, the embodiment's of above-mentioned application innovative principle of the present invention description only provides in the mode of example, therefore should not be considered to the restriction to patent right scope required for protection.For example, although in a preferred embodiment, encoder is magnetic type, because it is inresponsive to dust, can use the encoder of optical type, therefore coil 19 and can make phonic drum etc., form sensor device by photodiode and phototransistor or equivalent elements, expect easily such as those skilled in the art.
Claims (8)
1. the equipment that is used for moving door, comprise actuator (10), described actuator comprises again two relative actuator cylinders (11,12), described actuator cylinder is axially aligned and is relatively stretched out from centerbody (13), described centerbody has the output pinion (14) by described cylinder control, described small gear is associated with the detection encoder (15) that moves for detection of small gear, described encoder comprises the dish (19) that is connected on the small gear and for detection of the sensor device (23) of disc spins, it is characterized in that: described dish (19) is received in the housing (21) of the pedestal of the small gear that stretches out, and described housing has the removable outside connection seat (25) of sensor device at sidepiece.
2. equipment according to claim 1, it is characterized in that: described sensor device (23) is contained in the connector shape case (26), sensor device is arranged on the head end of case, and the periphery at dish when being connected in the described seat (25) with the head of convenient case faces with each other.
3. equipment according to claim 2 is characterized in that: but between described case and described seat, have the mutual locking device (27,28) that buckle is removed.
4. equipment according to claim 3 is characterized in that: described removable locking device is included in the elastic tongue piece (27) on described seat or the described case, and this tongue piece and the corresponding tooth (28) on described case or described seat connect.
5. equipment according to claim 1, it is characterized in that: the periphery of described dish is provided with radial teeth (24), and it is by being detected by sensor device (23).
6. equipment according to claim 1 is characterized in that: described encoder is magnetic type and comprises magnetized dish and be suitable for detecting the sensor device of the respective change in the magnetic field that the rotation by dish produces.
7. equipment according to claim 1, it is characterized in that: described equipment comprises the have electric drive motor oil hydraulic pump (31) of (32), described oil hydraulic pump supplies with fluid for described actuator cylinder, described pump motor is by electric control device (34) two-way electric control system, and described electric control device receives the position information from encoder (15).
8. equipment according to claim 7 is characterized in that: described pump motor for the position information sent based on encoder (15) by the d.c. motor of control gear (34) by feeding back to control.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| ITMI20071839 ITMI20071839A1 (en) | 2007-09-25 | 2007-09-25 | "ACTUATOR DEVICE WITH SENSOR FOR CONTROL OF GATE MOVEMENT" |
| ITMI2007A001839 | 2007-09-25 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101397874A CN101397874A (en) | 2009-04-01 |
| CN101397874B true CN101397874B (en) | 2013-02-27 |
Family
ID=40316430
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200810165679 Active CN101397874B (en) | 2007-09-25 | 2008-09-24 | Actuator for controlling door movement with sensor |
Country Status (4)
| Country | Link |
|---|---|
| CN (1) | CN101397874B (en) |
| HK (1) | HK1128316A1 (en) |
| IT (1) | ITMI20071839A1 (en) |
| SG (1) | SG151219A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108412821B (en) * | 2018-05-25 | 2020-01-07 | 太原理工大学 | Walking robot driven by liquid and electricity in hybrid mode |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3148595A (en) * | 1963-05-21 | 1964-09-15 | Ohio Oscillator Company | Fluid motor actuator |
| EP0683298A2 (en) * | 1994-03-22 | 1995-11-22 | FAAC S.p.A. | Hydraulic gate movement device comprising separate support and gate-movement units |
| GB2309747A (en) * | 1996-02-03 | 1997-08-06 | Hytek Tech Int | Fluid-pressure-operated actuators |
| EP1443219A1 (en) * | 2003-01-30 | 2004-08-04 | bar-pneumatische Steuerungssysteme GmbH | Method and device for testing a pneumatic actuator |
-
2007
- 2007-09-25 IT ITMI20071839 patent/ITMI20071839A1/en unknown
-
2008
- 2008-09-22 SG SG200807015-3A patent/SG151219A1/en unknown
- 2008-09-24 CN CN 200810165679 patent/CN101397874B/en active Active
-
2009
- 2009-07-03 HK HK09105964.2A patent/HK1128316A1/en unknown
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3148595A (en) * | 1963-05-21 | 1964-09-15 | Ohio Oscillator Company | Fluid motor actuator |
| EP0683298A2 (en) * | 1994-03-22 | 1995-11-22 | FAAC S.p.A. | Hydraulic gate movement device comprising separate support and gate-movement units |
| GB2309747A (en) * | 1996-02-03 | 1997-08-06 | Hytek Tech Int | Fluid-pressure-operated actuators |
| EP1443219A1 (en) * | 2003-01-30 | 2004-08-04 | bar-pneumatische Steuerungssysteme GmbH | Method and device for testing a pneumatic actuator |
Also Published As
| Publication number | Publication date |
|---|---|
| SG151219A1 (en) | 2009-04-30 |
| ITMI20071839A1 (en) | 2009-03-26 |
| CN101397874A (en) | 2009-04-01 |
| HK1128316A1 (en) | 2009-10-23 |
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Address after: Bologna, Italy Patentee after: FAAC Industrial Holding Co.,Ltd. Address before: Bologna, Italy Patentee before: FAAC S.P.A. |
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Effective date of registration: 20221129 Address after: Bologna, Italy Patentee after: FAAC S.P.A. Address before: Bologna, Italy Patentee before: FAAC Industrial Holding Co.,Ltd. |