WO2014125854A1 - アクチュエータユニット - Google Patents
アクチュエータユニット Download PDFInfo
- Publication number
- WO2014125854A1 WO2014125854A1 PCT/JP2014/050506 JP2014050506W WO2014125854A1 WO 2014125854 A1 WO2014125854 A1 WO 2014125854A1 JP 2014050506 W JP2014050506 W JP 2014050506W WO 2014125854 A1 WO2014125854 A1 WO 2014125854A1
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- WIPO (PCT)
- Prior art keywords
- passage
- side chamber
- piston
- valve
- actuator unit
- Prior art date
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Classifications
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- 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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
- F15B11/10—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor in which the servomotor position is a function of the pressure also pressure regulators as operating means for such systems, the device itself may be a position indicating system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
- B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
- B61F5/02—Arrangements permitting limited transverse relative movements between vehicle underframe or bolster and bogie; Connections between underframes and bogies
- B61F5/22—Guiding of the vehicle underframes with respect to the bogies
- B61F5/24—Means for damping or minimising the canting, skewing, pitching, or plunging movements of the underframes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
- B61F5/00—Constructional details of bogies; Connections between bogies and vehicle underframes; Arrangements or devices for adjusting or allowing self-adjustment of wheel axles or bogies when rounding curves
- B61F5/02—Arrangements permitting limited transverse relative movements between vehicle underframe or bolster and bogie; Connections between underframes and bogies
- B61F5/22—Guiding of the vehicle underframes with respect to the bogies
- B61F5/24—Means for damping or minimising the canting, skewing, pitching, or plunging movements of the underframes
- B61F5/245—Means for damping or minimising the canting, skewing, pitching, or plunging movements of the underframes by active damping, i.e. with means to vary the damping characteristics in accordance with track or vehicle induced reactions, especially in high speed mode
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- 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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
- F15B11/12—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor providing distinct intermediate positions; with step-by-step action
- F15B11/121—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor providing distinct intermediate positions; with step-by-step action providing distinct intermediate positions
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/30505—Non-return valves, i.e. check valves
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/3056—Assemblies of multiple valves
- F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/505—Pressure control characterised by the type of pressure control means
- F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
- F15B2211/50518—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using pressure relief valves
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- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/86—Control during or prevention of abnormal conditions
- F15B2211/8613—Control during or prevention of abnormal conditions the abnormal condition being oscillations
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/86—Control during or prevention of abnormal conditions
- F15B2211/8616—Control during or prevention of abnormal conditions the abnormal condition being noise or vibration
Definitions
- This invention relates to an actuator unit.
- the actuator unit is used, for example, between a vehicle body and a carriage in order to suppress left-right vibration with respect to the traveling direction of the vehicle body in a railway vehicle.
- JP2010-65797A includes a cylinder, a piston that is slidably inserted into the cylinder, a rod that is inserted into the cylinder and connected to the piston, a rod side chamber and a piston side chamber partitioned by the piston in the cylinder, A first on-off valve provided in the middle of the first passage communicating the tank, the rod side chamber and the piston side chamber, a second on-off valve provided in the middle of the second passage communicating the piston side chamber and the tank, and the rod side chamber
- An actuator unit is disclosed that includes a pump that supplies a working fluid to a motor, a motor that drives the pump, a discharge passage that connects the rod side chamber to the tank, and a variable relief valve that is provided in the middle of the discharge passage.
- the direction of thrust to be output is determined by appropriately opening and closing the first on-off valve and the second on-off valve, the motor is rotated at a constant speed, and a constant flow rate is supplied into the cylinder.
- the relief pressure of the variable relief valve the pressure in the cylinder can be controlled to output a desired magnitude of thrust in the desired direction.
- the actuator unit disclosed in JP2010-65797A When suppressing the lateral vibration of the railway vehicle body with the actuator unit disclosed in JP2010-65797A, the lateral acceleration of the vehicle body is detected by the acceleration sensor, and the thrust that antagonizes the detected acceleration is output by the actuator unit. If so, vibrations of the vehicle body can be suppressed.
- the thrust output from the actuator unit may become very large due to the influence of noise and drift input to the acceleration sensor. There is.
- the car body of the railway vehicle is supported by a carriage with an air spring or the like.
- an air spring or the like.
