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EP0219439A1 - Actuator with random stops - Google Patents

Actuator with random stops Download PDF

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Publication number
EP0219439A1
EP0219439A1 EP86420245A EP86420245A EP0219439A1 EP 0219439 A1 EP0219439 A1 EP 0219439A1 EP 86420245 A EP86420245 A EP 86420245A EP 86420245 A EP86420245 A EP 86420245A EP 0219439 A1 EP0219439 A1 EP 0219439A1
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EP
European Patent Office
Prior art keywords
rod
cylinder
reversible screw
rotation
cylinder according
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.)
Withdrawn
Application number
EP86420245A
Other languages
German (de)
French (fr)
Inventor
Robert Barthe
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.)
Parker Hannifin Rak SA
Original Assignee
Parker Hannifin Rak SA
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 Parker Hannifin Rak SA filed Critical Parker Hannifin Rak SA
Publication of EP0219439A1 publication Critical patent/EP0219439A1/en
Withdrawn legal-status Critical Current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
    • F15B15/26—Locking mechanisms
    • F15B15/262—Locking mechanisms using friction, e.g. brake pads
    • F15B15/264—Screw mechanisms attached to the piston
    • 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
    • F15B2015/1495—Characterised by the construction of the motor unit of the straight-cylinder type with screw mechanism attached to the piston

Definitions

  • the present invention relates to a cylinder of the type comprising a cylinder rod which consists of a tube sliding on a fixed piston, a casing and at least one guide element.
  • the guide element is a reversible screw driven in rotation during the movements of exit and re-entry of the jack rod and this can be stopped at any point along its travel.
  • the cylinder of great precision, finds an advantageous use in manipulators and robots.
  • Cylinders are known where the rod is movable and slides on a fixed piston.
  • at least one guide element is provided which makes it possible to withstand the torsional forces, to prevent the rotation of the rod and to provide the necessary rigidity.
  • the guide member is a rod.
  • the guide rod normally exits with the cylinder rod, which leads to maximum bulk.
  • the invention aims to exploit and combine the advantages of the jacks described above, while ensuring a very precise stop at any point in the stroke of the jack rod and preventing rotation thereof.
  • the jack according to the invention comprises a jack rod consisting of a tube sliding on a fixed piston, a casing and at least one guide element preventing rotation of the jack rod.
  • the guide element remains inside the casing when the actuator rod exits and comprises a reversible screw driven in rotation by the displacement of the rod.
  • This reversible screw is arranged externally and parallel to the fixed piston and at a length substantially corresponding to the total stroke of the cylinder rod.
  • the reversible screw is equipped with a locking member capable of stopping the rotation thereof for a given stroke of the cylinder rod.
  • the actuator rod can be stopped or stopped at will at any point, one or more times, over the whole of its travel.
  • the bottom of the jack rod comprises, arranged eccentrically and perpendicular to its axis, an extension which bears on the reversible screw, which causes it to rotate during the movement of the jack rod.
  • the extension completely surrounds the reversible screw.
  • the locking member can at the same time serve to lock the reversible screw when stopped.
  • the blocking member is controlled by sensors detecting the stroke of the jack rod. These sensors are activated by contact with the extension of the bottom of the rod surrounding the reversible screw. As a variant, the sensors are inductive proximity detectors; they are therefore activated without any contact. In both cases, the position of the sensors is adjustable.
  • the blocking member is controlled by an encoder, preferably a rotary encoder placed for example at the end of the reversible screw behind the blocking member.
  • a reversible screw a ball screw or a roller screw can be used.
  • the reversible screw contributes favorably to the maintenance and the rigidity of the entire jack.
  • the rod is supported by one or more bearings, which defines a maximum limit stroke of the rod because of the overhang.
  • the bearings can be arranged at a variable spacing so as to increase the guidance as a function of the stroke.
  • an optimum bearing spacing is determined.
  • the spacing of the bearings is to be fixed in a relation of proportion with the total stroke of the rod of the actuator desired.
  • a cylinder comprising a rod 1 consisting of a sliding tube on a fixed piston 2.
  • The. cylinder comprises a housing 3 and a guide element 4 in the form of a ball screw.
  • the piston 2 comprises a piston head 5 which slides inside the cylinder rod 1 by means of seals 6 and through the bottom of the cylinder rod 1 by means of seals 8
  • a connecting element 9 making it possible to fix the accessories, for example a manipulator.
  • This connection element 9 can be rotated 360 °.
  • the bottom 7 of the actuator rod 1 is provided with an extension 12 which forms a nut 13 for the ball screw 4 and is equipped with a stud 14, the proximity of which will be detected by the sensors 16, of the nearby inductive type. .
  • the ball screw 4 is arranged parallel to the rod 1 and is held firmly in place by the blocks 15 and 17 integral with the assembly.
  • an electric brake 18, with permanent magnet is arranged at the rear.
  • This brake 18 is governed by the sensors 16 disposed on their support 19 at will along a tube 20 placed parallel to the ball screw 4.
  • These sensors 16 can be placed in any position along the tube 20. If the user changes steps often, templates can be used to adjust the location of the sensors 16, in order to gain speed and flexibility.
  • a stop signal acts on the brake 18 which. blocks the rotation of the ball screw 4, the nut 3 comes to a standstill and, consequently, the rod 1 also comes to a standstill.
  • the brake 18 can be of the latch type and immobilize the rod 1 as long as an opposite signal is not given. For the sake of safety, when stopped, pressure balancing of chambers 10 and 11 is provided.
  • the sensors 16 can be of a mechanical type, micro-contact or else of the non-contact type, for example inductive (as described above), capacitive or cell.
  • a dotted variant is shown comprising, at the end of the ball screw 4 and at the rear of the electric brake 18, an incremental rotary encoder 21.
  • the sensors 16 are eliminated, but it is advantageously kept the tube 20 to stiffen the assembly.
  • the encoder 21 provides an incremental signal as a function of the rotation of the screw 4; in this way, the number of steps can be very large and the definition of the steps very precise.
  • Bearings 22 and 23 maintain the rod along its stroke and the spacing between these bearings 22 and 23 can be adjusted according to the total stroke.
  • the reversible screw 4 serves as anti-rotation and stroke stop for the cylinder rod 1.
  • the tube 20 can be hollow, in order to ensure the electrical passage.
  • the cylinder due to its high precision and compactness, advantageously finds its use as a cylinder for manipulators and robots.

