EP0898085B1 - Pressurised-fluid motor for electrorheological fluids - Google Patents
Pressurised-fluid motor for electrorheological fluids Download PDFInfo
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- EP0898085B1 EP0898085B1 EP98114617A EP98114617A EP0898085B1 EP 0898085 B1 EP0898085 B1 EP 0898085B1 EP 98114617 A EP98114617 A EP 98114617A EP 98114617 A EP98114617 A EP 98114617A EP 0898085 B1 EP0898085 B1 EP 0898085B1
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- Prior art keywords
- housing
- valves
- pressurized
- fluid motor
- electrorheological
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- 239000012530 fluid Substances 0.000 title claims description 33
- 230000005684 electric field Effects 0.000 claims description 7
- 239000011810 insulating material Substances 0.000 claims description 3
- 238000007599 discharging Methods 0.000 claims 1
- 239000007788 liquid Substances 0.000 description 5
- 239000002184 metal Substances 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000017525 heat dissipation Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 239000000919 ceramic Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 229920003247 engineering thermoplastic Polymers 0.000 description 1
- 239000000945 filler Substances 0.000 description 1
- 239000003365 glass fiber Substances 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 229920000515 polycarbonate Polymers 0.000 description 1
- 239000004417 polycarbonate Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000004154 testing of material Methods 0.000 description 1
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/06—Use of special fluids, e.g. liquid metal; Special adaptations of fluid-pressure systems, or control of elements therefor, to the use of such fluids
- F15B21/065—Use of electro- or magnetosensitive fluids, e.g. electrorheological fluid
Definitions
- the invention relates to a pressure medium motor for electrorheological fluids, with a housing surrounding two working chambers, a piston movable in the housing, which separates the working chambers from each other, an inlet channel for the supply of an electrorheological fluid from a space of higher pressure, an outlet channel for the discharge of electrorheological Liquid in a space of low pressure and electrorheological valves with a respective one working chamber with the inlet channel or the outlet channel connecting annular gap whose boundary surfaces form electrodes for generating an electric field.
- Electrorheological fluids also known as electroviscous liquids, change their viscosity as a function of the field strength of an electric field to which they are exposed. Under the effect of an electric field, electrorheological fluids become tough or even stiff. It is known to use electrorheological fluids as working fluid in hydraulic systems in order to be able to electrically control hydraulic processes directly by means of electrorheological valves.
- a pressure medium motor embodied as a differential cylinder which serves as a servomotor is intended for aircraft and is operated with an electrorheological fluid.
- Control is provided by electrorheological valves integrated in the cylinder.
- the four valves are designed as annular gaps, which are formed by the insertion of two pipes in the cylinder.
- the piston of the cylinder is passed through the inner tube.
- the supply and discharge of the electrorheological fluid via nozzles, which are arranged in the middle between the two end faces of the cylinder in the cylinder wall. Due to the short connection between the valves and the cylinder chambers, the high response speed of the electrorheological fluid can be well utilized in this known embodiment.
- the invention is based on the object, a pressure medium engine of the type mentioned with integrated valves to create the compact outer dimensions, a high differential pressure between the two working chambers and thus a relatively large actuating force that achieves high dynamics and in which a good heat dissipation is given by direct metallic heat conduction.
- the object is achieved in that the electrorheological valves through the housing wall in the longitudinal direction penetrating holes and in the holes arranged, insulated from the housing elements are formed, the holes and the elements together annular gaps constant gap width and limit the elements to a high voltage and the housing can be applied to ground potential.
- the electrode gaps of the electrorheological valves can be guided over the entire length of the housing, so that one, measured on the length of the pressure medium motor, high pressure difference can be achieved. All annular gaps are in direct contact with the housing wall that can be produced from a metal, which ensures good heat dissipation.
- Each valve can be formed by several holes with high voltage elements. It is therefore a large cross-sectional area of the valves and thus a high volume flow and high dynamics of the pressure medium motor can be achieved.
- the inventive design of the pressure medium motor also allows a mechanically simple structure with identical components, namely holes and elements of the same size, to form the four valves.
- the elements may in a simple embodiment consist of cylindrical rods or spikes, but they may also have the shape of a coil extending along the bore.
- the elements can be mounted, with their ends protruding from the bores, in end caps which are fastened to the end faces of the housing and made of highly insulating material, e.g. engineering thermoplastics such as PPS or ceramics.
- the end caps may further form chambers through which the annular gaps of the valves are connected to the inlet channel and the outlet channel or a working chamber. This has the advantage that the entire annular gap cross section is available as an inlet cross section.
- the four valves may be connected to the working chambers and the inlet channel and the outlet channel in two different ways via the chambers in the end caps.
- the inlet channel and the outlet channel lie on one end side of the housing and the valves are connected via the other end face of the housing with the working chambers.
- This embodiment has the advantage that a unit of motor, pump and tank or memory can be flanged to the one end face of the pressure medium motor, resulting in a very compact overall mechanical structure of an aggregate, for example, in industrial robots for accurate positioning or as power steering for Passenger or truck can be used. Since the electrorheological fluid has a very high response speed of usually 1 ms, such an aggregate can also be used as a high-frequency cylinder in material testing.
