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91. 发明专利

JPS61119804A Hydraulic actuator 失效
标题翻译：液压执行器
公开(公告)号：JPS61119804A
公开(公告)日：1986-06-07
申请号：JP24113184
申请日：1984-11-15
申请人： Matsushita Electric Ind Co Ltd
发明人： FUNADOKORO HIROYUKI , SEKIGUCHI TAKUYA , MARUYAMA TERUO
IPC分类号： B25J19/00 , F15B9/08 , F15B9/09
CPC分类号： F15B9/09
摘要： PURPOSE:To reduce a hydraulic actuator in size, and to improve the stability and reliability by disposing an electric motor for driving an input shaft in a housing, and interposing a relative turning angle deviation regulating mechanism between the input shaft and an output shaft. CONSTITUTION:An electric motor comprises an electric motor stator 4 disposed in a housing 1 and a magnet 7 adhering to an input shaft 3, wherein a relative turning angle deviation regulating mechanisms 16, 17 are disposed between the input shaft 3 and an output shaft 2. In this arrangement, the input shaft 3 is not exposed to the outside of the housing 1, and the need of oil seal between the input shaft 3 and the housing 1 and between the input shaft 3 and the output shaft 2 can be eliminated to reduce sliding friction torque of a seal member and lessen the output of the electric motor. Accordingly, a hydraulic actuator is reduced in size. A relative turning angle deviation between the input shaft 3 and the output shaft 2 is regulated to improve the safety and the reliability.
摘要翻译：目的：为了减小液压致动器的尺寸，并通过将用于驱动壳体中的输入轴的电动机布置并且在输入轴和输出轴之间插入相对转动角度偏差调节机构来提高稳定性和可靠性。构成：电动机包括设置在壳体1中的电动机定子4和粘附到输入轴3的磁体7，其中相对转动角度偏差调节机构16,17设置在输入轴3和输出轴2之间在这种布置中，输入轴3不暴露于壳体1的外部，并且可以消除输入轴3和壳体1之间以及输入轴3和输出轴2之间的油封的需要降低密封构件的滑动摩擦转矩并减小电动机的输出。因此，液压致动器的尺寸减小。调节输入轴3和输出轴2之间的相对转动角度偏差，以提高安全性和可靠性。

92. 发明专利

JPS5917001A Temperature compensation method of electric-hydraulic controller 失效
标题翻译：电液控制器温度补偿方法
公开(公告)号：JPS5917001A
公开(公告)日：1984-01-28
申请号：JP12540882
申请日：1982-07-19
申请人： Komatsu Ltd
发明人： TORISAKI SHIYUNSUKE , HORIKOSHI TOSHIAKI , ARAKAWA HIDEJI
IPC分类号： F15B9/09 , F16K31/06
CPC分类号： F15B9/09
摘要： PURPOSE:To control a hydraulic work machine at low temperature, by detecting temperature of working oil in the hydraulic work machine, changing a frequency of an alternating carrier signal on the basis of this detection value, pulse width modulating the signal and controlling a solenoid valve for driving the work machine. CONSTITUTION:A temperature detector 8 detects temperature of working oil in a conduit connected to a port of a hydraulic cylinder 2 and outputs a signal ST to be applied to a voltage-frequency converter circuit 9. The circuit 9 outputs a triangular wave signal Sm'. A position signal of the hydraulic cylinder 2 is added to a position instruction signal at an addition point 1, and deviation epsilon is added to a modulator 5, while a triangular signal Sm is pulse width modulated by the deviation epsilon, and a signal Sc is output and applied to a solenoid valve. When a work machine is used under low temperature environment, a frequency of the signal Sm' is decreased, and a duration time of positive and negative polarity parts of the signal Sc is increased, then the urged time of the solenoid valve 7 is increased while sufficient oil is supplied for operating the hydraulic cylinder 2.
摘要翻译：目的：为了控制液压作业机在低温下，通过检测液压作业机械的工作油温度，根据该检测值改变交变载波信号的频率，对信号进行脉宽调制，控制电磁阀用于驾驶工作机。构成：温度检测器8检测连接到液压缸2的端口的管道中的工作油的温度，并输出要施加到电压 - 频率转换器电路9的信号ST。电路9输出三角波信号Sm' 。液压缸2的位置信号被添加到加法点1的位置指令信号，并且偏差ε被加到调制器5，而三角形信号Sm被偏差ε的脉冲宽度调制，信号Sc为输出并施加到电磁阀。当在低温环境下使用工作机器时，信号Sm'的频率降低，信号Sc的正极性和负极性部分的持续时间增加，电磁阀7的推压时间增加，同时供给足够的油来操作液压缸2。