- the air spring when the vehicle body swings laterally with respect to the bogie, the air spring generates a reaction force that attempts to return the vehicle body to the center.
- the actuator unit includes a cylinder, a piston that is slidably inserted into the cylinder and divides the cylinder into a rod side chamber and a piston side chamber, and is inserted into the cylinder and coupled to the piston.
- the first variable relief valve opens when the pressure in the rod side chamber reaches the valve opening pressure. Allows the flow of hydraulic fluid towards the tank, the second variable relief valve, the pressure of the piston side chamber to permit the flow of hydraulic fluid to open when it reaches the valve opening pressure directed from the piston side chamber to the tank.
- FIG. 1 is a schematic view of an actuator unit according to an embodiment of the present invention.
- FIG. 2 is a diagram illustrating a state in which the actuator unit according to the embodiment of the present invention is interposed between the vibration-controlled object and the vibration input side portion.
- FIG. 3 is a diagram illustrating a state where the actuator unit according to the embodiment of the present invention exerts a thrust and a state where the actuator unit does not.
- FIG. 4 is a diagram showing the locus of the vibration-damped object to which the actuator unit according to the embodiment of the present invention is applied, the relative displacement and the relative velocity of the vibration input side portion.
- an actuator unit 1 includes a cylinder 2 and a piston 3 that is slidably inserted into the cylinder 2 and divides the cylinder 2 into a rod side chamber 5 and a piston side chamber 6.
- the rod 4 inserted into the cylinder 2 and connected to the piston 3, the tank 7, the pump 8, and the working fluid discharged from the pump 8 can be selectively supplied to the rod side chamber 5 and the piston side chamber 6.
- a directional control valve 9, a first control passage 10 that communicates the rod side chamber 5 and the tank 7, a second control passage 11 that communicates the piston side chamber 6 and the tank 7, and a first control passage 10 are provided.
- the actuator unit 1 adjusts the valve opening pressure of the first variable relief valve 12 and the valve opening pressure of the second variable relief valve 14, and the force obtained by multiplying the pressure in the rod side chamber 5 by the rod side pressure receiving area and the breaking of the rod 4.
- the difference between the rod side chamber 5 and the piston side chamber 6 is obtained by making the resultant force of the area multiplied by the pressure outside the actuator unit 1 acting on the rod 4 larger than the force obtained by multiplying the pressure of the piston side chamber 6 by the piston side pressure receiving area. Demonstrate thrust in the direction of contraction according to pressure.
- the cylinder 2 has a cylindrical shape, and the right end in FIG. 1 as one end is closed by a lid 17, and an annular rod guide 18 is attached to the left end in FIG. 1 as the other end.
- the rod 4 movably inserted into the cylinder 2 is slidably inserted into the rod guide 18.
- One end of the rod 4 projects out of the cylinder 2 and the other end is connected to a piston 3 that is slidably inserted into the cylinder 2.
- the space between the outer periphery of the rod 4 and the cylinder 2 is sealed by a seal member (not shown). Thereby, the inside of the cylinder 2 is maintained in a sealed state.
- the rod side chamber 5 and the piston side chamber 6 that are partitioned in the cylinder 2 by the piston 3 are filled with hydraulic oil as described above.
- a mounting portion (not shown) is provided on the left end in FIG. 1 of the rod 4 protruding outside the cylinder 2 and the lid 17 closing the right end of the cylinder 2.
- the actuator unit 1 is interposed between the object to be controlled, for example, between the vehicle body and the bogie of the railway vehicle by the mounting portion.
- the actuator unit 1 may be interposed between a building and a foundation fixed to the ground or between a beam on the upper floor of the building and a beam on the lower floor.
- the rod side chamber 5 and the piston side chamber 6 are communicated by an extension side relief passage 19 and a pressure side relief passage 20 provided in the piston 3.
- the valve In the middle of the extension side relief passage 19, when the pressure in the rod side chamber 5 exceeds the pressure in the piston side chamber 6 by a predetermined amount, the valve opens to open the extension side relief passage 19, and the pressure in the rod side chamber 5 is transferred to the piston side chamber 6.
- An extension side relief valve 21 is provided for relief.
- the pressure-side relief passage 20 is opened to release the pressure in the piston-side chamber 6 to the rod-side chamber 5.