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

Abstract

The actuator comprises an actuator rod (1) consisting of a tube sliding on a fixed piston (2), and a casing (3) and at least one guide element preventing the rotation of the actuator rod. The guide element remains inside the casing (3) when the actuator rod (1) is extended, and comprises a reversible worm (4) driven in rotation by the displacement of the actuator rod (1). The reversible worm (4) is arranged externally and parallel with respect to the fixed piston (2) and has a length corresponding substantially to the total travel of the actuator rod (1). The reversible worm (4) is equipped with a locking element (18) capable of halting its rotation for a given travel of the actuator rod (1). The locking element (18) is controlled by sensors (16) or by a rotary coder (21). <IMAGE>

Description

La présente invention se rapporte à un vérin du type comportant une tige vérin qui consiste en un tube coulissant sur un piston fixe, un carter et au moins un élément de guidage. L'élément de guidage est une vis réversible entraînée en rotation lors des mouvements de sortie et de rentrée de la tige de vérin et celle-ci peut être arrêtée en tout point le long de sa course. Le vérin, de grande précision, trouve une utilisation avantageuse dans les manipulateurs et robots.The present invention relates to a cylinder of the type comprising a cylinder rod which consists of a tube sliding on a fixed piston, a casing and at least one guide element. The guide element is a reversible screw driven in rotation during the movements of exit and re-entry of the jack rod and this can be stopped at any point along its travel. The cylinder, of great precision, finds an advantageous use in manipulators and robots.