93. 发明专利

JPS5853201B2 JPS5853201B2 - 失效
公开(公告)号：JPS5853201B2
公开(公告)日：1983-11-28
申请号：JP5452375
申请日：1975-05-10
申请人： Pneumo Corp
发明人： DAN OO BOOERU , ROBAATO EMU SAREMUKA
IPC分类号： F15B9/09 , F15B11/08 , F15B20/00
CPC分类号： F15B20/002 , F15B9/09 , F15B15/261 , Y10T137/7782 , Y10T137/86485 , Y10T137/86598

94. 发明公开

US20240117821A1 PNEUMATIC CYLINDER SYSTEM 审中-公开
公开(公告)号：US20240117821A1
公开(公告)日：2024-04-11
申请号：US18264989
申请日：2022-02-08
申请人： STACCATO TECHNOLOGIES AB
发明人： Per-Ove JOHANSSON , Twana IBRAHIM
IPC分类号： F15B9/09 , F15B11/06
CPC分类号： F15B9/09 , F15B11/06
摘要： A cylinder positioning system (1) comprising a control unit for a pneumatically driven cylinder (14) in a cylinder chamber is provided. The control unit comprising a controller configured to control a set of drive units of the cylinder positioning system. Each drive unit emits a drive current to a respective electromagnetic direct acting valve (9,10, 11, 12) of the cylinder positioning system. Each respective electromagnetic direct acting valve has a closing/opening time of less than 2 ms. The control unit is configured to receive a set position for the cylinder and an actual position for the cylinder, to compare the set position of the cylinder with the actual position of the cylinder and to emit control signals to the drive units to move the cylinder from the actual position towards the set position. By providing a very short time for actuation of the valves, in combination with an actual position for the cylinder a closed loop control can be achieved to control the flow to the actuating cylinder to be proportional over essentially the entire dynamic range of the pneumatic position control system. This in turn can make the control more accurate and robust and with smaller latency.

95. 发明授权

US11794353B2 Braking and regeneration control in a legged robot 有权
公开(公告)号：US11794353B2
公开(公告)日：2023-10-24
申请号：US17451669
申请日：2021-10-21
申请人： Boston Dynamics, Inc.
发明人： Alex Khripin , Stephen Berard , Alfred Rizzi
IPC分类号： B25J9/20 , F15B9/09 , B62D57/032 , B25J5/00
CPC分类号： B25J9/20 , B25J5/00 , B62D57/032 , F15B9/09 , Y10S901/01
摘要： An example robot includes a hydraulic actuator cylinder controlling motion of a member of the robot. The hydraulic actuator cylinder comprises a piston, a first chamber, and a second chamber. A valve system controls hydraulic fluid flow between a hydraulic supply line of pressurized hydraulic fluid, the first and second chambers, and a return line. A controller may provide a first signal to the valve system so as to begin moving the piston based on a trajectory comprising moving in a forward direction, stopping, and moving in a reverse direction. The controller may provide a second signal to the valve system so as to cause the piston to override the trajectory as it moves in the forward direction and stop at a given position, and then provide a third signal to the valve system so as to resume moving the piston in the reverse direction based on the trajectory.

96. 发明授权

US10625721B2 Hydraulic pressure control device 有权
公开(公告)号：US10625721B2
公开(公告)日：2020-04-21
申请号：US15778455
申请日：2016-11-24
申请人： ADVICS CO., LTD. , TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： Masaki Ninoyu , Takahiro Okano , Masaaki Komazawa
IPC分类号： B60T8/36 , B60T8/40 , B60T7/04 , B60T13/66 , B60T13/68 , B60T13/14 , F15B9/09
CPC分类号： B60T8/36 , B60T7/042 , B60T8/40 , B60T8/4077 , B60T13/14 , B60T13/145 , B60T13/662 , B60T13/686 , F15B9/09
摘要： The hydraulic pressure control device has an idle region, and is provided with a control portion, and a correcting portion which, in cases when the reaction time of the actual pressure to pressure increasing control or pressure decreasing control exceeds a predetermined threshold time, corrects a control current towards the side in which the flow-rate is increased. In cases when a judging portion has judged that the pressure increasing control is in the idle area, the correcting portion applies, as the threshold time, an idle threshold time set to a value different from the threshold time that in cases when the judging portion has not judged that the pressure increasing control is in the idle area. Furthermore, in cases when the reaction time of the actual pressure to the pressure increasing control exceeds the idle threshold time, the correcting portion corrects the control current.