- a relief valve 22 is provided. Installation of the extension side relief valve 21 and the pressure side relief valve 22 is optional. When these are provided, the actuator unit 1 can be protected by preventing the pressure in the cylinder 2 from becoming excessive.
- a first variable relief valve 12 and a first check valve 13 are provided in the middle of the first control passage 10 that communicates the rod side chamber 5 and the tank 7.
- the first check valve 13 is provided in parallel with the first variable relief valve 12.
- the first control passage 10 includes a main passage 10a and a branch passage 10b that branches from the main passage 10a and joins the main passage 10a again.
- the first control passage 10 includes a main passage 10a and a branch passage 10b branched from the main passage 10a.
- the first control passage 10 may be constituted by two mutually independent passages.
- the first variable relief valve 12 includes a valve body 12a provided in the middle of the main passage 10a of the first control passage 10, a spring 12b for biasing the valve body 12a so as to block the main passage 10a, and a spring 12b when energized. And a proportional solenoid 12c for generating a thrust force to counteract the above.
- the first variable relief valve 12 can adjust the valve opening pressure by adjusting the amount of current flowing through the proportional solenoid 12c.
- the pressure of the rod side chamber 5 upstream of the first control passage 10 acts on the valve body 12 a of the first variable relief valve 12.
- the resultant force of the thrust due to the pressure in the rod side chamber 5 and the thrust by the proportional solenoid 12c is the force that pushes the valve body 12a in the direction in which the first control passage 10 is opened.
- the pressure in the rod side chamber 5 exceeds the valve opening pressure of the first variable relief valve 12
- the resultant force of the thrust due to the pressure in the rod side chamber 5 and the thrust by the proportional solenoid 12c is in a direction to block the first control passage 10.
- the urging force of the spring 12b that urges the valve body 12a is overcome.
- valve body 12a moves backward to open the first control passage 10, and the movement of the hydraulic oil from the rod side chamber 5 toward the tank 7 is allowed.
- the first variable relief valve 12 does not open with respect to the flow of hydraulic oil from the tank 7 toward the rod side chamber 5, thereby blocking the flow of hydraulic oil.
- the first check valve 13 is provided in the middle of the branch passage 10 b of the first control passage 10.
- the first check valve 13 allows only the flow of hydraulic oil from the tank 7 toward the rod side chamber 5 and blocks the flow in the opposite direction.
- a second variable relief valve 14 and a second check valve 15 are provided in the middle of the second control passage 11 communicating the piston side chamber 6 and the tank 7.
- the second check valve 15 is provided in parallel with the second variable relief valve 14.
- the second control passage 11 includes a main passage 11a and a branch passage 11b that branches from the main passage 11a and joins the main passage 11a again.
- the second control passage 11 is constituted by a main passage 11a and a branch passage 11b branched from the main passage 11a.
- the second control passage 11 may be constituted by two mutually independent passages.
- the second variable relief valve 14 includes a valve body 14a provided in the middle of the main passage 11a of the second control passage 11, a spring 14b for biasing the valve body 14a so as to block the main passage 11a, and a spring 14b when energized. And a proportional solenoid 14c that generates a thrust force that counteracts the above.
- the second variable relief valve 14 can adjust the valve opening pressure by adjusting the amount of current flowing through the proportional solenoid 14c.
- valve body 14a moves backward to open the second control passage 11, and the movement of the hydraulic oil from the piston side chamber 6 toward the tank 7 is allowed.
- the second variable relief valve 14 does not open with respect to the flow of hydraulic oil from the tank 7 toward the piston side chamber 6, thereby blocking the flow of hydraulic oil.
- the valve opening pressure is minimized when the amount of current supplied to the proportional solenoid 14c is maximized. Conversely, the valve opening pressure is maximized when no current is supplied to the proportional solenoid 14c.
- the second check valve 15 is provided in the middle of the branch passage 11 b of the second control passage 11.
- the second check valve 15 allows only the flow of hydraulic oil from the tank 7 toward the piston side chamber 6 and blocks the flow in the opposite direction.
- the pump 8 is driven by the motor 23 to suck up and discharge the hydraulic oil from the tank 7.
- the discharge port of the pump 8 can communicate with the rod side chamber 5 and the piston side chamber 6 through the supply passage 24.