On connaît des vérins où la tige est mobile et coulisse sur un piston fixe. Dans ce type de vérin, on prévoit au moins un élément de guidage qui permet de supporter les efforts en torsion, d'empêcher la rotation de la tige et d'assurer la rigidité nécessaire. Habituellement, l'élément de guidage est une tige. La tige de guidage sort normalement avec la tige de vérin, ce qui conduit à un encombrement maximum.Cylinders are known where the rod is movable and slides on a fixed piston. In this type of actuator, at least one guide element is provided which makes it possible to withstand the torsional forces, to prevent the rotation of the rod and to provide the necessary rigidity. Usually the guide member is a rod. The guide rod normally exits with the cylinder rod, which leads to maximum bulk.

Dans la demande de brevet français nO 84.10485 de la déposante, les difficultés sont résolues en prévoyant une tige de guidage qui reste à l'intérieur du carter lors de la sortie de la tige de vérin.In the French patent application No. 84.10485 of the Applicant O, difficulties are solved by providing a guide rod remaining inside the housing when the output of the actuator rod.

Par ailleurs, il est décrit dans l'exposé d'invention FR 2 394 702, un vérin à tige intérieure creuse, coaxiale à la tige de déplacement, et comprenant un dispositif de blocage sur la tige de déplacement permettant un mouvement d'avance pas à pas avec verrouillage temporaire.Furthermore, it is described in the description of the invention FR 2 394 702, a jack with a hollow internal rod, coaxial with the displacement rod, and comprising a locking device on the displacement rod. allowing forward movement step by step with temporary locking.

L'invention vise à exploiter et combiner les avantages des vérins décrits ci-dessus, tout en assurant un arrêt très précis en tout point de la course de la tige de vérin et en empêchant la rotation de celle-ci.The invention aims to exploit and combine the advantages of the jacks described above, while ensuring a very precise stop at any point in the stroke of the jack rod and preventing rotation thereof.

Pour ce faire, le vérin selon l'invention comporte une tige de vérin consistant en un tube coulissant sur un piston fixe, un carter et au moins un élément de guidage empêchant la rotation de la tige de vérin. L'élément de guidage reste à l'intérieur du carter lors de la sortie de la tige de vérin et comprend une vis réversible entraînée en rotation par le déplacement de la tige. Cette vis réversible est disposée extérieurement et parallèlement au piston fixe et à une longueur correspondant sensiblement à la course totale de la tige de vérin. La vis réversible est équipée d'un organe de blocage apte à en arrêter la rotation pour une course donnée de la tige de vérin.To do this, the jack according to the invention comprises a jack rod consisting of a tube sliding on a fixed piston, a casing and at least one guide element preventing rotation of the jack rod. The guide element remains inside the casing when the actuator rod exits and comprises a reversible screw driven in rotation by the displacement of the rod. This reversible screw is arranged externally and parallel to the fixed piston and at a length substantially corresponding to the total stroke of the cylinder rod. The reversible screw is equipped with a locking member capable of stopping the rotation thereof for a given stroke of the cylinder rod.

Ainsi, la tige de vérin peut être à volonté arrêtée ou immobilisée en tout point, une ou plusieurs fois, sur la totalité de sa course.Thus, the actuator rod can be stopped or stopped at will at any point, one or more times, over the whole of its travel.

Avantageusement, le fond de la tige de vérin comprend, disposé excentriquement et perpendiculairement à son axe, un prolongement qui prend appui sur la vis réversible, ce qui l'entraîne en rotation lors du déplacement de la tige de vérin. De préférence, le prolongement entoure complètement la vis réversible. En outre, l'organe de blocage peut en même temps servir à verrouiller la vis réversible à l'arrêt.Advantageously, the bottom of the jack rod comprises, arranged eccentrically and perpendicular to its axis, an extension which bears on the reversible screw, which causes it to rotate during the movement of the jack rod. Preferably, the extension completely surrounds the reversible screw. In in addition, the locking member can at the same time serve to lock the reversible screw when stopped.