- the inlet channel and the outlet channel are guided to chambers on both end sides of the housing and connected there in each case with the annular gaps of another valve. This results in very short connection paths to the respective working chamber at all four valves.
- FIG. 1 illustrates the mode of operation of the pressure medium motor operating in the following with an electrorheological fluid.
- the lines denote the flow channels through which the electrorheological working fluid from a pump P is conveyed to a non-pressurized container T. Between the pump P and the tank T there are two parallel flow channels.
- the upper channel contains in series one behind the other the annular gap valves 1a and 2b illustrated by circular surfaces, the lower flow channel the annular gap valves 2a and 1b, viewed in the flow direction. Between the annular gap valves 1a, 2b is at the upper flow channel connected to a working chamber A of the pressure medium motor, between the annular gap valves 2a, 1b, the other working chamber B of the pressure medium motor is connected to the lower flow channel.
- the annular gap valves 1a, 1b are blocked by applying a high voltage, i. by the electric field generated by the high voltage in the annular gap, the viscosity of the electrorheological working fluid within the annular gap is increased so much that against the flow resistance caused thereby only a fraction of the delivered amount of liquid can pass through the annular gap valves 1a, 1b.
- the pressure at the pump outlet and in the annular gap valve 2a switched to passageway increases with the working chamber B connected to this passage.
- the pressure in the working chamber A remains at the low level of the container T, since the valve 2b is also on passage. Due to the pressure difference between the working chamber B and the working chamber A, the piston is moved in the direction of the working chamber A.
- the annular gap valves 2a, 2b are blocked by applying a high voltage and the annular gap valves 1a, 1b de-energized and thus switched to passage. If the valves are switched quickly back and forth, the piston can be set to a vibration corresponding to the switching frequency.
- the pressure medium motor shown in Figures 2 to 6 has a cylindrical housing 1, which consists of metal.
- the housing 1 has a central, continuous cylinder bore 2, in which a piston 3 with a piston rod 4 is guided axially movable.
- the piston 3 is with a Sliding seal 5 sealed against the wall of the cylinder bore 2 and divides the cylinder bore 2 into two working chambers A, B.
- a series of cylindrical bores 6 are provided parallel to the cylinder bore 2, which completely penetrate the housing 1 and have a uniform diameter .
- Through the holes 6 extend cylindrical mandrels 7 made of metal, which have a smaller diameter than the holes 6 and are centered with respect to the holes.
- end caps 9, 10 which are mounted pressure-tight on both end sides of the housing 1.
- the end caps 9, 10 are made of an insulating material, such as PPS or polycarbonate, which may be reinforced with fillers, such as glass fibers.
- the end caps 9, 10 on a cylindrical projection 11 which engages in each case into the end of the cylinder bore 2 and closes it.
- the end caps 9, 10 are provided with central through holes 12 in which the piston rod 4 is guided and sealed.
- the end caps 9, 10 each have on their side facing the housing 1 two semi-cylindrical chambers 13, 14 and 15, 16 which are separated from one another by a radial wall 17 and 18, respectively.
- the walls 17, 18 are aligned with each other so that their center plane are perpendicular to each other.
- Each of the four groups of annular gaps forms an electrorheological annular gap valve 1a, 1b, 2a, 2b.
- the mandrels 7 of each annular gap valve are connected to one another in the end cap 9 by a high-voltage distributor 19 and can be connected to a high-voltage source independently of the spikes of the other annular gap valves.
- the housing 1 is connected to ground potential. If high voltage is applied to the spikes 7 of an annular gap valve, an electric field is generated in the annular gaps 8 of this annular gap valve and the viscosity of the electrorheological working fluid in the annular gaps 8 of this valve is increased.
- the chamber 16 is connected via a channel 20 in the housing 1 with the working chamber A and the chamber 15 via a channel 21 in the housing 1 with the working chamber B.
- the chamber 14 is connected to the inlet channel 22 and the chamber 13 to the outlet channel 23.
- the working fluid supplied via the inlet channel 22 of the chamber 14 can thus enter the chamber 16 either via the annular gap valve 1a or into the chamber 15 via the annular gap valve 2a. Accordingly, the working fluid from the chamber 16 via the annular gap valve 2b and from the chamber 15 via the annular gap valve 1b respectively in the chamber 13 and from there in the outlet channel 23 are discharged.
- the invention described is equally suitable for pressure medium motors that work with a magnetorheological working fluid. Instead of an electric field, a magnetic field is then to be built up in the annular gaps with the aid of suitable coils.