- the pump 8 can suck the hydraulic oil from the tank 7 and supply the hydraulic oil to the rod side chamber 5 and the piston side chamber 6.
- the pump 8 discharges the hydraulic oil in only one direction, there is no rotation direction switching operation. For this reason, the discharge amount of the pump 8 does not change at the time of rotation switching, and an inexpensive gear pump or the like can be used. Furthermore, since it is sufficient for the motor 23 to rotate in one direction, high response to rotation switching is not required, and an inexpensive motor 23 can be used.
- the supply passage 24 includes a common passage 24 a connected to the discharge port of the pump 8, a rod side passage 24 b branched from the common passage 24 a and connected to the rod side chamber 5, and a piston side branched from the common passage 24 a and connected to the piston side chamber 6. And a passage 24c.
- a direction control valve 9 is provided at a branch portion of the supply passage 24.
- a check valve 25 for preventing the backflow of hydraulic oil from the rod side chamber 5 to the pump 8 is provided.
- a check valve 26 for preventing the backflow of hydraulic oil from the piston side chamber 6 to the pump 8 is provided.
- a check valve for preventing the backflow of hydraulic oil from the rod side chamber 5 and the piston side chamber 6 to the pump 8 is provided, and the check valves 25 and 26 of the rod side passage 24b and the piston side passage 24c are provided. It does not have to be provided.
- the direction control valve 9 communicates the common passage 24a and the rod-side passage 24b, and communicates the first position 90a, the common passage 24a, and the piston-side passage 24c that block communication between the common passage 24a and the piston-side passage 24c.
- a valve body 90 having a second position 90b that blocks communication between the passage 24a and the rod-side passage 24b; a spring 91 that urges the valve body 90 to be positioned at the first position 90a; and a biasing force of the spring 91 when energized And a solenoid 92 that switches the valve body 90 to the second position 90b against the above. For this reason, the directional control valve 9 takes the first position 90a when not energized, but may take the second position 90b.
- a through hole 2a that communicates the inside and outside of the cylinder 2 is provided at a position where the piston 3 of the cylinder 2 faces.
- the through hole 2 a communicates with the tank 7 via the center passage 16, whereby the cylinder 2 and the tank 7 are communicated. Therefore, the inside of the cylinder 2 communicates with the tank 7 through the center passage 16 except when the piston 3 faces and the through hole 2a is closed.
- the position where the through hole 2 a is bored with respect to the cylinder 2 coincides with the stroke center which is the neutral position of the piston 3, and the neutral position of the piston 3 coincides with the center of the cylinder 2.
- the neutral position of the piston 3 is not limited to the center of the cylinder 2 and can be arbitrarily set.
- the through hole 2 a is not limited to the neutral position of the piston 3, and may be provided at other positions of the cylinder 2.
- the on-off valve 28 includes a valve body 29 having a communication position 29a for opening the center passage 16 and a blocking position 29b for blocking the center passage 16, and a spring 30 for biasing the valve body 29 to be positioned at the communication position 29a. And a solenoid 31 that switches the valve body 29 to the shut-off position 29b against the urging force of the spring 30 when energized.
- the on-off valve 28 may be an on-off valve that is manually opened and closed instead of the electromagnetic on-off valve.
- the actuator unit 1 When the center passage 16 is blocked, the pressure does not escape from the center passage 16 to the tank 7 regardless of the position of the piston 3 with respect to the cylinder 2 due to the expansion and contraction of the actuator unit 1.
- hydraulic oil discharged from the pump 8 can be selectively supplied to the rod side chamber 5 and the piston side chamber 6 depending on the position of the direction control valve 9.
- the actuator unit 1 can adjust the pressure in the rod side chamber 5 with the first variable relief valve 12 and adjust the pressure in the piston side chamber 6 with the second variable relief valve 14.
- the position of the directional control valve 9 is switched to select a chamber for supplying hydraulic oil discharged from the pump 8, and the opening pressures of the first variable relief valve 12 and the second variable relief valve 14 are adjusted.
- the direction and the magnitude of the thrust of the actuator unit 1 can be controlled by adjusting the differential pressure between the rod side chamber 5 and the piston side chamber 6.
- the first control valve 9 is opened while the directional control valve 9 is in the second position 90 b and the hydraulic oil is supplied from the pump 8 to the piston side chamber 6.
