U.S. patent number 3,593,519 [Application Number 04/832,066] was granted by the patent office on 1971-07-20 for device for precision reversing in a manner substantially independent of load, for use in a hydraulic power drive for reciprocating movements, for instance for machine tools and elevators.
This patent grant is currently assigned to Hydrel A. G. Maschinenfabrik. Invention is credited to Paul Fuhrimann.
United States Patent |
3,593,519 |
Fuhrimann |
July 20, 1971 |
DEVICE FOR PRECISION REVERSING IN A MANNER SUBSTANTIALLY
INDEPENDENT OF LOAD, FOR USE IN A HYDRAULIC POWER DRIVE FOR
RECIPROCATING MOVEMENTS, FOR INSTANCE FOR MACHINE TOOLS AND
ELEVATORS
Abstract
A system for the precision reversal of the motion of a movable
member, such as an elevator, connected to a hydraulic motor. The
movable member is provided with a pair of reversing surfaces so
shaped as to determine braking distance, reversing point and
reacceleration characteristics and cooperating with a feeler which
transmits a signal through an amplifier to a servo valve for
switching a pump.
Inventors: |
Fuhrimann; Paul (Romanshorn,
CH) |
Assignee: |
Hydrel A. G. Maschinenfabrik
(Romanshorn, CH)
|
Family
ID: |
4394507 |
Appl.
No.: |
04/832,066 |
Filed: |
June 11, 1969 |
Foreign Application Priority Data
|
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|
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Sep 10, 1968 [CH] |
|
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13690/68 |
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Current U.S.
Class: |
60/382; 60/378;
60/464; 60/911; 60/456; 60/466 |
Current CPC
Class: |
B23Q
5/033 (20130101); F16H 61/46 (20130101); F16H
61/47 (20130101); Y10S 60/911 (20130101) |
Current International
Class: |
B23Q
5/033 (20060101); B23Q 5/00 (20060101); F16H
61/40 (20060101); F16H 61/46 (20060101); F15b
015/18 (); F15b 015/22 () |
Field of
Search: |
;60/52VS,53,52R,52HD |
References Cited
[Referenced By]
U.S. Patent Documents
Primary Examiner: Geoghegan; Edgar W.
Claims
I claim:
1. A system for the precision reversal of the motion of a movable
member substantially independently of a load thereon, said system
comprising:
a hydraulic motor connected to said load for reciprocating
same;
a main oil pump connected in a fluid circuit with said hydraulic
motor and having two fluid drive directions separated by an idle
point for powering said hydraulic motor in opposite directions;
a servo oil circuit including a servo pump, an electrically
operated servocontrol valve connected to said servo pump and to
said main oil pump for reversibly switching same between said
directions through said idle point, and transducer means for
transforming a mechanical movement into an electrical signal
applied to said valve; and
a pair of reversing surfaces fixed on said member for establishing
a reversing characteristic relating the braking distance, reversing
point and reacceleration distance of said member, said transducer
means including an electric control feeler actuated by said
surfaces and disposed between them, said surfaces and feeler being
so constructed and arranged that each point of contact of said
feeler with said surfaces corresponds to an electrical parameter
transmitted to said valve for controlling said main oil pump
through said idle point to deliver corresponding quantities of a
fluid medium to corresponding sides of said motor.
2. The system defined in claim 1 wherein said electric control
feeler includes a capacitively regulatable condenser.
3. The system defined in claim 1 wherein said feeler includes an
inductor for producing a variable inductance value.
4. The system defined in claim 1 wherein said feeler includes a
movable element of a linear potentiometer, said transducer means
further comprising an electronic amplifier connected between said
potentiometer and said valve.
5. The system defined in claim 4 wherein said surfaces are each
oblique but linear.
6. The system defined in claim 4 wherein said surfaces lie along
exponential curves.
7. The system defined in claim 4 wherein said surfaces lie along a
sine curve.
8. The system defined in claim 4 wherein said surfaces lie along
generally paraboloidal curves.
9. The system defined in claim 4 wherein each of said surfaces lies
along a respective composite curve consisting of a plurality of
shapes including a straight line, a sinusoid, a parabola and an
exponential curve.
10. The system defined in claim 1, further comprising a control
element mounted on said member and carrying said surfaces, said
control element being movable relatively to said member and said
feeler and being adapted to be secured to said member in a selected
one of a number of positions.
11. The system defined in claim 1 wherein said transducer means
includes a voltage seesaw device adapted to skip the electrical
signal value corresponding to the zero-velocity point of said
member and to switch over directly to an electrical parameter
producing reacceleration.
Description
This invention relates to a device for precision reversing in a
manner substantially independent of load, for use in an hydraulic
power drive for reciprocating movements, for instance for machine
tools and elevators, having a main oil pump delivering through the
idle point in both drive directions alternately for the drive of a
rotary hydraulic motor or a double-acting piston-and-cylinder motor
with rapid reversing of the movement and ascertainment of an
accurate reversing point of the movable element of the motor
depending on the running distance covered by said movable element
and on the shape and location of adjustable control elements, and
further having a servo oil circuit with servo pump allocated to the
main oil pump and a voltage-dependent electrohydraulic servocontrol
valve for controlling the reversing movement of the main oil
pump.
