Abstract
A modular fluid actuator system is provided for generating a relative motion between a first fluid transfer chamber of a first module unit and a piston rod arrangement in an axial direction. The modular fluid actuator system comprises a fluid supply, a valve device coupled to the fluid supply and to the first fluid transfer chamber, a control unit coupled to the valve device for controlling the relative motion between the first fluid transfer chamber and the piston rod arrangement, the first fluid transfer chamber is coupled to a first sleeve portion exhibiting a first expandable hollow space arranged for fluid communication with the valve device via the first fluid transfer chamber.
Claims
1. A modular fluid actuator system provided for generating a relative motion between a first fluid transfer chamber of a first module unit and a piston rod arrangement in an axial direction, the modular fluid actuator system comprises: a fluid supply; a valve device coupled to the fluid supply and to the first fluid transfer chamber; a control unit coupled to the valve device for controlling the relative motion between the first fluid transfer chamber and the piston rod arrangement; the first fluid transfer chamber is coupled to a first sleeve portion of the first module unit exhibiting a first expandable hollow space which is coupled to and arranged for fluid communication with the valve device via the first fluid transfer chamber; the first expandable hollow space is arranged to provide a clamping action of the first sleeve portion to the piston rod arrangement when the first expandable hollow space is pressurized by means of said fluid communications; an expandable wall portion of the first sleeve portion is arranged adjacent around and coaxial with the piston rod arrangement; a second module unit comprising a second sleeve portion dividing an interior of a first cylinder housing of the second module unit into a first and second cylinder chamber, wherein a second expandable hollow space of the second sleeve portion is arranged for fluid communication with the fluid supply via a second fluid transfer chamber coupled to the second expandable hollow space and positioned exterior of said first cylinder housing; an expandable wall portion of the second sleeve portion is arranged adjacent around and coaxial with the piston rod arrangement; the first fluid transfer chamber comprises a first external fluid inlet port and the second fluid transfer chamber comprises a second external fluid inlet port; the first external fluid inlet port is coupled to the fluid supply via the valve device which in turn is coupled to the control unit for controlling and providing a static clamping functionality in a first mode for operation of the system; and the first module unit is configured to act as a brake module unit of the modular fluid actuator system, wherein the second external fluid inlet port is coupled to the fluid supply via a first separate valve element which in turn is coupled to the control unit for controlling and providing a stepwise dynamic clamping functionality in a second mode for operation of the system.
2. The modular fluid actuator system according to claim 1, wherein the first fluid transfer chamber is formed by a first fluid connection body or formed by a first cylinder housing.
3. The modular fluid actuator system according to claim 2, wherein the first sleeve portion comprises a first piston portion having a first piston face, the first piston portion is movable arranged in said axial direction within the first cylinder housing.
4. The modular fluid actuator system according to claim 3, wherein the first sleeve portion and the first piston portion integrally constitute a first piston body.
5. The modular fluid actuator system according to claim 3, wherein the first piston portion divides the interior of the first cylinder housing into the first cylinder chamber and a second cylinder chamber, the first expandable hollow space is arranged for fluid communication with the fluid supply via the second cylinder chamber.
6. The modular fluid actuator system according to claim 1, wherein an outer envelope surface of the first sleeve portion comprises a coupling member arranged for mounting of a first fluid connection body or a first piston portion to the first sleeve portion.
7. The modular fluid actuator system according to claim 6, wherein the coupling member comprises an orifice of a channel system arranged for fluid communication with the expandable hollow space, the orifice being arranged for coupling to an opening of the first fluid connection body or to an orifice of a channel system of said first piston portion.
8. The modular fluid actuator system according to claim 1, wherein said modular fluid actuator system being made up of individual module units coupled to each other in line axially.
9. The modular fluid actuator system according to claim 1, wherein the modular fluid actuator system further comprises a third module unit comprising a third sleeve portion dividing the interior of a third cylinder housing into a fifth cylinder chamber and a sixth cylinder chamber, a third expandable hollow space of the third second sleeve portion is arranged for fluid communication with the fluid supply via at least one of the fifth and sixth cylinder chamber.
10. The modular fluid actuator system according to claim 1, wherein the modular fluid actuator system further comprises a fourth module unit comprising a fourth sleeve portion dividing the interior of a fourth cylinder housing into a seventh cylinder chamber and an eight eighth cylinder chamber, a fourth expandable hollow space of the fourth sleeve portion is arranged for fluid communication with the fluid supply via at least one of the seventh and eight eighth cylinder chamber.
11. The modular fluid actuator system according to claim 1, wherein at least the first cylinder housing comprises a fitting member and a mounting member being formed so as to be disposed positioning the first cylinder housing in a predetermined position relative the piston rod arrangement.
12. The modular fluid actuator system according to claim 1, wherein at least two module units comprise a fitting member and a mounting member being formed so as to be disposed joining the module units and interconnecting the fitting members of the respective module unit.
13. The modular fluid actuator system according to claim 12, wherein an axial force acting between at least the two module units is taken through the fitting member and the mounting member.
14. The modular fluid actuator system according to claim 12, wherein the mounting member is arranged at a distance from at least the first sleeve portion in transverse direction and extends in the axial direction.
15. The modular fluid actuator system according to claim 12, wherein the mounting member comprises a tie rod assembly interconnecting the module units.
16. The modular fluid actuator system according to claim 12, wherein the mounting member comprises an interface hollow pipe.
17. The modular fluid actuator system according to claim 1, wherein the control unit is provided for controlling the relative motion by pressurizing the first expandable hollow space with a second pressure for disengagement of the first module unit from a piston rod arrangement.
18. The modular fluid actuator system according to claim 1, wherein the second sleeve portion comprises a first piston portion comprising a respective first and second piston face, wherein the first piston portion and a middle section of the second sleeve portion are fixedly mounted to each other and are movable arranged in said axial direction within the first cylinder housing.