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- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Actuator (AREA)
- Fluid-Pressure Circuits (AREA)
- Servomotors (AREA)
- Fluid-Damping Devices (AREA)
Description
Die Erfindung betrifft einen Druckmittelmotor für elektrorheologische Flüssigkeiten, mit einem zwei Arbeitskammern umgebenden Gehäuse, einem in dem Gehäuse bewegbaren Kolben, der die Arbeitskammern voneinander trennt, einem Einlaßkanal für die Zuführung einer elektrorheologischen Flüssigkeit aus einem Raum höheren Drucks, einem Auslaßkanal für die Abführung der elektrorheologischen Flüssigkeit in einen Raum niederen Drucks und elektrorheologischen Ventilen mit einem jeweils eine Arbeitskammer mit dem Einlaßkanal oder dem Auslaßkanal verbindenden Ringspalt, dessen Begrenzungsflächen Elektroden zur Erzeugung eines elektrischen Feldes bilden.The invention relates to a pressure medium motor for electrorheological fluids, with a housing surrounding two working chambers, a piston movable in the housing, which separates the working chambers from each other, an inlet channel for the supply of an electrorheological fluid from a space of higher pressure, an outlet channel for the discharge of electrorheological Liquid in a space of low pressure and electrorheological valves with a respective one working chamber with the inlet channel or the outlet channel connecting annular gap whose boundary surfaces form electrodes for generating an electric field.
Elektrorheologische Flüssigkeiten, auch als elektroviskose Flüssigkeiten bezeichnet, ändern ihre Viskosität in Abhängigkeit von der Feldstärke eines elektrischen Feldes, dem sie ausgesetzt sind. Unter der Wirkung eines elektrischen Feldes werden elektrorheologische Flüssigkeiten zäh oder sogar steif. Es ist bekannt, elektrorheologische Flüssigkeiten als Arbeitsfluid in hydraulischen Systemen einzusetzen, um mit Hilfe elektrorheologischer Ventile hydraulische Vorgänge unmittelbar elektrisch steuern zu können.Electrorheological fluids, also known as electroviscous liquids, change their viscosity as a function of the field strength of an electric field to which they are exposed. Under the effect of an electric field, electrorheological fluids become tough or even stiff. It is known to use electrorheological fluids as working fluid in hydraulic systems in order to be able to electrically control hydraulic processes directly by means of electrorheological valves.
Aus der US 4 840 112 A ist ein als Differentialzylinder ausgeführter Druckmittelmotor bekannt, der als Stellmotor für Flugzeuge vorgesehen ist und mit einer elektrorheologischen Flüssigkeit betrieben wird. Die Steuerung erfolgt über elektrorheologische Ventile, die in den Zylinder integriert sind. Die vier Ventile sind als Ringspalte ausgeführt, die durch den Einzug von zwei Rohren in den Zylinder gebildet werden. Der Kolben des Zylinders wird durch das innere Rohr geführt. Die Zu- und Abführung der elektrorheologischen Flüssigkeit erfolgt über Stutzen, die in der Mitte zwischen den beiden Stirnseiten des Zylinders in der Zylinderwand angeordnet sind. Durch die kurze Verbindung zwischen den Ventilen und den Zylinderkammern, kann bei dieser bekannten Ausführung die hohe Ansprechgeschwindigkeit der elektrorheologischen Flüssigkeit gut ausgenutzt werden. Um die erforderlichen vier Ventile zu bilden, ist es bei der bekannten Anordnung notwendig, die zwei durch die Rohre gebildeten Ringspalte jeweils zu teilen, so daß über die Länge des Zylinders jeweils zwei Ventile pro Ringspalt unterzubringen sind. Dies führt zu einer großen Baulänge des Zylinders, da die Länge der Ringspalte in die erreichbare Druckdifferenz und damit in die Stellkräfte des Druckmittelmotors eingehen. Weiterhin ist der Kolbendurchmesser mit dem Umfang der Ringspalte und damit mit dem Eintrittsquerschnitt der Flüssigkeit in die Ringspalte verknüpft, so daß alle erforderlichen geometrischen Abmessungen der Ringspalte im wesentlichen festliegen und nicht mehr nach anderen Gesichtspunkten, z.B. der Führung der Hochspannung, optimiert werden können. Als nachteilig ist auch anzusehen, daß die durch Viskosereibung entstehende Wärme im inneren Ringspalt nicht durch direkte metallische Wärmeleitung nach außen abgeführt werden kann. Es kann daher insbesondere bei hohen Frequenzen der Kolbenbewegung zu einer starken Erwärmung der elektrorheologischen Flüssigkeit im inneren Ringspalt kommen.From US Pat. No. 4,840,112 A, a pressure medium motor embodied as a differential cylinder is known, which serves as a servomotor is intended for aircraft and is operated with an electrorheological fluid. Control is provided by electrorheological valves integrated in the cylinder. The four valves are designed as annular gaps, which are formed by the insertion of two pipes in the cylinder. The piston of the cylinder is passed through the inner tube. The supply and discharge of the electrorheological fluid via nozzles, which are arranged in the middle between the two end faces of the cylinder in the cylinder wall. Due to the short connection between the valves and the cylinder chambers, the high response speed of the electrorheological fluid can be well utilized in this known embodiment. In order to form the required four valves, it is necessary in the known arrangement to divide the two annular gaps formed by the tubes, so that over the length of the cylinder two valves per annular gap are to be accommodated. This leads to a large overall length of the cylinder, since the length of the annular gaps enter into the achievable pressure difference and thus in the restoring forces of the pressure medium motor. Furthermore, the piston diameter is linked to the circumference of the annular gap and thus to the inlet cross section of the liquid in the annular gaps, so that all required geometrical dimensions of the annular gaps are substantially fixed and can no longer be optimized according to other aspects, eg the guidance of the high voltage. It is also to be regarded as disadvantageous that the heat produced by Viskosereibung in the inner annular gap can not be dissipated by direct metallic heat conduction to the outside. It can therefore come especially at high frequencies of the piston movement to a strong heating of the electrorheological fluid in the inner annular gap.