Dans une première forme d'exécution, l'organe de blocage est commandé par des capteurs détectant la course de la tige de vérin. Ces capteurs sont activés par contact avec le prolongement du fond de la tige entourant la vis réversible. En variante, les capteurs sont des détecteurs inductifs de proximité ; ils sont donc activés sans qu'il y ait contact. Dans les deux cas, la position des capteurs est réglable.In a first embodiment, the blocking member is controlled by sensors detecting the stroke of the jack rod. These sensors are activated by contact with the extension of the bottom of the rod surrounding the reversible screw. As a variant, the sensors are inductive proximity detectors; they are therefore activated without any contact. In both cases, the position of the sensors is adjustable.

Dans une deuxième forme d'exécution, l'organe de blocage est commandé par un codeur, de préférence un codeur rotatif placé par exemple à l'extrémité de la vis réversible derrière l'organe de blocage.In a second embodiment, the blocking member is controlled by an encoder, preferably a rotary encoder placed for example at the end of the reversible screw behind the blocking member.

Comme vis réversible, on peut utiliser une vis à billes ou une vis à galets.As a reversible screw, a ball screw or a roller screw can be used.

On aura compris en outre que la vis réversible contribue favorablement au maintien et à la rigidité de l'ensemble du vérin.It will also be understood that the reversible screw contributes favorably to the maintenance and the rigidity of the entire jack.

Il faut enfin considérer que, dans un vérin, la tige est supportée par un ou plusieurs paliers, ce qui définit une course limite maximum de la tige à cause du porte-à-faux. Selon un aspect de l'invention et de par la construction du vérin, les paliers peuvent être disposés selon un écartement variable de façon à augmenter le guidage en fonction de la course.Finally, it must be considered that, in a jack, the rod is supported by one or more bearings, which defines a maximum limit stroke of the rod because of the overhang. According to one aspect of the invention and by the construction of the jack, the bearings can be arranged at a variable spacing so as to increase the guidance as a function of the stroke.

En d'autres termes et dépendant des dimensions du vérin et la course de guidage, on détermine un écartement optimum des paliers. A titre indicatif, on considère que l'écartement des paliers est à fixer dans une relation de proportion avec la course totale de tige du vérin désirée.In other words and depending on the dimensions of the cylinder and the guide stroke, an optimum bearing spacing is determined. As an indication, it is considered that the spacing of the bearings is to be fixed in a relation of proportion with the total stroke of the rod of the actuator desired.

L'invention sera mieux comprise en référence au dessin annexé, donné à titre d'exemple non limitatif.The invention will be better understood with reference to the accompanying drawing, given by way of nonlimiting example.

Dans ce dessin, figure unique, on reconnaît en coupe longitudinale un vérin comprenant une tige 1 constituée d'un tube coulissant sur un piston fixe 2. Le . vérin comprend un carter 3 et un élément de guidage 4 sous forme d'une vis à billes.In this drawing, single figure, we recognize in longitudinal section a cylinder comprising a rod 1 consisting of a sliding tube on a fixed piston 2. The. cylinder comprises a housing 3 and a guide element 4 in the form of a ball screw.

Le piston 2 comprend une tête de piston 5 qui coulisse à l'intérieur de la tige de vérin 1 par l'intermédiaire de joints d'étanchéité 6 et à travers le fond de la tige de vérin 1 grâce à des joints d'étanchéité 8. A l'extrémité de la tige de vérin 1 se trouve un élément de raccordement 9 permettant de fixer les accessoires, par exemple un manipulateur. Cet élément de raccordement 9 est orientable sur 360°.The piston 2 comprises a piston head 5 which slides inside the cylinder rod 1 by means of seals 6 and through the bottom of the cylinder rod 1 by means of seals 8 At the end of the actuator rod 1 is a connecting element 9 making it possible to fix the accessories, for example a manipulator. This connection element 9 can be rotated 360 °.