Precision reversing devices, for instance for machine tools with
straight line metal removal such as slotting and parallel-planing
machines, are known per se, but the amount of electronic equipment
required for numerical control is very considerable and expensive
even when combined with conventional hydraulic drives.
The present invention solves the problem by far simpler means by
providing reversing surfaces on the reciprocating machine or
elevator part or on a tup connected to and moving with it for the
purpose of establishing the reversing characteristic including the
braking distance, reversing point and reacceleration distance, and
by placing the middle of the path of these reversing surfaces a
feeler of an electric control member that is actuating by said
surfaces. The control member is connected via an electronic
amplifier to an solenoid of the electrohydraulic servo valve for
the purpose of transmitting electric values of the member
corresponding to the momentary position of the reversing surfaces
relative to the feeler. The arrangement is such that every point of
contact between the feeler and the reversing surface corresponds in
the control member to a definite capacitive, inductive or voltage
value, which values are transmitted via the electronic amplifier to
the electrohydraulic servo valve which in turn controls the
oil-driving pump, equipped for regulation through the idle point,
in respect to the required delivery quantities, within the range of
the freely adjustable maximum speeds of the motor both for forward
and reverse motion.
The accompanying drawing shows diagrammatically a preferred
embodiment of the precision reversing device according to the
invention.
FIG. 1 is a diagram of the installation;
FIG. 2 is a diagrammatic representation of the variations of
voltage in the servo valve during the reversing phase;
FIG. 3 is a graphic representation of the pump delivery during the
reversing phase, and
FIG. 4 is a displacement velocity diagram in the reversing range of
the reciprocating machine or elevator part or of the tup.
Referring to FIG. 1, numeral 1 designates a main oil pump
delivering in both directions of rotation and reversing through its
idle or "null" point. It communicates through pipes 2 and 3 with an
hydraulic motor 4. Main oil pump 1, pipes 2 and 3 and hydraulic
motor 4 form a closed circuit. Main oil pump 1 is equipped with a
voltage-controlled servovalve 5 which, on the one hand communicates
through a pipe 6 with an auxiliary or control oil pump 7 and, on
the other hand, is connected through an electric lead 8 to the
electronic amplifier 9 of an electronic set 10 which is equipped
with a pair of velocity regulators 9', one each for the working
velocity VA and the return velocity VR. With these regulators, the
two velocities that may be required in any given case can be set in
the form of maximum values.
Numeral 11 designates a feed and flushing block 11 of known design
connected in parallel with the main oil pump 1, which communicates
through pipes 12 and 13 with pipes 2 and 3 leading to hydraulic
motor 4. An overflow pipe 14 leads from the feed and flushing block
11 to the oil tank 15. The bypass valve 16 is connected in parallel
with the main oil pump 1 and is connected by pipes 17 and 18 to
pipes 2 and 3 leading to hydraulic motor 4.
The hydraulic motor is connected by gears 19 and 20 to a screw
spindle 21 adapted to serve as a drive for a tup 22 or for the
reciprocating part of the machine or elevator. Control elements 23
and 24 are arranged on the tup or the machine or elevator part
(driven member) 22 so that they can be displaced and fixed in the
desired position.
Each of the control elements has a specially designed control
surface 23' and 24' respectively, into the path of which the end
25' of a linearly movable feeler 25 projects. Feeler 25 is in
interacting connection with a linear potentiometer 26 of the
transducer means which is connected through an electric lead 27 to
the electronic block 10 including, in addition to the amplifier set
9, a voltage seesaw device 28. A pipe 29 branching off from control
oil pump 7, or more exactly from pipe 6 of the latter, leads to the
feed and flushing block 11. A second pipe 30 with a pressure relief
or nonreturn valve 31 is also connected to control oil pump 7, or
more exactly to pipe 6, and leads into the oil tank 15.