Der Erfindung liegt die Aufgabe zugrunde, einen Druckmittelmotor der eingangs genannten Art mit integrierten Ventilen zu schaffen, der bei kompakten äußeren Abmessungen einen hohen Differenzdruck zwischen den beiden Arbeitskammern und damit eine relativ große Stellkraft ermöglicht, der eine hohe Dynamik erreicht und bei dem eine gute Wärmeabfuhr durch direkte metallische Wärmeleitung gegeben ist.The invention is based on the object, a pressure medium engine of the type mentioned with integrated valves to create the compact outer dimensions, a high differential pressure between the two working chambers and thus a relatively large actuating force that achieves high dynamics and in which a good heat dissipation is given by direct metallic heat conduction.
Die Aufgabe wird erfindungsgemäß dadurch gelöst, daß die elektrorheologischen Ventile durch die Gehäusewand in Längsrichtung durchdringende Bohrungen und in den Bohrungen angeordnete, gegenüber dem Gehäuse isolierte Elemente gebildet werden, wobei die Bohrungen und die Elemente miteinander Ringspalte konstanter Spaltweite begrenzen und die Elemente an eine Hochspannung und das Gehäuse an Massepotential anlegbar sind.The object is achieved in that the electrorheological valves through the housing wall in the longitudinal direction penetrating holes and in the holes arranged, insulated from the housing elements are formed, the holes and the elements together annular gaps constant gap width and limit the elements to a high voltage and the housing can be applied to ground potential.
Bei der erfindungsgemäßen Ausgestaltung des Druckmittelmotors können die Elektrodenspalte der elektrorheologischen Ventile über die gesamte Länge des Gehäuses geführt werden, so daß eine, gemessen an der Baulänge des Druckmittelmotors, hohe Druckdifferenz erreichbar ist. Alle Ringspalte sind unmittelbar in Kontakt mit der aus einem Metall herstellbaren Gehäusewand, wodurch eine gute Wärmeabfuhr gewährleistet ist. Jedes Ventil kann durch mehrere Bohrungen mit Hochspannungselementen gebildet werden. Es ist daher eine große Querschnittsfläche der Ventile und damit ein hoher Volumenstrom und eine hohe Dynamik des Druckmittelmotors erreichbar. Die erfindungsgemäße Gestaltung des Druckmittelmotors ermöglicht ferner einen mechanisch einfachen Aufbau mit identischen Bauteilen, nämlich Bohrungen und Elementen gleicher Abmessung, zur Bildung der vier Ventile. Die Elemente können in einer einfachen Ausführung aus zylindrischen Stäben oder Dornen bestehen, sie können aber auch die Form einer sich längs der Bohrung erstreckenden Wendel haben.In the embodiment of the pressure medium motor according to the invention, the electrode gaps of the electrorheological valves can be guided over the entire length of the housing, so that one, measured on the length of the pressure medium motor, high pressure difference can be achieved. All annular gaps are in direct contact with the housing wall that can be produced from a metal, which ensures good heat dissipation. Each valve can be formed by several holes with high voltage elements. It is therefore a large cross-sectional area of the valves and thus a high volume flow and high dynamics of the pressure medium motor can be achieved. The inventive design of the pressure medium motor also allows a mechanically simple structure with identical components, namely holes and elements of the same size, to form the four valves. The elements may in a simple embodiment consist of cylindrical rods or spikes, but they may also have the shape of a coil extending along the bore.