La tige de vérin 1 avec son fond 7 et le piston 2 avec la tête de piston 5 délimitent deux chambres où vont être admis, séquentiellement, des pressions pneumatiques. On rencontre ainsi une chambre arrière 10 et une chambre avant 11 qui sont alimentées en pression par des organes non représentés sur la figure.The cylinder rod 1 with its bottom 7 and the piston 2 with the piston head 5 delimit two chambers into which pneumatic pressures will be admitted, sequentially. There is thus a rear chamber 10 and a front chamber 11 which are supplied with pressure by members not shown in the figure.

Le fond 7 de la tige de vérin 1 est muni d'un prolongement 12 qui fait écrou 13 pour la vis à billes 4 et est équipé d'un plot 14 dont la proximité va être dectecté par les capteurs 16, du type inductif à proximité.The bottom 7 of the actuator rod 1 is provided with an extension 12 which forms a nut 13 for the ball screw 4 and is equipped with a stud 14, the proximity of which will be detected by the sensors 16, of the nearby inductive type. .

La vis à billes 4 est disposée parallèlement à la tige 1 et est maintenue fermement en place par les blocs 15 et 17 solidaires de l'ensemble. A l'arrière est disposé un frein 18 électrique, à aimant permanent, de façon à assurer le blocage en rotation de la vis à billes 4 lorsque l'aimant est désactivé. Ce frein 18 est gouverné par les capteurs 16 disposés sur leur support 19 à volonté l'e long d'un tube 20 placé parallèlement à la vis à billes 4. Ces capteurs 16 peuvent être placés dans n'importe quelle position le long du tube 20. Si l'utilisateur change souvent de pas, des gabarits peuvent être utilisés pour le réglage de l'emplacement des capteurs 16, afin de gagner en rapidité et en souplesse.The ball screw 4 is arranged parallel to the rod 1 and is held firmly in place by the blocks 15 and 17 integral with the assembly. At the rear is arranged an electric brake 18, with permanent magnet, so as to block the rotation of the ball screw 4 when the magnet is deactivated. This brake 18 is governed by the sensors 16 disposed on their support 19 at will along a tube 20 placed parallel to the ball screw 4. These sensors 16 can be placed in any position along the tube 20. If the user changes steps often, templates can be used to adjust the location of the sensors 16, in order to gain speed and flexibility.

Par le double emploi de capteurs à position réglable et d'un gabarit, on permet une mise en position rapide de ceux-ci, ce qui donne un maximum de flexibilité à l'ensemble.By the dual use of adjustable position sensors and a template, these are quickly positioned, which gives maximum flexibility to the assembly.

Lorsque la proximité du plot 5 est détectée par un capteur 16, un signal d'arrêt agit sur le frein 18 qui . bloque la rotation de la vis à billes 4, l'écrou 3 s'immobilise et, par voie de conséquence, la tige 1 s'immobilise également. Si désiré, le frein 18 peut être du type à verrou et immobiliser la tige 1 aussi longtemps qu'un signal contraire n'est pas donné. Par souci de sécurité, à l'arrêt, un équilibrage en pression des chambres 10 et 11 est prévu.When the proximity of the pad 5 is detected by a sensor 16, a stop signal acts on the brake 18 which. blocks the rotation of the ball screw 4, the nut 3 comes to a standstill and, consequently, the rod 1 also comes to a standstill. If desired, the brake 18 can be of the latch type and immobilize the rod 1 as long as an opposite signal is not given. For the sake of safety, when stopped, pressure balancing of chambers 10 and 11 is provided.

Les capteurs 16 peuvent être d'un type mécanique, à micro-contact ou bien du type sans contact,, par exemple inductif (comme décrit ci-dessus), capacitif ou à cellule.The sensors 16 can be of a mechanical type, micro-contact or else of the non-contact type, for example inductive (as described above), capacitive or cell.