19. The modular fluid actuator system according to claim 1, wherein the first cylinder chamber and the second cylinder chamber are coupled to the fluid supply via a first valve member which in turn is coupled to the control unit for controlling and providing a stepwise dynamic clamping functionality in a second mode for operation of the system and providing a reciprocating motion of the first piston portion in the axial direction.
20. The modular fluid actuator system according to claim 1, wherein the modular fluid actuator system further comprises a third module unit comprising a third sleeve portion dividing an interior of a second cylinder housing of the third module unit into a first and second cylinder chamber, wherein a third expandable hollow space of the third sleeve portion is arranged for fluid communication with the fluid supply via a third fluid transfer chamber coupled to the third expandable hollow space comprising a third external fluid inlet port positioned exterior of said second cylinder housing.
21. The modular fluid actuator system according to claim 20, wherein the third sleeve portion comprises a second piston portion comprising a respective first and second piston face, wherein the second piston portion and the third sleeve portion together are movable in said axial direction.
22. The modular fluid actuator system according to claim 20, wherein the first cylinder chamber and the second cylinder chamber are coupled to the fluid supply via a second valve member which in turn is coupled to the control unit for controlling and providing a substantially pulsation-free dynamic clamping functionality in a third mode for operation of the system and providing counter-acting reciprocating motion of the respective second sleeve portion and the third sleeve portion in the axial direction for alternately clamping action around the piston rod arrangement.
23. The modular fluid actuator system according to claim 20, wherein the third external fluid inlet port is coupled to the fluid supply via a second separate valve element which in turn is coupled to the control unit for controlling and providing a substantially pulsation-free dynamic clamping functionality in a third mode for operation of the system provided for co-acting operation with the first separate valve element.
24. The modular fluid actuator system according to claim 1, wherein the first module unit is configured to act as a brake module unit of the system.
25. The modular fluid actuator system according to claim 1, wherein the modular fluid actuator system further comprises the application of a third module unit to the assembly for providing a substantially pulsation-free dynamic clamping functionality in a third mode.
26. A method for operation of a modular fluid actuator system according to claim 1, the method comprises the steps of: pressurizing of the first expandable hollow space with a first pressure for providing an engagement of the first module unit to the piston rod arrangement; pressurizing of the second expandable hollow space of the second sleeve portion of the second module unit for providing an engagement of the second module unit to the piston rod arrangement.
27. The method according to claim 26, the method further comprises the step of: pressurizing of the third expandable hollow space of the third sleeve portion of the third module unit for providing an engagement of the third module unit to the piston rod arrangement.
28. The method according to claim 26, the method further comprises the steps of: pressurizing of the first expandable hollow space with a first pressure for providing an engagement of the first module unit to the piston rod arrangement; pressurizing of the second expandable hollow space of the second sleeve portion of the second module unit with a second pressure for providing a disengagement of the second module unit from the piston rod arrangement and/or pressurizing of the third expandable hollow space of the third sleeve portion of the third module unit with a second pressure for providing a disengagement of the third module unit from the piston rod arrangement.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
(1) The present invention will now be described by way of examples with references to the accompanying schematic drawings, of which:
(2) FIGS. 1a to 1c illustrate a first example of a modular fluid actuator system;
(3) FIGS. 2a to 2d illustrate module components of a second example of a modular fluid actuator system;
(4) FIGS. 3a and 3b illustrate a mounting of module components of a third example of a modular fluid actuator system;
(5) FIG. 4 illustrates an actuator module unit of a fourth example of a modular fluid actuator system;
(6) FIG. 5 illustrates a fifth example of a modular fluid actuator system;
(7) FIGS. 6a and 6b illustrate a sixth example of a modular fluid actuator system;
(8) FIGS. 7a and 7b illustrate a seventh example of a modular fluid actuator system;
(9) FIG. 8 illustrates an eight example of a modular fluid actuator system;
(10) FIG. 9 illustrates a ninth example of a modular fluid actuator system;
(11) FIGS. 10a to 10d illustrate a tenth example of a modular fluid actuator system;
(12) FIG. 11 illustrates an eleventh example of a modular fluid actuator system;
(13) FIG. 12 illustrates a twelfth example of a modular fluid actuator system;
(14) FIG. 13 illustrates a thirteenth example of a modular fluid actuator system;
(15) FIGS. 14a to 14f illustrate further examples of a modular fluid actuator system;
(16) FIG. 15 illustrates a modular fluid actuator system according to one aspect of the invention;
(17) FIG. 16 illustrates a modular fluid actuator system according to one aspect of the invention;
(18) FIGS. 17a to 17c illustrate a modular fluid actuator system according to one aspect of the invention;
(19) FIGS. 18a to 18b illustrate a modular fluid actuator system according to one aspect of the invention, and;
(20) FIGS. 19a and 19b schematically illustrate a respective method of operating the modular fluid actuator system according to different aspects of the invention.
DETAILED DESCRIPTION
(21) Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings, wherein for the sake of clarity and understanding of the invention some details of no importance may be deleted from the drawings.