Die Elemente können erfindungsgemäß mit ihren aus den Bohrungen herausragenden Enden in Endkappen gelagert sein, die an den Stirnflächen des Gehäuses befestigt sind und aus hochisolierendem Material, z.B. technischen Thermoplasten wie PPS oder Keramik, hergestellt werden. Die Endkappen können weiterhin Kammern bilden, durch die die Ringspalte der Ventile mit dem Einlaßkanal, und dem Auslaßkanal oder einer Arbeitskammer verbunden sind. Dies hat den Vorteil, daß der gesamte Ringspaltquerschnitt als Eintrittsquerschnitt zur Verfügung steht. Die vier Ventile können auf zwei unterschiedliche Arten über die Kammern in den Endkappen an die Arbeitskammern und den Einlaßkanal und den Auslaßkanal angeschlossen sein. Bei einer Ausführungsart liegen der Einlaßkanal und der Auslaßkanal auf einer Stirnseite des Gehäuses und die Ventile sind über die andere Stirnseite des Gehäuses mit den Arbeitskammern verbunden. Diese Ausgestaltung hat den Vorteil, daß eine Einheit aus Motor, Pumpe und Tank bzw. Speicher an die eine Stirnfläche des Druckmittelmotors angeflanscht werden kann, wodurch sich ein sehr kompakter mechanischer Gesamtaufbau eines Aggregats ergibt, das beispielsweise in Industrierobotern zum genauen Positionieren oder als Lenkhilfe für Personen- oder Lastkraftwagen eingesetzt werden kann. Da die elektrorheologische Flüssigkeit eine sehr hohe Ansprechgeschwindigkeit von üblicherweise 1 ms aufweist, läßt sich ein solches Aggregat auch als Hochfrequenzzylinder in der Materialprüfung einsetzen.According to the invention, the elements can be mounted, with their ends protruding from the bores, in end caps which are fastened to the end faces of the housing and made of highly insulating material, e.g. engineering thermoplastics such as PPS or ceramics. The end caps may further form chambers through which the annular gaps of the valves are connected to the inlet channel and the outlet channel or a working chamber. This has the advantage that the entire annular gap cross section is available as an inlet cross section. The four valves may be connected to the working chambers and the inlet channel and the outlet channel in two different ways via the chambers in the end caps. In one embodiment, the inlet channel and the outlet channel lie on one end side of the housing and the valves are connected via the other end face of the housing with the working chambers. This embodiment has the advantage that a unit of motor, pump and tank or memory can be flanged to the one end face of the pressure medium motor, resulting in a very compact overall mechanical structure of an aggregate, for example, in industrial robots for accurate positioning or as power steering for Passenger or truck can be used. Since the electrorheological fluid has a very high response speed of usually 1 ms, such an aggregate can also be used as a high-frequency cylinder in material testing.
Bei der zweiten Ausführungsart sind der Einlaßkanal und der Auslaßkanal zu Kammern an beiden Stirnseiten des Gehäuses geführt und dort jeweils mit den Ringspalten eines anderen Ventils verbunden. Hierdurch ergeben sich an allen vier Ventilen sehr kurze Verbindungswege zu der jeweiligen Arbeitskammer.In the second embodiment, the inlet channel and the outlet channel are guided to chambers on both end sides of the housing and connected there in each case with the annular gaps of another valve. This results in very short connection paths to the respective working chamber at all four valves.
Die Erfindung wird nachfolgend anhand eines Ausführungsbeispiels näher erläutert, das in der Zeichnung dargestellt ist sind. Es zeigen
Figur 1- das Schaltschema eines erfindungsgemäßen Druckmittelmotors,
Figur 2- einen Längsschnitt E-E durch einen erfindungsgemäßen Druckmittelmotor für elektrorheologische Flüssigkeiten mit einem zylindrischen Gehäuse und in das Gehäuse integrierten Ringspaltventilen,
- Figur 3
- einen Querschnitt A-A des Druckmittelmotors gemäß
Figur 2, - Figur 4
- einen Querschnitt B-B des Druckmittelmotors gemäß
Figur 2, - Figur 5
- einen Querschnitt C-C des Druckmittelmotors gemäß
Figur 2 und Figur 6- einen Querschnitt D-D des Druckmittelmotors gemäß
Figur 2.
- FIG. 1
- the circuit diagram of a pressure medium motor according to the invention,
- FIG. 2
- a longitudinal section EE by a pressure medium motor for electrorheological fluids according to the invention with a cylindrical housing and integrated in the housing annular gap valves,
- FIG. 3
- a cross section AA of the pressure medium motor according to Figure 2,
- FIG. 4
- a cross section BB of the pressure medium motor according to Figure 2,
- FIG. 5
- a cross section CC of the pressure medium motor according to Figure 2 and
- FIG. 6
- a cross section DD of the pressure medium motor according to Figure 2.