Sur cette même figure, on a représenté une variante en pointillé comprenant, à l'extrémité de la vis à billes 4 et à l'arrière du frein électrique 18, un codeur rotatif incrémental 21. Les capteurs 16 sont supprimés, mais on garde avantageusement le tube 20 pour rigidifier l'ensemble. Le codeur 21 fournit un signal incrémental en fonction de la rotation de la vis 4 ; de la sorte, le nombre de pas peut être très important et la définition des pas très précise.In this same figure, a dotted variant is shown comprising, at the end of the ball screw 4 and at the rear of the electric brake 18, an incremental rotary encoder 21. The sensors 16 are eliminated, but it is advantageously kept the tube 20 to stiffen the assembly. The encoder 21 provides an incremental signal as a function of the rotation of the screw 4; in this way, the number of steps can be very large and the definition of the steps very precise.

On peut prévoir deux amortisseurs, non représentés, fixés respectivement sur le piston 2 sur le bloc 12 pour offrir une sécurité complémentaire. On évite ainsi que, dans le cas d'une utilisation en simple vérin (sans arrêt intermédiaire) ou par suite d'une erreur de manipulation, l'ensemble ne vienne en butée à pleine vitesse, en fin de course.One can provide two shock absorbers, not shown, respectively fixed on the piston 2 on the block 12 to provide additional security. This prevents, in the case of use in a single cylinder (without intermediate stop) or as a result of a handling error, the assembly comes into abutment at full speed, at the end of the stroke.

Pour le surplus, on se référera avantageusement à la demande de brevet français citée au début n° 84.10485. Des paliers 22 et 23 maintiennent la tige le long de sa course et l'écartement entre ces paliers 22 et 23 peut être réglé en fonction de la course totale.For the rest, advantageously refer to the French patent application cited at the start n ° 84.10485. Bearings 22 and 23 maintain the rod along its stroke and the spacing between these bearings 22 and 23 can be adjusted according to the total stroke.

La vis réversible 4 sert d'antirotation et d'arrêt de course pour la tige 1 de vérin. Le tube 20 peut être creux, afin d'assurer le passage électrique.The reversible screw 4 serves as anti-rotation and stroke stop for the cylinder rod 1. The tube 20 can be hollow, in order to ensure the electrical passage.

On aura compris qu'on a ainsi réalisé un vérin dont l'élément de guidage reste à l'intérieur lors de la sortie de la tige, d'où un encombrement des plus réduits. Cet élément assure l'antirotation et l'arrêt en tout point le long de la course du vérin puisqu'il consiste en une vis prenant place dans un écrou solidaire de la tige. L'arrêt de la rotation de la vis entraîne l'arrêt de la course de la tige et, si on le désire, l'immobilisation en ce point.It will be understood that a cylinder has thus been produced, the guide element of which remains inside when the rod leaves, resulting in a very small overall size. This element provides anti-rotation and stopping at any point along the stroke of the jack since it consists of a screw taking place in a nut secured to the rod. Stopping the rotation of the screw stops the stroke of the rod and, if desired, immobilizes it at this point.

Le vérin, de par sa grande précision et sa compacité, trouve avantageusement son utilisation comme vérin pour manipulateurs et robots.The cylinder, due to its high precision and compactness, advantageously finds its use as a cylinder for manipulators and robots.