(22) FIG. 1a shows a set 1 of module components of a modular fluid actuator system 3 comprising a piston rod 5, which extends in an axial direction X and being coupled to a pusher end 7 connected to a container wall 9. An actuator module unit 11 is arranged around the piston rod 5 and fixed to a floor (not shown) onto which the container wall 9 is going to be pushed. The actuator module unit 11 is connected to a control valve 13, which is controlled by a central control processor 15. The control valve 13 is further coupled to a hydraulic pump 17. The control valve 13 is arranged to control alternately pressurizing of a first cylinder chamber 19′ of the actuator module unit 11. The alternately pressurization of the first cylinder chamber 19′ provides a pulsated motion of the piston rod 5 according to arrows PM, which motion more also is described by the FIGS. 1b and 1c. A piston 21 is slidingly arranged in a cylinder housing 23 as shown in FIG. 1b. The piston 21 comprises a clamping section 25 that extends in the axial direction X through a first 27′ and a second 27″ end cap of the cylinder housing 23. The clamping section 25 is formed by a sleeve 29′ having a protruding circular portion 31 defining a first piston force area 33′ (an area extending transverse to the axial direction X). The first cylinder chamber 19′ is arranged for fluid communication with a hollow space 35 that is expandable upon pressurization of the hollow space 35, so that a flexible wall 37 of the sleeve 29′ will expand in a direction radially inward towards an envelope surface 39 of the piston rod 5. A channel 41 is provided in the piston 21 and connects the first cylinder chamber 19′ and the hollow space 35. The channel 41 has an opening 43 discharging at the first piston force area 33′ and is open toward the first cylinder chamber 19′. A second cylinder chamber 19″ comprises a compression spring 45 arranged for providing a retraction stroke of the piston 21 (comprising the sleeve 29′) when the control valve 13 (see FIG. 1a) is controlled to stop the pressurizing of the first cylinder chamber 19′. In such way the pulsated motion is achieved. When the container wall 9 has been pushed to its terminal position, an operator (not shown) switch off the hydraulic pump 17 and brings back the pusher end 7 to a push start position. A cross-section A-A taken in FIG. 1b is shown in FIG. 1c. When the first cylinder chamber 19′ is pressurized, the channel 41 transfers the hydraulic pressure from the cylinder chamber 19′ to the hollow space 35 and expands the flexible wall 37 inward (see arrows E) providing a clamping action of the piston 21 21 (comprising the sleeve 29′) to the piston rod 5 at the same time as the pressurized first cylinder chamber 19′ propels the piston 21 (clamped to the piston rod 5) a predetermined length of a working stroke. The procedure is repeated and the piston rod 5 is moved in a pulsated way.
(23) FIG. 2a shows a standardized clamping sleeve 29″ used as a module component of a brake module unit 47. The clamping sleeve 29″ is provided with a standardized coupling entrance 49 for enabling fluid communication between a fluid supply 18 and an elongated and circular slit 35″ of the clamping sleeve 29″. The slit 35″ is formed by an inner sleeve 51 and an outer sleeve 53. A clamping surface 55 of the inner sleeve 51 is arranged for stationary clamping action with a piston rod 5 (see FIG. 2b). The inner sleeve 51 further comprises an inner interior surface 57, which together with end wall surfaces WS and an inner surface 61 of the outer sleeve 53 forms the slit 35″. The slit 35″ is provided for fluid communication with the fluid supply 18 via a valve device 14 and via the standardized coupling entrance 49. A standardized connection pipe 59 is coupled to the standardized coupling entrance 49 by means of a thread T. The clamping force is achieved by that the inner sleeve 51 is arranged to expand in a radial direction inward towards the piston rod 5 during pressurisation of the slit 35″ via the standardized connection pipe 59 (comprising a fluid transfer chamber 2). In FIG. 2c is shown the standardized clamping sleeve 29″ in FIG. 2a. The standardized clamping sleeve 29″ is used according to FIGS. 2c-2d as a module component of an actuator module unit 11. A standardized piston portion 21′ is mounted to the standardized clamping sleeve 29″ in such way that the standardized coupling entrance 49 of the standardized clamping sleeve 29″ will be coupled to a channel system 41′ of the standardized piston portion 21′. The standardized piston portion 21′ is arranged in a standardized cylinder housing 23′. The channel system 41′ of the standardized piston portion 21′ is arranged to connect a first cylinder chamber 19′ of the standardized cylinder housing 23′ to the slit 35″ for fluid communication. The channel system 41′ exhibits an opening 43 discharging at a first piston area of the standardized piston portion 21′. The slit 35″ is thus provided for fluid communication with the valve device 14 via the first cylinder chamber 19′ and the channel system 41′ of the standardized piston portion 21′. The first cylinder chamber 19′ is shown in cross-section in FIG. 2d.
(24) In FIG. 3a is shown the assembly of a standardized piston 21″ (see FIG. 3b) of an actuator module unit 11. A standardized piston ring 21′″ is mounted to a standardized clamping sleeve 29′″. The standardized clamping sleeve 29′″ comprises an expandable space 35′″ and an expandable inner sleeve 51 for providing a clamping action to a piston rod (not shown) when pressurized. An orifice 49′ is coupled to the expandable space 35′″ and leads to an outer envelope surface 65 of the standardized clamping sleeve 29′″. The orifice 49′ is symmetrically arranged in view of the length of the standardized clamping sleeve 29′″ in the axial direction X. An inner surface 67 of the standardized piston ring 21′″ exhibits an opening 42 of a channel system 41′ of the standardized piston ring 21′″. FIG. 3b shows the mounted position of the standardized piston ring 21′″ relative the standardized clamping sleeve 29′″. The orifice 49′ of the standardized clamping sleeve 29′″ mates with and is coupled to the opening 42 (see FIG. 3a) of the channel system 41′ of the standardized piston ring 21′″. The standardized piston ring 21′″ is fixedly attached to the standardized clamping sleeve 29′″ by means of screws S (only one is shown).
(25) FIG. 4 illustrates a double-acting actuator module unit 12 used in a modular fluid actuator system 3 for propulsion of a piston rod 5 in both directions. A standardized piston module component 21″″ is provided with a channel system 41″ for fluid communication between a membrane space 35″″ of the standardized piston module component 21″″ and respective a first 19′ and second 19″ cylinder chamber of a cylinder module unit 23″. The respective first and second cylinder chamber 19′, 19″ each being coupled to a control valve (not shown). This double-acting actuator module unit 12 propels the piston rod 5 with pulsated motion as the actuator module unit in FIG. 1b, but is capable to make a retraction stroke by means of pressurizing the second cylinder chamber 19″. The modular fluid actuator system 3 shown in FIG. 4 is provided for generating a relative motion between the first cylinder chamber 19′ and the piston rod 5 in an axial direction X. The modular fluid actuator system 3 comprises a fluid supply 18 and a valve device 14 coupled to the fluid supply 18 and to the respective first and second cylinder chamber 19′, 19″ representing a fluid transfer chamber. It further comprises a control unit 15 coupled to the valve device 14 for controlling the relative motion between the first cylinder chamber 19′ and the piston rod 5. The first cylinder chamber 19′ is coupled to (associated with) the standardized piston module component 21″″ comprising the membrane space 35″″, which is arranged for fluid communication with the valve device 14 via the first cylinder chamber 19′. The membrane space 35″″ is arranged for pressurization, thus providing a clamping action to the piston rod 5. This is achieved by the arrangement of an expandable wall 37′ of the standardized piston module component 21″″ and the expandable wall 37′ is arranged between the membrane space 35″″ and the piston rod 5. The membrane space 35″″ is pressurized by means of said fluid communication. The cylinder module unit 23″ comprises four apertures 69 for mounting of screws 71 (two of which are not shown) and a mounting fundament 73 being formed so as to be disposed positioning the cylinder module unit 23″ to a base structure 75 in a predetermined position relative the piston rod 5 and an end (not shown) of the piston rod 5.