97. 发明申请

US20190237231A1 TORQUE MOTOR WITH DOUBLE FIX SCREWS 审中-公开
公开(公告)号：US20190237231A1
公开(公告)日：2019-08-01
申请号：US16140954
申请日：2018-09-25
申请人： Hamilton Sundstrand Corporation
发明人： Piotr SAWICKI , Piotr KOZLOWSKI
IPC分类号： H01F7/122 , H01F7/14 , H01F7/02 , F15B13/043 , F15B9/09 , H02K33/00
CPC分类号： H01F7/122 , F15B9/09 , F15B13/0438 , F16K27/0263 , F16K31/0627 , F16K31/0679 , F16K31/0682 , F16K31/082 , H01F7/021 , H01F7/127 , H01F7/14 , H01F7/145 , H01F2007/086 , H02K26/00 , H02K33/00
摘要： A torque motor for use in a servovalve wherein only two holes must be provided through each of the pole pieces in order to assemble the torque motor together. The torque motor comprises first and second opposing pole pieces, first and second permanent magnets positioned between the first and second pole pieces; an armature comprising a magnetic plate and a flapper, the magnetic plate being positioned between the first and second permanent magnets, the flapper being connected at one end to the magnetic plate; and further comprising: first and second fastening means each extending through the first pole piece, the armature and the second pole piece to thereby fasten the torque motor together.

98. 发明申请

US20180320715A1 FAIL-FIXED HYDRAULIC ACTUATOR 审中-公开
公开(公告)号：US20180320715A1
公开(公告)日：2018-11-08
申请号：US15588162
申请日：2017-05-05
申请人： Hamilton Sundstrand Corporation
发明人： Todd Haugsjaahabink
IPC分类号： F15B20/00 , F15B15/26 , F15B15/14 , F15B13/044 , F15B11/10
CPC分类号： F15B20/002 , F15B9/09 , F15B9/10 , F15B11/10 , F15B13/0444 , F15B15/149 , F15B15/26 , F15B2211/8623 , F15B2211/8752
摘要： A method of operating a fail-fixed hydraulic actuator system is provided. The method includes providing an actuator in an initial position, electromechanically operating a valve assembly to hydraulically drive actuator movement and halting the hydraulic driving of the actuator movement by the valve assembly.

99. 发明授权

US09937618B2 Hybrid hydraulic and electrically actuated mobile robot 有权
公开(公告)号：US09937618B2
公开(公告)日：2018-04-10
申请号：US15016729
申请日：2016-02-05
申请人： Google Inc.
发明人： John Aaron Saunders , Alex Khripin , Steven Potter , Michael Patrick Murphy , Christopher Everett Thorne
IPC分类号： B25J9/00 , B25J9/12 , B25J3/04 , B25J9/14 , B60W10/04 , B60W10/08 , B62D57/02 , F15B15/08 , B62D57/032 , F15B9/09 , F15B18/00
CPC分类号： B25J9/126 , B25J3/04 , B25J9/144 , B25J9/1602 , B60W10/04 , B60W10/08 , B62D57/02 , B62D57/032 , F15B9/09 , F15B15/088 , F15B18/00 , F15B2211/7135 , F15B2211/78 , Y10S901/01 , Y10S901/22 , Y10S901/23
摘要： Example embodiments may relate to a robotic system that includes a hydraulic actuator and an electric actuator both coupled to a joint of the robotic system. Operation of the actuators may be based on various factors such as based on desired joint parameters. For instance, such desired joint parameters may include a desired output torque/force of the joint, a desired output velocity of the joint, a desired acceleration of the joint, and/or a desired joint angle, among other possibilities. Given a model of power consumption as well as a model of the actuators, the robotic system may determine operating parameters such as hydraulic and electric operating parameters as well as power system parameters, among others. The robotic system may then control operation of the actuators, using the determined operating parameters, to obtain the desired joint parameters such that power dissipation in the system is minimized (i.e., maximizing actuation efficiency).

100. 发明申请

US20150270748A1 SERVO VALVE TORQUE MOTOR 审中-公开
标题翻译：伺服阀门扭矩电机
公开(公告)号：US20150270748A1
公开(公告)日：2015-09-24
申请号：US14661697
申请日：2015-03-18
申请人： GOODRICH ACTUATION SYSTEMS SAS
发明人： Arnaud de la Chevasnerie , Audrey La Marca
IPC分类号： H02K1/18 , F15B9/09 , H02K1/17
CPC分类号： H02K1/185 , F15B9/09 , F15B13/0436 , F15B13/0438 , H02K1/17 , H02K26/00
摘要： A servo valve torque motor apparatus including a pair of pole pieces; one or more permanent magnet(s) held between the pole pieces an armature supported between the pole pieces for rotation about an axis; the armature being for connection to a member that resists rotation of the armature; and a coil on the armature; wherein when an electrical current is passed through the coil the armature is rotated against the member; and wherein the magnet(s) is/are secured to the two pole pieces by mechanical fixings passing through holes in the magnet(s).
摘要翻译：一种伺服阀扭矩电动机装置，包括一对极片; 一个或多个永久磁铁保持在极片之间，电枢被支撑在极片之间以绕轴线转动; 电枢用于连接到抵抗电枢旋转的构件; 和电枢上的线圈; 其中当电流通过所述线圈时，所述电枢相对于所述构件转动; 并且其中所述磁体通过穿过所述磁体中的孔的机械固定件固定到所述两个极片。

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