Claims (10)

1. Vérin à arrêt en tout point, comprenant une tige (1) de vérin consistant en un tube coulissant sur un piston fixe (2), un carter (3) et au moins un élément de guidage empêchant la rotation de la tige de vérin, caractérisé en ce que l'élément de guidage reste à l'intérieur du carter (3) lors de la sortie de la tige (1) de vérin et comprend une vis réversible (4) entraînée en rotation par le déplacement de la tige (1) de vérin, cette vis réversible (4) étant disposée extérieurement et parallèlement au piston fixe (2) et ayant une longueur correspondant sensiblement à la course totale de la tige (1) de vérin, et en ce que la vis réversible (4) est équipée d'un organe de blocage (18) apte à en arrêter la rotation pour une course donnée de la tige (1) de vérin.1. Cylinder with stop at any point, comprising a cylinder rod (1) consisting of a tube sliding on a fixed piston (2), a casing (3) and at least one guide element preventing rotation of the cylinder rod , characterized in that the guide element remains inside the casing (3) when the cylinder rod (1) leaves and comprises a reversible screw (4) driven in rotation by the displacement of the rod ( 1) of the jack, this reversible screw (4) being arranged externally and parallel to the fixed piston (2) and having a length corresponding substantially to the total stroke of the jack rod (1), and in that the reversible screw (4 ) is equipped with a locking member (18) capable of stopping the rotation thereof for a given stroke of the rod (1) of the jack. 2. Vérin selon la revendication 1, caractérisé en ce que le fond (7) de la tige de vérin comprend, disposé excentriquement et perpendiculairement à son axe, un prolongement (12,13) qui prend appui sur la vis réversible (4) pour l'entraîner en rotation lors du déplacement de la tige (1) de vérin.2. Cylinder according to claim 1, characterized in that the bottom (7) of the cylinder rod comprises, arranged eccentrically and perpendicular to its axis, an extension (12,13) which is supported on the reversible screw (4) for drive it in rotation when the cylinder rod (1) moves. 3. Vérin selon la revendication 2, caractérisé en ce que le prolongement (12,13) entoure complètement la vis réversible (4).3. Cylinder according to claim 2, characterized in that the extension (12,13) completely surrounds the reversible screw (4). 4. Vérin selon la revendication 1, caractérisé en ce que l'organe de blocage (18) verrouille la vis réversible (4) à l'arrêt.4. Cylinder according to claim 1, characterized in that the blocking member (18) locks the reversible screw (4) when stopped. 5. Vérin selon la revendication 1, caractérisé en ce que l'organe de blocage (18) est commandé par des capteurs (16) détectant la course de la tige (1) de vérin.5. Cylinder according to claim 1, characterized in that the locking member (18) is controlled by sensors (16) detecting the stroke of the rod (1) of the cylinder. 6. Vérin selon la revendication 5, caractérisé en ce que les capteurs (16) consistent en des détecteurs inductifs qui détectent la proximité d'un plot (14) ménagé sur un prolongement (12) du fond de la tige (1) entourant la vis réversible (4).6. Cylinder according to claim 5, characterized in that the sensors (16) consist of inductive detectors which detect the proximity of a stud (14) formed on an extension (12) of the bottom of the rod (1) surrounding the reversible screw (4). 7. Vérin selon la revendication 3, caractérisé en ce que les capteurs (16) sont activés par contact avec un plot (14) ménagé sur un prolongement (12) du fond de la tige (1) entourant la vis réversible (4).7. Cylinder according to claim 3, characterized in that the sensors (16) are activated by contact with a stud (14) formed on an extension (12) of the bottom of the rod (1) surrounding the reversible screw (4). 8. Vérin selon la revendication 1, caractérisé en ce que l'organe de blocage (18) est commandé par un codeur rotatif (21) placé à l'extrémité de la vis réversible (4) derrière l'organe de blocage (18).8. Cylinder according to claim 1, characterized in that the locking member (18) is controlled by a rotary encoder (21) placed at the end of the reversible screw (4) behind the locking member (18) . 9. Vérin selon la revendication 1, caractérisé en ce que la vis réversible (4) est une vis à billes ou à galets.9. Cylinder according to claim 1, characterized in that the reversible screw (4) is a ball or roller screw. 10. Vérin selon la revendication 1, caractérisé en ce que la tige est maintenue par des paliers (22,23) dont l'écartement est réglable à volonté.10. Cylinder according to claim 1, characterized in that the rod is held by bearings (22,23) whose spacing is adjustable at will.
EP86420245A 1985-10-04 1986-10-03 Actuator with random stops Withdrawn EP0219439A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8514905A FR2588328B1 (en) 1985-10-04 1985-10-04 STOP AT ALL POINTS
FR8514905 1985-10-04