Figur 1 veranschaulicht die Arbeitsweise des im folgenden näher beschriebenen, mit einer elektrorheologischen Flüssigkeit arbeitenden Druckmittelmotors. Die Linien bezeichnen die Strömungskanäle, durch die die elktrorheologische Arbeitsflüssigkeit von einer Pumpe P kommend zu einem drucklosen Behälter T gefördert wird. Zwischen der Pumpe P und dem Behälter T sind zwei parallele Strömungskanäle vorhanden. Der obere Kanal enthält in Reihe hintereinander die durch Kreisflächen veranschaulichten Ringspaltventile 1a und 2b, der untere Strömungskanal die Ringspaltventile 2a und 1b, jeweils in Strömungsrichtung betrachtet. Zwischen den Ringspaltventilen 1a, 2b ist an den oberen Strömungskanal die eine Arbeitskammer A des Druckmittelmotors angeschlossen, zwischen den Ringspaltventilen 2a, 1b ist an den unteren Strömungskanal die andere Arbeitskammer B des Druckmittelmotors angeschlossen.FIG. 1 illustrates the mode of operation of the pressure medium motor operating in the following with an electrorheological fluid. The lines denote the flow channels through which the electrorheological working fluid from a pump P is conveyed to a non-pressurized container T. Between the pump P and the tank T there are two parallel flow channels. The upper channel contains in series one behind the other the
Soll der die Arbeitskammern A, B trennende Kolben in Richtung der Kammer A bewegt werden, so werden die Ringspaltventile 1a, 1b durch Anlegen einer Hochspannung gesperrt, d.h. durch das von der Hochspannung in dem Ringspalt erzeugte elektrische Feld wird die Viskosität der elektrorheologischen Arbeitsflüssigkeit innerhalb des Ringspalts so stark erhöht, daß gegen den dadurch hervorgerufenen Strömungswiderstand nur noch ein Bruchteil der geförderten Flüssigkeitsmenge die Ringspaltventile 1a, 1b passieren kann. Hierdurch steigt der Druck am Pumpenausgang und in der über das auf Durchgang geschaltete Ringspaltventil 2a mit diesem verbundenen Arbeitskammer B an. Der Druck in der Arbeitskammer A bleibt hingegen auf dem niedrigen Niveau des Behälters T, da das Ventil 2b ebenfalls auf Durchgang ist. Durch die Druckdifferenz zwischen der Arbeitskammer B und der Arbeitskammer A wird der Kolben in Richtung der Arbeitskammer A bewegt.If the pistons separating the working chambers A, B are to be moved in the direction of the chamber A, then the
Soll der Kolben in Richtung der Arbeitskammer B bewegt werden, so werden die Ringspaltventile 2a, 2b durch Anlegen einer Hochspannung gesperrt und die Ringspaltventile 1a, 1b spannungslos und damit auf Durchgang geschaltet. Werden die Ventile schnell hin- und hergeschaltet, so kann der Kolben in eine der Schaltfrequenz entsprechende Schwingung versetzt werden.If the piston is to be moved in the direction of the working chamber B, the
Der in den Figuren 2 bis 6 dargestellte Druckmittelmotor hat ein zylindrisches Gehäuse 1, das aus Metall besteht. Das Gehäuse 1 weist eine zentrale, durchgehende Zylinderbohrung 2 auf, in der ein Kolben 3 mit einer Kolbenstange 4 axial beweglich geführt ist. Der Kolben 3 ist mit einer Gleitdichtung 5 gegenüber der Wand der Zylinderbohrung 2 abgedichtet und unterteilt die Zylinderbohrung 2 in zwei Arbeitskammern A, B. In der Wand des Gehäuses 1 sind parallel zur Zylinderbohrung 2 eine Reihe zylindrischer Bohrungen 6 vorgesehen, die das Gehäuse 1 vollständig durchringen und einen einheitlichen Durchmesser haben. Durch die Bohrungen 6 erstrecken sich zylindrische Dorne 7 aus Metall, die einen kleineren Durchmesser haben als die Bohrungen 6 und gegenüber den Bohrungen zentriert sind. Durch diese Anordnung ergeben sich zwischen der Wand der Bohrungen 6 und den Dornen 7 Ringspalte 8 von konstanter Spaltweite. Die aus den Bohrungen 6 herausragenden Enden der Dorne 7 sind in Endkappen 9, 10 gelagert, die an beiden Stirnseiten des Gehäuses 1 druckdicht befestigt sind. Die Endkappen 9, 10 bestehen aus einem isolierenden Material, z.B. PPS oder Polycarbonat, das mit Füllstoffen, beispielsweise Glasfasern, verstärkt sein kann. In ihrer Mitte weisen die Endkappen 9, 10 einen zylindrischen Ansatz 11 auf, der jeweils in das Ende der Zylinderbohrung 2 eingreift und diese verschließt. Weiterhin sind die Endkappen 9, 10 mit zentralen Durchgangsbohrungen 12 versehen, in denen die Kolbenstange 4 geführt und abgedichtet ist.The pressure medium motor shown in Figures 2 to 6 has a