(26) FIG. 5 illustrates a modular fluid actuator system 3 comprising an actuator module unit 11 and a brake module unit 47 arranged around a common piston rod 5. The actuator module unit 11 comprises a sleeve portion module component 29″″ and a piston portion module component 21′″″ that are considered as an integrally made standardized piston module component. The modular fluid actuator system 3 is arranged to stepwise move an object 77 upward slope. When the actuator module unit 11 makes a retraction stroke, the brake module unit 47 is activated to clamp around the piston rod 5 and restrain the object 77 to move backwards.
(27) FIG. 6a illustrates an example of a set of two actuator module units 11′, 11″, which can be used as double-acting actuators coupled to a piston rod 5. Each actuator module unit 11′, 11″ comprises a standardized cylinder module component 23′″ and a standardized piston module component 21′″″ comprising a hollow space and membrane (not shown). The respective hollow space being alternately pressurized depending upon which direction the piston rod 5 will be moved. Each of the cylinder module components 23′″ is formed with an interface fixing ridge 79. In FIG. 6b is shown both actuator module units 11′, 11″ mounted in a holding pipe 81′. The respective fixing ridge 79 is fitted in corresponding grooves G of the holding pipe 81′. Clamping rings CR are arranged around the holding pipe 81′ for fixing the actuator module units 11′, 11″ in proper position relative each other. The holding pipe 81′ being formed so as to be disposed joining the actuator module units 11′, 11″ and interconnecting the fixing ridges 79 of the respective module unit 11′, 11″.
(28) FIGS. 7a and 7b illustrate two standardized actuator module units 11′, 11″ and a standardized brake module unit 47 arranged in tandem with each other and around a common piston rod 5. The modular fluid actuator system 3 thus being made up of individual module units coupled to each other in line axially. The two standardized actuator module units 11′, 11″ being actuated alternately for pulsation-free high speed propulsion of the piston rod 5. The standardized brake module unit 47 is activated for static clamping to the piston rod 5 for holding the piston rod 5 with high clamping force when the two standardized actuator module units 11′, 11″ are disengaged from the piston rod 5. The standardized brake module unit 47 exhibits a length in the axial direction X, that is longer than the length of each standardized actuator module unit 11′, 11″, which promotes a high static clamping force. In FIG. 7b is shown the assembly of the module units 11′, 11″, 47 in an interface cylinder 81″. The interface cylinder 81″ interior is designed with inside fasteners 84 providing a fixed distance (seen in a transversal direction relative the axial direction X) between the interface cylinder 81″ and three standardized sleeve module components 29 making parts of the standardized actuator module units 11′, 11″ and the standardized brake module unit 47.
(29) FIG. 8 illustrates an eight example of a modular fluid actuator system 3. The modular fluid actuator system 3 comprises one brake module unit 47 and three actuator module units (a first 11′, a second 11″ and a third 11′″), each comprising a cylinder housing module component 24′, 24″, 24′″. The third actuator module unit 11″ comprises a piston module component (not shown) having a piston force area that is twice the area of respective piston force area (not shown) of the first 11′ and the second 11″ actuator module unit. A first and second end cap module 83′, 83″ component of the respective cylinder housing module component 24′, 24″, 24′″ comprises four through holes. A first set of standardized four tie rods 85 (two of which are shown) being arranged in through holes of the brake module unit 47 and the first actuator module unit 11′. In this modular fluid actuator system 3, the second end cap module component 83″ of the second actuator module unit 11″ is of the same dimension, in regard to the through hole configuration, as the first end cap module component 83′ of the third actuator module unit 11′″ and as the first end cap module component 83′ of the second actuator module unit 11″. The first set of tie rods 85, 85′ is in this way coupled to the first end cap module component 83′ of the second actuator module unit 11″. A second set of four standardized tie rods 85, 85′ being arranged in through holes of the second end cap module component 83″ of the second actuator module unit 11″ and in the both end cap module components 83′, 83″ of the third actuator module unit 11′″. The end cap module components 83′, 83″ are fixed to the respective cylinder housing module component 24′, 24″, 24′″ by means of standardized hexagon nuts. The length of the standardized tire rods 85, 85′ are adapted to the lengths of the actuator module units 11′, 11″, 11′″ and the brake module unit 47 so as to be disposed joining the respective module unit and interconnecting the end cap module components 83′, 83″ comprising the through holes. The standardized tire rods 85 and end cap module components 83′, 83″ are selected in dimension to take up the axial forces acting between two adjacent module units. The standardized tire rods 85, 85′ are arranged in a perimeter area of the end cap module components 83′, 83″ at a pre-determined distance from each other and at a pre-determined distance from and parallel with the longitudinal axis X and extending through the module units 11′, 11″, 11′″, 47.
(30) FIG. 9 illustrates a ninth example of a modular fluid actuator system 3. This example of the assembly of interacting module units also is custom-made and adapted to a safety redundant system for increasing reliability. The modular fluid actuator system 3 comprises two brake module units 47. The custom-made modular fluid actuator system 3 comprises a set of standardized cylinder end caps 83. Each standardized cylinder end cap 83 exhibits a face area corresponding with a cylinder cross-section area of a mating standardized cylinder housing module component 24. Each standardized cylinder end cap 83 is of the same dimension in circumference and a set of through holes 95 is provided in each standardized cylinder end cap 83. The interrelationship between the through holes 95 is standardized for reaching a cost-effective assembly of the modular fluid actuator system 3.