- the valve pressure and the valve opening pressure of the second variable relief valve 14 are adjusted.
- the piston 3 receives the pressure of the rod side chamber 5 with an annular surface facing the rod side chamber 5.
- the piston 3 has a resultant force obtained by multiplying the pressure in the rod side chamber 5 by the rod side pressure receiving area which is the area of the annular surface and the force obtained by multiplying the cross sectional area of the rod 4 by the pressure outside the actuator unit 1 acting on the rod 4 ( Hereinafter, it is referred to as “rod side force”), which acts in the right direction in FIG. Further, the piston 3 receives the pressure of the piston side chamber 6 on the surface facing the piston side chamber 6.
- a force obtained by multiplying the pressure in the piston side chamber 6 by the piston side pressure receiving area which is the area of the surface facing the piston side chamber 6 extends the actuator unit 1. 1 acting in the left direction in FIG.
- the first variable relief valve 12 reaches the valve opening pressure
- the first variable relief valve 12 opens to release the pressure in the rod side chamber 5 to the tank 7, so that the pressure in the rod side chamber 5 becomes equal to the valve opening pressure of the first variable relief valve 12. be able to.
- the second variable relief valve 14 reaches the valve opening pressure, the valve opens and releases the pressure in the piston side chamber 6 to the tank 7, so that the pressure in the piston side chamber 6 becomes equal to the valve opening pressure of the second variable relief valve 14.
- the hydraulic oil discharged from the pump 8 is supplied to the piston side chamber 6, the piston side force exceeds the rod side force, and the force obtained by subtracting the rod side force from the piston side force has a desired magnitude.
- the actuator unit 1 can exert a desired thrust in the extending direction.
- the directional control valve 9 When causing the actuator unit 1 to exert a thrust in the contraction direction, the directional control valve 9 is set to the first position 90a, and hydraulic oil is supplied from the pump 8 to the rod side chamber 5.
- the valve opening pressure of the first variable relief valve 12 and the valve opening pressure of the second variable relief valve 14 the rod side force exceeds the piston side force, and the force obtained by subtracting the piston side force from the rod side force is
- the pressure in the rod side chamber 5 and the piston side chamber 6 is adjusted so as to have a desired size. By doing in this way, the actuator unit 1 can exhibit the thrust of the shrinkage direction desired.
- the first variable relief is obtained in the same manner as the extension unit obtains a thrust in the extension direction while extending.
- a desired thrust can be obtained by adjusting the valve opening pressures of the valve 12 and the second variable relief valve 14. The same applies to the case where it is desired to obtain a desired thrust in the contraction direction that resists resistance while the actuator unit 1 is extended by receiving an external force.
- the actuator unit 1 expands or contracts in response to an external force, the actuator unit 1 does not exhibit a thrust greater than the external force, so that the actuator unit 1 functions as a damper.
- the actuator unit 1 includes a first check valve 13 and a second check valve 15, and the chamber 7 expands when it expands and contracts by an external force among the rod side chamber 5 and the piston side chamber 6. Can be supplied. For this reason, the desired thrust can be obtained also by controlling the valve opening pressures of the first variable relief valve 12 and the second variable relief valve 14 by cutting off the hydraulic oil supply from the pump 8. Further, since the check valves 25 and 26 are provided in the middle of the supply passage 24, when the actuator unit 1 expands and contracts by an external force, the backflow of the hydraulic oil from the cylinder 2 to the pump 8 is prevented.
- the actuator unit 1 functions as a damper by adjusting the valve opening pressures of the first variable relief valve 12 and the second variable relief valve 14.
- the actuator unit 1 can obtain a resistance force (damping force) against an external force that is equal to or greater than the thrust force generated by the torque of the motor 23.
- the actuator unit 1 exerts a thrust in the direction of pushing the piston 3 to the right in FIG.
- the piston 3 since the pressure in the piston side chamber 6 becomes the tank pressure, the piston 3 cannot be pushed to the left in FIG. That is, the actuator unit 1 cannot exert a thrust in the extending direction.
- This state is maintained until the piston 3 faces the through hole 2a and closes the center passage 16. Therefore, until the piston 3 blocks the center passage 16 from the state in which the piston 3 is located on the left side in FIG. 1 with respect to the through hole 2a of the center passage 16 until the piston 3 compresses the piston side chamber 6, Unit 1 does not exhibit thrust in the extension direction.