Publications (1)

Publication Number Publication Date
EP0219439A1 true EP0219439A1 (en) 1987-04-22

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Application Number Title Priority Date Filing Date
EP86420245A Withdrawn EP0219439A1 (en) 1985-10-04 1986-10-03 Actuator with random stops

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EP (1) EP0219439A1 (en)
FR (1) FR2588328B1 (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19649718C1 (en) * 1996-11-30 1998-04-23 Festo Ag & Co Linear drive
DE19649720A1 (en) * 1996-11-30 1998-06-04 Festo Ag & Co Linear drive with position determining arrangement
DE19649719A1 (en) * 1996-11-30 1998-06-04 Festo Ag & Co Fluid-actuated working cylinder forms linear drive unit
DE19801018A1 (en) * 1998-01-14 1999-07-22 Festo Ag & Co Mechanical spindle linkage for automated mechanical handling device
CN111043104A (en) * 2020-01-06 2020-04-21 太原理工大学 Servo motor assisted redundant-guiding anti-unbalance-loading horizontal servo hydraulic cylinder

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2721358B1 (en) * 1994-06-21 1996-09-06 Parker Hannifin Rak Sa Cylinder for handling module with fixed piston.

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3732783A (en) * 1971-02-11 1973-05-15 Nichols H Fluid cylinder having self-locking means
EP0106947A1 (en) * 1982-10-22 1984-05-02 Mannesmann Rexroth Pneumatik Gmbh Double acting ram
EP0124727A2 (en) * 1983-04-06 1984-11-14 Robert Bosch Gmbh Working cylinder

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3732783A (en) * 1971-02-11 1973-05-15 Nichols H Fluid cylinder having self-locking means
EP0106947A1 (en) * 1982-10-22 1984-05-02 Mannesmann Rexroth Pneumatik Gmbh Double acting ram
EP0124727A2 (en) * 1983-04-06 1984-11-14 Robert Bosch Gmbh Working cylinder

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19649718C1 (en) * 1996-11-30 1998-04-23 Festo Ag & Co Linear drive
DE19649720A1 (en) * 1996-11-30 1998-06-04 Festo Ag & Co Linear drive with position determining arrangement
DE19649719A1 (en) * 1996-11-30 1998-06-04 Festo Ag & Co Fluid-actuated working cylinder forms linear drive unit
WO1998025032A1 (en) * 1996-11-30 1998-06-11 Festo Ag & Co. Linear drive mechanism
DE19649719C2 (en) * 1996-11-30 1999-02-04 Festo Ag & Co linear actuator
DE19649720C2 (en) * 1996-11-30 2001-05-17 Festo Ag & Co linear actuator
US6279411B1 (en) 1996-11-30 2001-08-28 Festo Ag & Co. Linear drive mechanism
DE19801018A1 (en) * 1998-01-14 1999-07-22 Festo Ag & Co Mechanical spindle linkage for automated mechanical handling device
DE19801018C2 (en) * 1998-01-14 1999-11-04 Festo Ag & Co Coupling device
CN111043104A (en) * 2020-01-06 2020-04-21 太原理工大学 Servo motor assisted redundant-guiding anti-unbalance-loading horizontal servo hydraulic cylinder
CN111043104B (en) * 2020-01-06 2021-10-15 太原理工大学 A Servo Motor Aided Redundant Guided Anti-eccentric Horizontal Servo Hydraulic Cylinder

Also Published As

Publication number Publication date
FR2588328B1 (en) 1989-07-21
FR2588328A1 (en) 1987-04-10

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