(31) FIGS. 10a to 10d illustrate a tenth example of a modular fluid actuator system 3 extending along a longitudinal axis. In FIG. 10a is shown a first 30′ and a second 30″ standardized clamping sleeve module component, each comprising a piston portion 21. In FIG. 10a is also shown standardized cylinder end wall module components 91′, 91″ to be mounted to the modular fluid actuator system 3. In FIG. 10b is shown that all standardized cylinder end wall module components 91′, 91″ have been brought onto the respective first and a second standardized clamping sleeve module component 30′, 30″. In FIG. 10c is shown an integral cylinder and mounting member 93. The integral cylinder and mounting member 93 is formed of a standardized cylinder wall module component 95 having a hollow compartment 97 designed for encompassing the both standardized clamping sleeve module components 30′, 30″ and the standardized cylinder end wall module components 91′, 91″ shown in FIG. 10b. The standardized cylinder wall module component 95 is provided with a plurality of bores 99 provided for fixation of the standardized cylinder end wall module components 91′, 91″ by means of screws 101 (see FIG. 10d). In FIG. 10d is shown the assembled module components. The standardized cylinder end wall module components 91′, 91″ will together with the integral cylinder and mounting member 93 form a respective cylinder housing 23. The standardized cylinder end wall module components 91′, 91″ are mounted with their respective end wall face 103 having transverse extension relative the longitudinal axis X. The screws 101 are used for fixation of the standardized cylinder end wall module components 91′, 91″ in the standardized cylinder wall module component 95.
(32) FIG. 11 illustrates an eleventh example of a modular fluid actuator system 3. A standardized cylinder wall module component 95 is provided with a centre trunnion mounting 105, which may comprise a pair of pins 107 or apertures. A bracket module component 109 is coupled to the centre trunnion mounting 105. The standardized cylinder wall module component 95 is pivotally hinged to the bracket module component 109 and the centre trunnion mounting 105 serves as a pivoting point. A piston rod 5 is propelled by the modular fluid actuator system 3.
(33) FIG. 12 illustrates a twelfth example of a modular fluid actuator system 3. The modular fluid actuator system 3 is custom-made with four actuator module units 11′, 11″, 11′″, 11″″ arranged within a cylinder housing module component 96. The first actuator module unit 11′ comprises a first sleeve portion 29′ and a first piston portion 21′ dividing the interior of a first cylinder housing 23′ into a first cylinder chamber 19′ and a second cylinder chamber 19″. The second actuator module unit 11″ comprises a second sleeve portion 29″ and a second piston portion 21″ dividing the interior of a second cylinder housing 23″ into a third cylinder chamber 19′″ and a fourth cylinder chamber 19′″″. The third actuator module unit 11′″ comprises a third sleeve portion 29′″ and a third piston portion 21′″, dividing the interior of a third cylinder housing 23′″ into a fifth cylinder chamber 19′″″ and a sixth cylinder chamber 19″″″. The fourth actuator module unit 11″″ comprises a fourth sleeve portion 29″″ and a fourth piston portion 21″″ dividing the interior of a fourth cylinder housing 23″″ into a seventh cylinder chamber and an eight cylinder chamber 19″″″″. Each sleeve portion 29′-29″″ comprises an expandable hollow space (not shown) arranged for fluid communication with a fluid supply (not shown) via at least one of the corresponding cylinder chamber 19′-19″″″″. The cylinder housings 23′-23″″ are mounted and coupled to each other according to the specific customized modular fluid actuator system 3 capable to perform unique propulsion modes in view of customer needs. The respective integral sleeve 29′-29″″ and piston portion 21′-21″″ module component is movable arranged (in the axial direction X), within the corresponding cylinder housing 23′-23″″ module component 96. The mounting is achieved by welding seams 110. In such way are achieved high strength and structural stability.
(34) FIG. 13 illustrates a thirteenth example of a modular fluid actuator system 3 for propulsion of a piston rod 5. The modular fluid actuator system 3 is custom-made with five module units M1-M5, one of which being a brake module unit 47 comprising a clamping sleeve module component 29 and the other being a first 11′, a second 11″, a third 11′″ and a fourth 11″″ actuator module unit. The brake module unit 47 having a mounting member 82, comprising same interface fitting as that of mounting members 82 of the actuator module units 11′-11″″. The respective module unit M1-M5 is coupled to a corresponding valve member 13′-13′″″. A fluid supply 18 is coupled to the first valve member 13′, e.g. a directional control valve controlled by a control unit (not shown) via a directional valve 16. The first valve member 13′ is coupled to the brake module unit 47 with an on/off functionality. A second valve member 13″ is coupled to the first actuator module unit 11′. A third valve member 13″″ is coupled to the second actuator module unit 11″. A fourth valve member 13″″ is coupled to the third actuator module unit 11′″ and a fifth valve member 13′″″ is coupled to the fourth actuator module unit 11″″. The second 13″ and the third 13′″ valve member are coupled to a first logic valve L1. The first logic valve L1 and the fourth valve member 13″″ are coupled to a second logic valve L2. The second logic valve L2 and the fifth valve member 13′″″ are coupled to a third logic valve L3. The directional valve 16 is coupled to the fluid supply 18 and the third logic valve L3. The custom-made modular fluid actuator system 3 comprises standardized module components, such as clamping sleeves, cylinder cap ends, cylinder housings, piston bodies, tire rods etc. for achieving an assembly capable to propel the common piston rod 5 a long distance, with fast motion and minor force, or with high force and slow motion, in an energy saving way. A customer will compose a new set-up of the modular fluid actuator system if the requirements are changed. This is made by the use of the standardized module components in a cost-effective way. The first actuator module unit 11′ is provided with a first piston force area A1, the second actuator module unit 11″ is provided with a second piston force area A2 corresponding with the first piston force area A1. The third actuator module unit 11′″ is provided with a third piston force area A3 and the fourth actuator module unit 11″″ is provided with a fourth piston force area A4. The third piston force area A3 is twice as large as the first piston force area A1. The fourth piston force area A4 is twice as large as the third force area A3. The respective piston force area is defined as the cross-sectional area of the respective piston portion. For reaching a fast piston motion and minor force, the first piston force area A1 (or second piston force area A2) (e.g. 1 area unit) is activated by alternating engagement of the first and second actuator module unit 11′, 11″ to the common piston rod 5. For achievement of an alternative performance of the modular fluid actuator system 3, e.g. slow piston motion with high force, all actuator module units 11′, 11″, 11′″, 11″″ are actuated. The high force is achieved by actuating all four piston force areas A1-A4 (e.g. 8 piston force area units=1+1+2+4 area units, i.e. the respective piston force area of the first, second, third, fourth actuator module unit). This implies an optimal combination of eight different piston force area units, which can be selected from required piston motion rate and force of the modular fluid actuator system 3. Each clamping sleeve module component 29 of the five module units M1-M5 comprises an expandable hollow space (not shown) arranged for fluid communication with the fluid supply 18 via at least one of corresponding cylinder chamber (fluid transfer chamber). The valve members 13′-13′″″ and logic valves L1-L3 are thus arranged for expanding a flexible wall portion of the clamping sleeve module component 29 provided to be expanded towards, and in engagement with, the piston rod 5 when the expandable hollow space being pressurized.