Die Endkappen 9, 10 weisen auf ihrer dem Gehäuse 1 zugekehrten Seite jeweils zwei halbzylindrische Kammern 13, 14 bzw. 15, 16 auf, die durch eine radiale Wand 17 bzw. 18 voneinander getrennt sind. Die Wände 17, 18 sind so zueinander ausgerichtet, daß ihre Mittelebene senkrecht aufeinander stehen. In die Kammern 13 bis 16 münden jeweils die in der entsprechenden Zylinderhälfte des Gehäuses 1 angeordneten Ringspalte 8. Durch die Anordnungen der Kammern 13, 14 in einer um 100° gedrehten Position gegenüber den Kammern 15, 16 verbinden jeweils nur die in einem Quadranten des zylindrischen Gehäuses 1 liegenden vier Ringspalte 8 zwei auf entgegengesetzten Stirnseiten des Gehäuses 1 befindliche Kammern miteinander. Es ergeben sich somit vier Gruppen von Ringspalten 8, die jeweils einen anderen Strömungsweg bilden. Jede der vier Gruppen von Ringspalten bildet ein elektrorheologisches Ringspaltventil 1a, 1b, 2a, 2b. Die Dorne 7 eines jeden Ringspaltventils sind in der Endkappe 9 durch einen Hochspannungsverteiler 19 miteinander verbunden und jeweils unabhängig von den Dornen der anderen Ringspaltventile an eine Hochspannungsquelle anschließbar. Das Gehäuse 1 ist mit Erdpotential verbunden. Liegt an den Dornen 7 eines Ringspaltventils Hochspannung an, so wird in den Ringspalten 8 dieses Ringspaltventils ein elektrisches Feld erzeugt und die Viskosität der in den Ringspalten 8 dieses Ventils befindlichen elektrorheologischen Arbeitsflüssigkeit erhöht.The end caps 9, 10 each have on their side facing the
Um die in Verbindung mit Figur 1 beschriebene Steuerfunktion zu erreichen, ist die Kammer 16 über einen Kanal 20 im Gehäuse 1 mit der Arbeitskammer A und die Kammer 15 über einen Kanal 21 im Gehäuse 1 mit der Arbeitskammer B verbunden. Die Kammer 14 ist an den Einlaßkanal 22 und die Kammer 13 an den Auslaßkanal 23 angeschlossen. Die über den Einlaßkanal 22 der Kammer 14 zugeführte Arbeitsflüssigkeit kann also entweder über das Ringspaltventil la in die Kammer 16 oder über das Ringspaltventil 2a in die Kammer 15 gelangen. Entsprechend kann die Arbeitsflüssigkeit aus der Kammer 16 über das Ringspaltventil 2b und aus der Kammer 15 über das Ringspaltventil 1b jeweils in die Kammer 13 und von dort im Auslaßkanal 23 abgeführt werden.In order to achieve the control function described in connection with Figure 1, the
Die beschriebene Erfindung eignet sich gleichermaßen für Druckmittelmotore, die mit einer magnetorheologischen Arbeitsflüssigkeit arbeiten. Anstelle eines elektrischen Feldes ist dann mit Hilfe geeigneter Spulen ein Magnetfeld in den Ringspalten aufzubauen.The invention described is equally suitable for pressure medium motors that work with a magnetorheological working fluid. Instead of an electric field, a magnetic field is then to be built up in the annular gaps with the aid of suitable coils.
Claims (7)
- Pressurized-fluid motor for electrorheological fluids, having a housing enclosing two working chambers, a piston movable in the housing and separating the working chambers from one another, an inlet channel for supplying an electrorheological fluid from a space of higher pressure, an outlet channel for discharging the electrorheological fluid into a space of low pressure, and electrorheological valves having an annular gap, which respectively connects a working chamber to the inlet channel or the outlet channel and the boundary surfaces of which form electrodes for generating an electric field, characterized in that the electrorheological valves (1a, 1b, 2a, 2b) are formed by bores (6), which penetrate the housing wall in longitudinal direction, and by elements (rods 7), which are disposed in the bores (6) and insulated relative to the housing (1), wherein the bores (6) and the elements (rods 7) together delimit annular gaps (8) of a constant gap width and the elements (rods 7) are connectable to a high voltage and the housing (1) is connectable to ground potential.
- Pressurized-fluid motor according to claim 1, characterized in that the elements (rods 7) are supported by their ends projecting from the bores in end caps (9, 10), which are fastened to the end faces of the housing (1) and made of highly insulating material.
- Pressurized-fluid motor according to one of claims 1 or 2, characterized in that the end caps (9, 10) form chambers (13, 14, 15, 16), by which the annular gaps (8) of the valves (1a, 1b, 2a, 2b) are connected to the inlet channel (22) and the outlet channel (23) or a working chamber (A, B).
- Pressurized-fluid motor according to one of the preceding claims, characterized in that the inlet channel (22) and the outlet channel (23) lie at one end face of the housing (1) and are respectively connected there to two valves (1a, 2a and/or 1b, 2b) and that the valves (1a, 1b, 2a, 2b) are connected at the other end face of the housing (1) to the working chambers (A, B).
- Pressurized-fluid motor according to one of the preceding claims, characterized in that a unit comprising motor, pump and tank and/or reservoir is flanged-mounted onto an end face of the pressurized-fluid motor.
- Pressurized-fluid motor according to one of claims 1 to 3, characterized in that the inlet channel (22) and the outlet channel (23) are run to both ends of the housing (1) and respectively connected there to the annular gap of another valve.