- the actuator unit 1 exerts a thrust in the direction of pushing the piston 3 to the left in FIG.
- the piston 3 cannot be pushed to the right in FIG. That is, the actuator unit 1 cannot exert a thrust in the contraction direction.
- This state is maintained until the piston 3 faces the through hole 2a and closes the center passage 16. Therefore, until the piston 3 blocks the center passage 16 from the state in which the piston 3 is located on the right side in FIG. Unit 1 does not exhibit thrust in the contraction direction.
- the actuator unit 1 does not exhibit thrust in the extending direction.
- This state is maintained until the piston 3 faces the through hole 2a and closes the center passage 16. Therefore, until the piston 3 blocks the center passage 16 from the state in which the piston 3 is located on the left side in FIG. 1 with respect to the through hole 2a of the center passage 16 until the piston 3 compresses the piston side chamber 6, Unit 1 does not exhibit thrust in the extension direction.
- the piston 3 is located on the right side in FIG. 1 with respect to the through hole 2 a communicating with the center passage 16 when the actuator unit 1 is contracted, the pressure in the piston side chamber 6 is opened by the second variable relief valve 14.
- the rod side chamber 5 is maintained at the tank pressure through the center passage 16.
- the actuator unit 1 can exert thrust only in the direction of returning the piston 3 to the center of the cylinder 2 when functioning as an actuator.
- the actuator unit 1 functions as a damper, only when the piston 3 strokes in a direction away from the center of the cylinder 2, a thrust to resist this is exhibited.
- the actuator unit 1 functions as an actuator or a damper, regardless of whether the piston 3 is located on the left side or the right side in FIG. 1 from the neutral position. Exhibits thrust only in the direction to return to the neutral position.
- FIG. 2 a model is considered in which the actuator unit 1 is interposed between the vehicle body that is the vibration-controlled object 100 and the carriage that is the vibration input side portion 200.
- the horizontal displacement of the vibration controlled object 100 is X1
- the horizontal displacement of the vibration input side portion 200 is X2.
- the relative speed between the vibration-controlled object 100 and the vibration input side portion 200 is d (X1-X2) / dt.
- FIG. 3 is a diagram in which the displacement in the right direction in FIG. 2 is positive, the displacement X1 is taken on the vertical axis, and the relative speed d (X1-X2) / dt is taken on the horizontal axis. As shown in FIG.
- FIG. 4 is a diagram in which the vibration target 100 is displaced with respect to the vibration input side 200, the relative displacement between the vibration input side 200 and the vibration target 100 is X, and the relative speed is dX / dt. is there. As shown in FIG. 4, the vibration converges to the origin on the phase plane of the relative displacement X and the relative velocity dX / dt, is asymptotically stable, and does not diverge.
- the actuator unit 1 since the center passage 16 is provided, the thrust is not exerted so as to promote the separation from the neutral position of the piston 3, and the vibration is easily converged. Become. Therefore, it is possible to stably suppress the vibration of the controlled object 100.
- an actuator unit when an actuator unit is used between the body of a railway vehicle and a bogie, when the railway vehicle travels in a curved section, steady acceleration acts on the vehicle body, and the actuator is affected by noise and drift input to the acceleration sensor.
- the thrust output by the unit may become very large. Even in such a case, according to the actuator unit 1, when the piston 3 passes the neutral position, the thrust that promotes the separation from the neutral position of the piston 3 is not exhibited. In other words, since the vehicle body is not vibrated past the neutral position, the vibration is easily converged, and the riding comfort in the railway vehicle is improved.
- the actuator unit 1 it is not necessary to control the first variable relief valve 12 and the second variable relief valve 14 in conjunction with the stroke of the actuator unit 1 to realize the above operation. For this reason, a stroke sensor is also unnecessary, and vibration can be suppressed without relying on a sensor output including an error. Therefore, vibration with high robustness can be suppressed.
- the hydraulic oil discharged from the pump 8 can be selectively supplied to the rod side chamber 5 and the piston side chamber 6 by the direction control valve 9. Therefore, there is no need to provide two pumps, a pump for supplying the hydraulic oil to the rod side chamber 5 and a pump for supplying the hydraulic oil to the piston side chamber 6. It becomes possible to reduce.