(35) FIGS. 14a to 14f illustrate further examples of a modular fluid actuator system. FIG. 14a illustrates an example of a modular fluid actuator system 3 adapted to a specific customer requirement. A first cylinder module component 95′ encompasses a piston portion module component 24 fitted to a clamping sleeve module component 29 provided for clamping action to a piston rod 5. The modular fluid actuator system 3 uses one single double-acting actuator module unit 12. A customer can easy rebuild the modular fluid actuator system 3 in FIG. 14a for making a single-acting actuator. By easy re-mounting of the piston portion module component 24 to a piston portion module component having a fluid channel leading to only one cylinder chamber. FIG. 14b illustrates yet another example of a modular fluid actuator system 3 adapted to a specific customer requirement. The modular fluid actuator system 3 uses the same standardized components as shown in FIG. 14a, but has an additional standardized brake module unit 47 mounted to the piston rod 5. In such way is static holding of the piston rod 5 provided. FIG. 14c shows yet another example of a modular fluid actuator system 3 adapted to a specific customer requirement. A pair of identical standardized actuator module units 12′, 12″ has been assembled. A first actuator module unit 12′ comprises a first clamping piston 30′. A second actuator module unit 12″ comprises a second clamping piston 30″. The standardized components, such as the clamping pistons 30′, 30″, are cost-effective mounted to the piston rod 5. The first clamping piston 30′ divides the interior of a first cylinder housing (not shown) into a first cylinder chamber and a second cylinder chamber. A first expandable hollow space (not shown) of the first clamping piston 30′ is arranged for fluid communication with a fluid supply (not shown) via at least one of the first and second cylinder chamber. The second clamping piston 30″ divides the interior of a second cylinder housing into a third cylinder chamber and a fourth cylinder chamber. A second expandable hollow space (not shown) of the second clamping piston is arranged for fluid communication with the fluid supply via at least one of the third and fourth cylinder chamber. The actuator module units 12′, 12″ work alternately for propelling the piston rod 5. When the first actuator module unit 12′ holds the piston rod 5 and moves it, the second clamping piston 30″ is disengaged from the piston rod 5 and makes a retraction stroke to a starting position. The second clamping piston 30″ is engaged with the piston rod 5 and makes a working stroke for propulsion of the piston rod 5, meantime the first clamping piston 30′ retracts to a starting position. The procedure is repeated and the piston rod 5 moves upward. FIG. 14d illustrates a further example of a remounted modular fluid actuator system 3 adapted to a specific customer requirement. The customer has added a brake module unit 47 for secure static locking of the piston rod. FIG. 14e illustrates a further example of a remounted modular fluid actuator system 3 adapted to a specific customer requirement. In this modular arrangement, the brake module unit 47 in FIG. 14d is replaced by a third standardized cylinder housing module component 223 and a third standardized piston body module unit 221 having a larger piston force area than the pair of similar standardized actuator module units shown in FIG. 14d. FIG. 14f illustrates a yet further example of a rebuilt modular fluid actuator system 3 adapted to a specific customer requirement. The modular fluid actuator system 3 is added with a fourth actuator module unit 12″″ providing additional modes of operation. A standardized piston body module component 222 (with twice as large piston force area as that of the third standardized piston body module unit 221) is mounted on a standardized clamping sleeve 229 that also may be used in any other context and in other modular fluid actuator systems. The modular fluid actuator system promotes energy-saving propulsion of a piston rod at the same time as it is easy to install and provides cost-effective maintenance and service. By means of a software product or other data list, a designer quickly will find an optimal set-up of a modular fluid actuator system through logic-guided standard module type code queries.
(36) The modular fluid actuator system, brake module units, actuator module units, clamping sleeve module components etc. may according to different aspects be adapted to one or several of following industrial segments; construction industry, jacking systems for oil well drilling and service platforms, agricultural equipment industry, marine industry, crane manufacture industry. The arrangement is not limited to be used in such segments, but also other industrial segments are possible.