Suppose now the main oil pump 1 delivers pressurized oil through
pipe 2 to hydraulic motor 4, and let us further assume that the tup
22 is thereby moved through gear 19 and 20 and screw spindle 21 in
the direction of arrow A (FIG. 1) at a maximum constant speed set
by the velocity regulator 9' shown in FIG. 1. When tup 22 has
covered the free path between reversing elements 23 and 24,
reversing surface 24' runs up against the end 25' of feeler 25, so
that the feeler is displaced in the direction of arrow B. As a
result a change in voltage is brought about in linear potentiometer
26. This voltage change acts through the electric lead 27, the
amplifier set 9 and a solenoid of servo valve 5 to regulate the
pressure of the oil supplied by auxiliary pump 7 to the servo valve
for the adjustment of the eccentricity (displacement) of the main
oil pump 1, which can be regulated both with respect to its
delivery quantity and to the direction of delivery. In other words,
the comparatively small change in electric voltage of the linear
potentiometer is converted by amplifier set 9 and servo valve 5
into a correspondingly large mechanical force which moves the main
oil pump into the desired swivel position so that the delivery of
the pump falls almost to zero, whereupon the pump, reaching the
tripping point, springs in the opposite direction and now forces
pressurized oil through pipe 3 to hydraulic motor 4. The result of
this is that the gear 19 and 20 and the screw spindle 21 now turn
in the opposite direction and displace tup 22 in the direction of
arrow C. Feeler 25,25' which has been in contact with reversing
surface 24' now moves under spring action in the direction of arrow
D, whereupon control values are again transmitted by linear
potentiometer 26 through pipe 27, amplifier set 9 and electric lead
8 to the servo valve 5 in the sense of an increase of delivery and
thus a corresponding acceleration of the movement of tup 22. As the
reversing surface 23' runs up against the end 25' of feeler 25, the
reversing process described is repeated.
The feed and flushing block 11 ensures the replacement of the
leakage loss of oil due to the pressure in the closed oil circuit
1, 2, 3 and 4 and an exchange of oil, and therewith the venting of
oil pipes 2 and 3 which are alternately under pressure and not, so
as to prevent overheating of the oil although it is exposed to
constant pressure impacts and is in reciprocating movement. Feed
and flushing block 11 further include two pressure relief valves
directed counter to each other which allow any excess pressure to
escape alternately into one of the pipes 2 and 3 which happens not
to be under pressure. Especially during braking of the hydraulic
driving pump and any additional braking of the hydraulic motor 4,
the bypass valve 16 has as its purpose to ensure the balancing of
any small quantity of oil that may still be flowing when the main
pump 1 is out of operation, but because of certain inaccuracies a
very small amount of oil should be supplied to the hydraulic
motor.
While the adjustably arranged reversing elements 23 and 24
determine the length of height of stroke of tup 22, and owing to
the special profile of reversing surfaces 23' and 24' likewise the
braking and reacceleration characteristic, the voltage seesaw
device 28 serves both to skip the zero-voltage point =
zero-velocity point of the last braking and first reacceleration
phase and thus also to prevent the effective zero voltage from
being reached, while at the same time supplying the necessary
initial voltage for reacceleration.
In FIG. 2 the variations of voltage in the servo valve are shown
graphically. Line (branch) K shows the drop in voltage as the tup
runs up against the reversing surface. At point m the voltage
seesaw device comes into action, at a voltage value in the servo
valve of at least about 1 percent of the maximum voltage. 0 denotes
the point of zero voltage, while P is the rise of the voltage after
reversing has taken place.
In FIG. 3 the pump delivery corresponding to the voltage variation
of FIG. 2 is represented graphically, line (branch) V being the
drop in delivery as a result of the slowing of the speed as caused
by the reversing surface, while line (branch) B shows the increase
in the pump delivery in the acceleration phase. The reversing path
during the tripping over of the voltage is designated s.
In FIG. 4 the velocity curve is shown graphically in a solid line
for uniform braking and acceleration, the straight lines E and E'
holding good for constant velocities of the tup when the reversing
elements 23 and 24 are outside the range of feeler 25,25'. The
oblique straight line F shows the velocity controlled by
potentiometer 26 and falling almost to the zero line N during the
braking process, while the oblique straight line G represents the
corresponding reacceleration phase. Sk marks the bridging phase
when the voltage trips over. If in FIG. 4 the velocity E till the
commencement of braking is 90 meters per minute, for instance, it
will be only 60 meters per minute at point a, 30 meters per minute
at point b and 6 meters per minute at point c. After the zero line
N has been crossed, acceleration begins in the reverse direction of
operation. The velocity at point d is 6 meters per minute, at e 30,
at f 60 and at E' reaches the normal level of 90 meters per
minute.
As FIG. 4 further shows, with linear control of the curve by the
potentiometer the braking and reacceleration phases run out in a
fairly long peak. This peak can be considerably shortened by using
a parabolic or sinusoidal curve. The course taken by braking and
reacceleration in this case is shown in FIG. 4 by the curves H and
J. A similar effect is obtained if the profile of the reversing
surfaces is shaped in accordance with an exponential curve with an
exponent greater than unity.
An axial-pison-type pump can be used advantageously for the main
oil pump 1, while a piston-and-cylinder system may be used instead
of the hydraulic motor 4.
Alternatively, it is possible to use some other electric control
member instead of the linear potentiometer, for instance a
capacitively regulable condenser or an inductor supplying variable
inductive values.
As for the reversing surfaces 23' and 24', their profile may be
shaped in various ways, for instance as an oblique straight line
or, as already mentioned, as an exponential curve. It might also be
conceivable to have the profiles of the reversing surfaces designed
in sinusoidal or parabolic form or to combine some of these
different profiles.
* * * * *