- the communication of the center passage 16 can be switched between the communication and the shut-off. If the center passage 16 is shut off, it can function as a general actuator that can exert thrust in both directions over the entire stroke, and versatility is improved.
- the center passage 16 may be opened to realize stable vibration suppression. For example, when low frequency vibration or vibration with low frequency and high wave height is input, the center passage 16 may be opened to suppress the vibration. There is no need to switch control modes. That is, it is necessary to change the control mode as the center passage 16 is opened and closed while the vibration of the vibration controlled object 100 is being suppressed in a certain control mode such as skyhook control or H ⁇ control. There is no need for complicated control.
- the on-off valve 28 takes the communication position 29a when not energized, the center passage 16 can be opened at the time of failure to stably suppress vibrations.
- the on-off valve 28 can be set to adopt the cutoff position 29b when power supply is impossible.
- resistance can be given to the flow of hydraulic fluid that passes therethrough.
- the opening position of the center passage 16 is the center of the cylinder 2 and is a position facing the stroke center of the piston 3. For this reason, when returning to the stroke center of the piston 3, the stroke range that does not exhibit the damping force is not biased in both directions, and the entire stroke length of the actuator unit 1 can be used effectively.
- the vibration-suppressed object 100 and the vibration input side portion 200 have been described as a vehicle body and a carriage of a railway vehicle.
- the actuator unit 1 is not limited to a railway vehicle, and vibration is generated between a building and the ground. It can be used for controlling applications.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Fluid-Pressure Circuits (AREA)
- Actuator (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
Abstract
Description
Claims (5)
- アクチュエータユニットであって、
シリンダと、
前記シリンダ内に摺動自在に挿入され前記シリンダ内をロッド側室とピストン側室とに区画するピストンと、
前記シリンダ内に挿入されて前記ピストンに連結されるロッドと、
タンクと、
ポンプと、
前記ポンプから吐出された作動流体を前記ロッド側室と前記ピストン側室に選択的に供給可能にする方向制御弁と、
前記ロッド側室と前記タンクとを連通する第一制御通路と、
前記ピストン側室と前記タンクとを連通する第二制御通路と、
前記第一制御通路に設けられ開弁圧を変更可能な第一可変リリーフ弁と、
前記第二制御通路に設けられ開弁圧を変更可能な第二可変リリーフ弁と、
前記タンクをシリンダ内に連通するセンター通路と、を備え、
前記第一可変リリーフ弁は、前記ロッド側室の圧力が開弁圧に達すると開弁して前記ロッド側室から前記タンクへ向かう作動流体の流れを許容し、
前記第二可変リリーフ弁は、前記ピストン側室の圧力が開弁圧に達すると開弁して前記ピストン側室から前記タンクへ向かう作動流体の流れを許容するアクチュエータユニット。 - 請求項1に記載のアクチュエータユニットであって、
前記第一制御通路に前記第一可変リリーフ弁と並列に設けられ前記タンクから前記ロッド側室へ向かう作動流体の通過のみを許容する第一逆止弁と、
前記第二制御通路に前記第二可変リリーフ弁と並列に設けられ前記タンクから前記ピストン側室へ向かう作動流体の通過のみを許容する第二逆止弁と、をさらに備えるアクチュエータユニット。 - 請求項1に記載のアクチュエータユニットであって、
前記センター通路は、前記ピストンのストローク中心に対向する位置において前記シリンダに開口するアクチュエータユニット。 - 請求項1に記載のアクチュエータユニットであって、
前記センター通路には、当該センター通路を開閉する開閉弁が設けられるアクチュエータユニット。 - 請求項1に記載のアクチュエータユニットであって、
前記ポンプの吐出口に連なる共通通路と前記ロッド側室に連なるロッド側通路と前記ピストン側室に連なるピストン側通路とを有する供給通路をさらに備え、
前記方向制御弁は、
前記共通通路と前記ロッド側通路とを連通し前記共通通路と前記ピストン側通路との連通を遮断する第一ポジション及び前記共通通路と前記ピストン側通路とを連通し前記共通通路と前記ロッド側通路との連通を遮断する第二ポジションを有する弁本体と、