(37) FIG. 15 illustrates a modular fluid actuator system 3 provided for generating a relative motion RM between a first fluid transfer chamber 2′ of a first module unit 47 and a piston rod 5 in an axial direction X. The system 3 comprises a fluid supply 18 which is coupled to a valve device 13′. The valve device 13′ is coupled to the first fluid transfer chamber 2′. The first fluid transfer chamber 2′ comprises and is formed by a first external fluid inlet port 559′. A control unit 15 is coupled to the valve device 13′ for controlling the relative motion RM between the first fluid transfer chamber 2′ and the piston rod arrangement 5. The first external fluid inlet port 559′ is coupled to a first sleeve portion 29 of the first module unit 47 exhibiting a first expandable hollow space 535′, which is coupled to and arranged for fluid communication with the valve device 13′ via the first fluid transfer chamber 2′. The control unit 15 is provided for controlling the relative motion by pressurizing the first expandable hollow space 535′ with a second pressure for disengagement of the first module unit 47 from the a piston rod 5 (whereby the piston rod can be moved). The first expandable hollow space 535′ is arranged to provide a clamping action of the first sleeve portion 29 to the piston rod 5 when the first expandable hollow space 535′ is pressurised by means of said fluid communication. The system 3 further comprises a second module unit 511 (provided for moving the piston rod 5) comprising a second sleeve portion 529 dividing an interior of a first cylinder housing 523′ of the second module unit 511 into a first 519′ and second cylinder chamber 519″, wherein a second expandable hollow space 535″ of the second sleeve portion 529 is arranged for fluid communication with the fluid supply 18 via a second fluid transfer chamber 2″ coupled to the second expandable hollow space 535″ and being positioned exterior (outside) of said first cylinder housing 523′. The second fluid transfer chamber 2″ comprises and is formed by a second external fluid inlet port 559″. The second sleeve portion 529 comprises a first piston portion 521′ comprising a respective first and second piston face 533′, 533″, wherein the first piston portion 521′ and a middle section M of the second sleeve portion 529 are fixedly mounted to each other and are movable arranged in said axial direction X within the first cylinder housing 523′. Exterior end sections E of the second sleeve portion 529 are positioned exterior (outside) of the first cylinder housing 523′. The exterior end sections E of the second sleeve portion protrude from the first cylinder housing 523′ in the axial direction X and at least one exterior end section E comprises said second external fluid inlet port 559″.
(38) The first external fluid inlet port 559′ is coupled to the fluid supply 18 via the valve device 13′, which in turn is coupled to the control unit 15 for controlling and providing a static clamping functionality in a first mode for operation of the system 3 for providing a static clamping functionality. The second external fluid inlet port 559″ is coupled to the fluid supply 18 via a first separate valve element 513 which in turn is coupled to the control unit 15 for controlling and providing a stepwise dynamic clamping functionality (i.e. pulsated motion by alternately pressurization of the first 519′ and second cylinder chamber 519″) in a second mode for operation of the modular fluid actuator system 3. The first cylinder chamber 519′ and the second cylinder chamber 519″ are coupled to the fluid supply 18 via a first valve member 514 which in turn is coupled to the control unit 15 for controlling and providing a stepwise dynamic clamping functionality in a second mode for operation of the system 3 and providing a reciprocating motion of the second sleeve portion 529 in the axial direction X. The first module unit 47 is configured to act as a brake module unit of the system 3. The modular fluid actuator system 3 uses the second module unit 511 for providing a stepwise dynamic clamping functionality in a second mode.
(39) FIG. 16 illustrates a modular fluid actuator system 3 according to one aspect of the invention. FIG. 16 illustrated one embodiment, wherein the modular fluid actuator system 3 further comprises a third module unit 611 comprising a third sleeve portion 629 dividing an interior of a second cylinder housing 523″ of the third module unit 611 into a first 619′ and second cylinder chamber 619″, wherein a third expandable hollow space 535′″ of the third sleeve portion 629 is arranged for fluid communication with the fluid supply 18 via a third fluid transfer chamber 2′″ coupled to the third expandable hollow space 535′″ and comprising a third external fluid inlet port 559′″ exterior (outside) of said second cylinder housing 523″. The third sleeve portion 629 comprises a second piston portion 521″ comprising a respective first and second piston face 533′, 533″, wherein the second piston portion 521″ and the third sleeve portion 629 are rigidly coupled to each other and are movable in said axial direction X. The first cylinder chamber 619′ and the second cylinder chamber 619″ are coupled to the fluid supply 18 via a second valve member 614 which in turn is coupled to the control unit 15 for controlling and providing a substantially pulsation-free dynamic clamping functionality in a third mode for operation of the modular fluid actuator system 3 and providing counter-acting reciprocating motion of the respective second sleeve portion 529 and the third sleeve portion 629 in the axial direction X for alternately clamping action around the piston rod arrangement 5. The third external fluid inlet port 559′″ is coupled to the fluid supply 18 via a second separate valve element 613 which in turn is coupled to the control unit 15 for controlling and providing a substantially pulsation-free dynamic clamping functionality in a third mode for operation of the system 3 provided for co-acting operation with the first separate valve element 513. The first module unit 47 is configured to act as a brake module unit of the system 3. The system 3 uses the third module unit 611 for providing a substantially pulsation-free dynamic clamping functionality in a third mode.
(40) FIGS. 17a to 17c illustrate a modular fluid actuator system 3 according to one aspect of the invention used for braking or slowing or stopping the motion of the piston rod 5 and propelling the piston rod 5 providing a stepwise dynamic clamping functionality in a second mode. In FIG. 17a is shown that the first module unit 47 is actuated to static clamp around and brake the motion of the piston rod 5 simultaneously as the second sleeve portion 529 of the second module unit 511 is actuated to clamp around the piston rod 5 and holding the second sleeve portion 529 in position by pressurization of a first cylinder chamber 519′. In FIG. 17b is shown that that the first module unit 47 is disengaged from the piston rod 5 for providing a relative motion between the first module unit 47 and the piston rod 5. The second sleeve portion 529 is separately pressurized from outside for providing an engagement of the second module unit 511 to the piston rod 5 and at the same time the fluid pressure of the first cylinder chamber 519′ is used for slow down the motion of the piston rod 5 by relief valve RV. In FIG. 17c is shown that the first module unit 47 is actuated to static clamp around and brake the motion of the piston rod 5 simultaneously as the second sleeve portion 529 of the second module unit 511 is actuated to clamp around the piston rod 5 and holding the second sleeve portion 529 in position by pressurization of a first cylinder chamber 519′. In such way is achieved an effective brake of the system 3.