- Pressurized-fluid motor according to one of the preceding claims, characterized in that it is adapted for magnetorheological fluids and the valves are designed as magnetorheological valves, such that a magnetic field may be generated between the housing and the elements.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19735466 | 1997-08-16 | ||
| DE19735466A DE19735466B4 (en) | 1997-08-16 | 1997-08-16 | Pressure medium motor for electrorheological fluids |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| EP0898085A2 EP0898085A2 (en) | 1999-02-24 |
| EP0898085A3 EP0898085A3 (en) | 2000-01-19 |
| EP0898085B1 true EP0898085B1 (en) | 2006-05-10 |
Family
ID=7839107
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP98114617A Expired - Lifetime EP0898085B1 (en) | 1997-08-16 | 1998-08-04 | Pressurised-fluid motor for electrorheological fluids |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US6116144A (en) |
| EP (1) | EP0898085B1 (en) |
| JP (1) | JPH11125215A (en) |
| KR (1) | KR19990023619A (en) |
| DE (2) | DE19735466B4 (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19717693A1 (en) * | 1997-04-26 | 1998-10-29 | Schenck Ag Carl | Actuator and damper device |
| DE19955959A1 (en) * | 1999-11-19 | 2001-05-23 | Schenck Pegasus Gmbh | Pressure medium motor based on electrorheological fluids |
| US6823895B2 (en) * | 2001-05-31 | 2004-11-30 | The Board Of Regents Of The University And Community College System Of Nevada On Behalf Of The University Of Nevada | Magnetorheological fluid device |
| DE102004010532A1 (en) * | 2004-03-04 | 2005-12-15 | Fludicon Gmbh | Valve control of hydraulic actuators based on electrorheological fluids |
| DE102004026454B4 (en) * | 2004-05-29 | 2007-10-25 | Bundesrepublik Deutschland, vertreten durch das Bundesministerium der Verteidigung, dieses vertreten durch das Bundesamt für Wehrtechnik und Beschaffung | Floating pipe storage |
| DE102010001595B4 (en) * | 2010-02-04 | 2012-05-16 | Sumitomo (Shi) Demag Plastics Machinery Gmbh | Injection molding machine and hydraulic drive unit for this |
| RU2634166C2 (en) * | 2014-08-18 | 2017-10-24 | Катарина Валерьевна Найгерт | Magnetorheological drive of direct electromagnetic control of flow characteristics of hydraulic system with hydraulic bridge upper circuit (versions) |
| CN106438565B (en) | 2016-12-08 | 2018-02-02 | 广东技术师范学院 | A kind of dust-proof heat controlling installation and its method |
| DE102017214660B4 (en) * | 2017-08-22 | 2022-12-15 | Bayerische Motoren Werke Aktiengesellschaft | Pressure bolt of a press and press with pressure bolt |
Family Cites Families (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3050034A (en) * | 1960-04-04 | 1962-08-21 | Ct Circuits Inc | Transducer-controlled servomechanism |
| US3501099A (en) * | 1967-09-27 | 1970-03-17 | Physics Int Co | Electromechanical actuator having an active element of electroexpansive material |
| US3552275A (en) * | 1968-07-29 | 1971-01-05 | Boeing Co | Electric fluid actuator |
| US3587613A (en) * | 1969-07-18 | 1971-06-28 | Atomic Energy Commission | Electro-fluid valve having strip electrodes |
| US3599428A (en) * | 1970-04-29 | 1971-08-17 | Boeing Co | Electric fluid actuator |
| EP0019364B1 (en) * | 1979-05-15 | 1983-06-15 | The Secretary of State for Defence in Her Britannic Majesty's Government of the United Kingdom of Great Britain and | A hydraulic servo valve arrangement |
| JP2599602B2 (en) * | 1987-11-02 | 1997-04-09 | 株式会社ブリヂストン | Exciter |
| DE3738630C2 (en) * | 1987-11-13 | 1995-06-08 | Rexroth Mannesmann Gmbh | Electro-hydraulic pressure converter device |
| US4840112A (en) * | 1988-01-12 | 1989-06-20 | Ga Technologies Inc. | Combined valve/cylinder using electro-rheological fluid |
| US5161653A (en) * | 1989-04-18 | 1992-11-10 | Hare Sr Nicholas S | Electro-rheological shock absorber |
| US5014829A (en) * | 1989-04-18 | 1991-05-14 | Hare Sr Nicholas S | Electro-rheological shock absorber |
| US5158109A (en) * | 1989-04-18 | 1992-10-27 | Hare Sr Nicholas S | Electro-rheological valve |
| GB2244006B (en) * | 1990-05-04 | 1994-05-25 | Blatchford & Sons Ltd | An artificial limb |
| US5170866A (en) * | 1991-04-01 | 1992-12-15 | Motorola, Inc | Motion-damping device using electrorheological fluid |
| USH1292H (en) * | 1992-09-23 | 1994-03-01 | The United States Of America As Represented By The Secretary Of The Navy | Electro-rheological fluid damped actuator |
| US5866971A (en) * | 1993-09-09 | 1999-02-02 | Active Control Experts, Inc. | Hybrid motor |
| GB2285494B (en) * | 1994-01-05 | 1998-04-22 | Ckd Corp | Control apparatus for an electroviscous fluid |
-
1997
- 1997-08-16 DE DE19735466A patent/DE19735466B4/en not_active Expired - Fee Related
-
1998
- 1998-08-04 DE DE59813531T patent/DE59813531D1/en not_active Expired - Lifetime
- 1998-08-04 EP EP98114617A patent/EP0898085B1/en not_active Expired - Lifetime
- 1998-08-11 US US09/132,609 patent/US6116144A/en not_active Expired - Fee Related
- 1998-08-11 JP JP10237973A patent/JPH11125215A/en active Pending
- 1998-08-14 KR KR1019980033111A patent/KR19990023619A/en not_active Ceased
Also Published As
| Publication number | Publication date |
|---|---|
| JPH11125215A (en) | 1999-05-11 |
| US6116144A (en) | 2000-09-12 |
| EP0898085A3 (en) | 2000-01-19 |
| KR19990023619A (en) | 1999-03-25 |
| EP0898085A2 (en) | 1999-02-24 |
| DE19735466B4 (en) | 2007-06-28 |
| DE59813531D1 (en) | 2006-06-14 |
| DE19735466A1 (en) | 1999-02-18 |
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