前記弁本体を附勢して前記第一ポジション若しくは前記第二ポジションの一方に位置決めするばねと、
通電時に前記ばねの附勢力に抗して前記弁本体を前記第一ポジション若しくは前記第二ポジションの他方に切り換えるソレノイドと、を有し、
前記供給通路に設けられるアクチュエータユニット。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/764,940 US10066646B2 (en) | 2013-02-15 | 2014-01-15 | Actuator unit |
EP14752112.4A EP2957778B1 (en) | 2013-02-15 | 2014-01-15 | Actuator unit |
CA2898605A CA2898605C (en) | 2013-02-15 | 2014-01-15 | Actuator unit |
KR1020157019797A KR101718640B1 (ko) | 2013-02-15 | 2014-01-15 | 액추에이터 유닛 |
CN201480005489.XA CN104937284B (zh) | 2013-02-15 | 2014-01-15 | 驱动器单元 |
Applications Claiming Priority (2)
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JP2013027243A JP5552174B1 (ja) | 2013-02-15 | 2013-02-15 | アクチュエータ |
JP2013-027243 | 2013-02-15 |
Publications (1)
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WO2014125854A1 true WO2014125854A1 (ja) | 2014-08-21 |
Family
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PCT/JP2014/050506 WO2014125854A1 (ja) | 2013-02-15 | 2014-01-15 | アクチュエータユニット |
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US (1) | US10066646B2 (ja) |
EP (1) | EP2957778B1 (ja) |
JP (1) | JP5552174B1 (ja) |
KR (1) | KR101718640B1 (ja) |
CN (1) | CN104937284B (ja) |
CA (1) | CA2898605C (ja) |
WO (1) | WO2014125854A1 (ja) |
Families Citing this family (8)
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JP6397220B2 (ja) * | 2014-05-12 | 2018-09-26 | Kyb株式会社 | シリンダ装置 |
JP6363934B2 (ja) * | 2014-10-17 | 2018-07-25 | Kyb株式会社 | シリンダ装置 |
CN106382265A (zh) * | 2016-11-10 | 2017-02-08 | 扬州市江都永坚有限公司 | 一种集成式泵控液压单元 |
US20180202475A1 (en) * | 2017-01-18 | 2018-07-19 | General Electric Company | Hydraulic actuator with mechanical piston position feedback |
JP7141050B2 (ja) * | 2018-04-05 | 2022-09-22 | 日立Geニュークリア・エナジー株式会社 | 流体駆動システム、吸収機構、および外力検出機構 |
KR102089757B1 (ko) * | 2018-06-14 | 2020-04-23 | 하윤기 | 건설 중장비용 기계적 에너지 절감장치 |
JP6951372B2 (ja) * | 2019-01-23 | 2021-10-20 | Kyb株式会社 | 鉄道車両用制振装置 |
CN110360260B (zh) * | 2019-06-20 | 2021-08-31 | 中车青岛四方机车车辆股份有限公司 | 一种主动控制抗蛇形减振器及减振***、车辆 |
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- 2014-01-15 KR KR1020157019797A patent/KR101718640B1/ko active IP Right Grant
- 2014-01-15 WO PCT/JP2014/050506 patent/WO2014125854A1/ja active Application Filing
- 2014-01-15 CN CN201480005489.XA patent/CN104937284B/zh not_active Expired - Fee Related
- 2014-01-15 EP EP14752112.4A patent/EP2957778B1/en active Active
- 2014-01-15 CA CA2898605A patent/CA2898605C/en not_active Expired - Fee Related
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Also Published As
Publication number | Publication date |
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KR101718640B1 (ko) | 2017-03-21 |
EP2957778B1 (en) | 2020-04-29 |
US20150354606A1 (en) | 2015-12-10 |
EP2957778A1 (en) | 2015-12-23 |
KR20150099825A (ko) | 2015-09-01 |
CN104937284A (zh) | 2015-09-23 |
JP2014156882A (ja) | 2014-08-28 |
CA2898605A1 (en) | 2014-08-21 |
CN104937284B (zh) | 2016-11-23 |
EP2957778A4 (en) | 2016-11-02 |
US10066646B2 (en) | 2018-09-04 |
JP5552174B1 (ja) | 2014-07-16 |
CA2898605C (en) | 2018-04-24 |
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