(41) Preferably, a fluid supply comprises a first separate fluid supply source 18′ coupled to a first fluid transfer chamber 2′.
(42) Suitably, the fluid supply comprises a second separate fluid supply source 18″ coupled to the second fluid transfer chamber 2″.
(43) FIGS. 18a and 18b illustrate a modular fluid actuator system 3 according to one aspect of the invention. The system is used for braking (slowing or stopping) the motion of the piston rod 5 and propelling the piston rod 5 providing a substantially pulsation-free dynamic clamping functionality in a third mode. In FIG. 18b is shown that the first module unit 47 is actuated to static clamp around and brake the motion of the piston rod 5 simultaneously as the second sleeve portion 529 of the second module unit 511 is actuated to clamp around the piston rod 5 and holding the second sleeve portion 529 in position by pressurization of a first cylinder chamber 519′. A third module unit 611 comprising a third sleeve portion 629 is arranged for providing a substantially pulsation-free dynamic clamping functionality in a third mode. In FIG. 18b the first 47, the second 511 and the third module unit 611 are activated for braking (slowing or stopping) the piston rod 5. In FIG. 18a is shown that the first module unit 47 is disengaged from the piston rod 5 for permitting the second and third module units 511, 611 move the piston rod 5 in a substantially pulsation-free dynamic motion. The third module unit 611 comprises a third sleeve portion 629 dividing an interior of a second cylinder housing of the third module unit 611 into a first 619′ and second cylinder chamber 619″. The third sleeve portion 629 is disengaged from the piston rod 5 for a retraction stroke, simultaneously the second sleeve portion 529 of the second module unit 511 is engaged to the piston rod 5. The second sleeve portion 529 is separately pressurized from outside via a second fluid transfer chamber 2″ of the second sleeve portion 529 for providing an engagement of the second module unit 511 to the piston rod 5 and at the same time the fluid pressure of the first cylinder chamber 519′ of the second module unit 511 is used for slow down the motion of the piston rod 5 by relief valve RV.
(44) Preferably, a fluid supply comprises a first separate fluid supply source 18′ coupled to a first fluid transfer chamber 2′.
(45) Suitably, the fluid supply comprises a second separate fluid supply source 18″ coupled to the second fluid transfer chamber 2″.
(46) Preferably, the fluid supply comprises a third separate fluid supply source 18′″ coupled to the third fluid transfer chamber 2′″ of the third sleeve portion 629.
(47) Suitably, the first sleeve portion of the first module unit exhibiting a first expandable hollow space is configured to be used as a component convenient to use as and matching the second sleeve portion of the second module unit.
(48) Suitably, the first sleeve portion of the first module unit exhibiting a first expandable hollow space is configured to be used as a component convenient to use as and matching the third sleeve portion of the third module unit.
(49) A third expandable hollow space (not shown) of the third sleeve portion 629 is arranged for fluid communication with the fluid supply 18′″ via the third fluid transfer chamber 2′″ (coupled to the third expandable hollow space) constituting a third external fluid inlet port of the third fluid transfer chamber 2′″ positioned exterior (outside) of the second cylinder housing 523″.
(50) FIG. 19a schematically illustrates a method of operating the modular fluid actuator system according to one aspect of the invention. The modular fluid actuator system 3 is provided for generating a relative motion RM between a first fluid transfer chamber 2′ of a first module unit 47 and a piston rod arrangement 5 in an axial direction X, the modular fluid actuator system 3 comprises; a fluid supply 18; a valve device 13′ coupled to the fluid supply 18 and to the first fluid transfer chamber 2′; a control unit 15 coupled to the valve device 13′ for controlling the relative motion RM between the first fluid transfer chamber 2′ and the piston rod arrangement 5; the first fluid transfer chamber 2′ is coupled to a first sleeve portion 29 of the first module unit 47 exhibiting a first expandable hollow space 535′, which is coupled to and arranged for fluid communication with the valve device 13′ via the first fluid transfer chamber 2′; the first expandable hollow space 535′ is arranged to provide a clamping action of the first sleeve portion 29 to the piston rod arrangement 5 when the first expandable hollow space 535′ is pressurised by means of said fluid communication.
(51) Step 1001 comprises start of the method. Step 1002 comprises the steps of pressurizing of the first expandable hollow space 535′ with a first pressure for providing an engagement of the first module unit 47 to the piston rod arrangement 5; pressurizing of the second expandable hollow space 535″ of the second sleeve portion 529 of the second module unit 511 for providing an engagement of the second module unit 511 to the piston rod arrangement 5. Step 1003 comprises stop of the method.
(52) FIG. 19b schematically illustrates a method of operating the modular fluid actuator system according to one aspect of the invention. Step 2001 comprises start of the method. Step 2002 comprises the steps of pressurizing of the first expandable hollow space with a first pressure for providing an engagement of the first module unit to the piston rod arrangement; pressurizing of the second expandable hollow space of the second sleeve portion of the second module unit for providing an engagement of the second module unit to the piston rod arrangement. Step 2003 comprises pressurizing of the third expandable hollow space 535′″ of the third sleeve portion 629 of the third module unit 611 for providing an engagement of the third module unit 611 to the piston rod arrangement 5. Step 2004 includes stop of the method.
(53) The present invention is of course not in any way restricted to the preferred embodiments described above, but many possibilities to modifications, or combinations of the described embodiments, thereof should be apparent to a person with ordinary skill in the art without departing from the basic idea of the invention as defined in the appended claims.
(54) One aspect may involve that the actuator module units are adapted for momentary disengaging all pistons from the piston rod in case the piston rod propels a large mass using the kinetic energy of the mass (in a way reminding of a freewheel clutch). One aspect may involve that a clamping sleeve module unit (the first sleeve portion) may clamp (hold) rigidly to the entire circumference of the piston rod being in contact with the inner surface of the clamping sleeve module unit. One aspect may involve that a first clamping sleeve module component of a first actuator module unit having a larger piston force area than that of a second actuator module unit, preferably exhibits a longer extension seen in the axial direction than a second clamping sleeve module unit of the second actuator module unit.
