CN100424378C - Actuator control system - Google Patents
Actuator control system Download PDFInfo
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- CN100424378C CN100424378C CNB2005101204717A CN200510120471A CN100424378C CN 100424378 C CN100424378 C CN 100424378C CN B2005101204717 A CNB2005101204717 A CN B2005101204717A CN 200510120471 A CN200510120471 A CN 200510120471A CN 100424378 C CN100424378 C CN 100424378C
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Abstract
An actuator control system comprises an electric actuator, a driver, and a controller. The electric actuator is provided with a buffering mechanism which absorbs impact applied to a piston rod. The buffering mechanism includes piston dampers which absorb impact applied to a piston, a first end damper which is provided at an end of a housing facing the piston, and a second end damper which is provided on a rod cover separated from the housing by a predetermined distance.
Description
Technical field
The present invention relates to a kind of actuator control system; this system for example comprises and allows biasing member to carry out the electric actuator of linear reciprocating motion under the rotation driving action of rotary driving source, and protection is used to drive the control unit of the rotary driving source of electric actuator.
Background technique
Up to the present the conveying means such such as actuator for example be used to conveying work pieces.
The electric actuator that relates to conventional art (is for example being announced No.11-30234 referring to Japanese publication) shown in Figure 63 and 64.
The electric actuator 1 that relates to conventional art has slide block 4, and it can also have screw axis 6 along groove 3 displacement of framework 2, and it is by unshowned motoring, and is screwed onto on the nut member 5, and this nut member 5 is detachable with respect to slide block 4.Rotatably screw axis supporting member 7a, the 7b of support helix axle 6 are provided respectively at the two ends of screw axis 6.Screw axis supporting member 7a, 7b are attached to the upper surface 8 of framework 2.
Generally speaking, when using mount type industrial machine man-hour, substrate is fixed by bolt or analog.When the mistake owing to interlocking etc. makes when any excessive effect of pushing or certain collision take place the front end of robot, by detecting the operation that excess current stops robot.Promptly mainly be to prevent that by the excess current that detects mount type industrial machine philtrum robot and workpiece are impaired, and do not consider the position deviation of robot itself.
Consider above-mentioned reason, Japan's publication announces that No.2002-66969 discloses a kind of technological concept, it be devoted to front end at the robot arm stand the effect of excessively pushing or with the case of collision of any equipment under prevent floating of automatic or pilotless transmission carrier.
This day disclosure patent announces that No.2002-66969 discloses a kind of control gear, this control gear at robot arm front end in response to and when being moved to the control of the attitude of relative robot arm front end and position, limiting value in the joint torque that is applied to robot arm joint satisfies under the situation of predetermined value, carries out the operation of the electric current that limits the servomotor that is used for drive machines people arm joint.
But, when the electric actuator of announcing disclosed conventional art among the N0.11-30234 according to above-mentioned Japanese publication under the situation of not using any complex control apparatus or analog according to the piston rod that is similar to hydro cylinder performed seesaw and when for example being applied to the pressing operation of the workpiece at the place, any neutral position between a stroke and another stroke for example, the serviceability of electric actuator has worsened, this be because with workpiece in abutting connection with the time vibrations that cause or impact and be passed to screw axis or analog via slide block.
In addition, when disclosure patent was announced among the N0.2002-66969 that disclosed technological concept for example is applied to and was used for rotatablely moving of motor be converted into the straight-line electric actuator of slide block or analog the same day, be necessary to provide such as encoder and such detector and the control circuit of solver, so that for example control the position and the running speed of slide block, so cost of production just becomes expensive.
Summary of the invention
General objects of the present invention provides a kind of actuator control system, this actuator control system for example by be applied at actuator control system workpiece push in abutting connection with operation the time suitably be absorbed in workpiece in abutting connection with the time be applied to the impact of biasing member, thereby can keep serviceability.
Main purpose of the present invention provides a kind of actuator control system, and this actuator control system can also can limit the electric current that is applied to rotary driving source by ball bearing made using even make when high capacity is applied to rotary driving source with the driving electric actuator.
When describing below understanding in conjunction with the accompanying drawings, above and other purpose of the present invention, feature and advantage will therefrom become more obvious, and the mode with illustrated examples shows a preferred embodiment of the present invention in the accompanying drawings.
Description of drawings
Fig. 1 perspective view shows actuator control system according to an embodiment of the invention;
The perspective view of Fig. 2 shows the electric actuator that is used for this system;
Fig. 3 is the longitdinal cross-section diagram that amplifies along the axial part of getting of electric actuator shown in Figure 2;
Fig. 4 is the vertical cross-section diagram of the amplification of being got along line IV-IV shown in Figure 3;
Fig. 5 is the amplification vertical cross-section diagram that is used to describe the major part of another example along illustrating of being got of line IV-IV shown in Figure 3;
The perspective view of Fig. 6 shows the terminal vibration damper that is used for electric actuator;
The perspective view of Fig. 7 shows the piston vibration damper that is used for electric actuator;
The part longitudinal cross-section of Fig. 8 illustrates the state of piston rod in place, neutral position and workpiece adjacency;
The part of Fig. 9 is amplified the longitudinal cross-section and is illustrated the state that impact is absorbed by piston vibration damper shown in Figure 8;
The part longitudinal cross-section of Figure 10 illustrates die block by the piston vibration damper of the forwarding end points of piston rod and the two state that is absorbed of terminal vibration damper;
The perspective view of Figure 11 shows the state that the round member that is used to absorb vibration is installed to an end of feed screw axle, has excised a part among the figure;
The part of Figure 12 is amplified the longitudinal cross-section and is illustrated the state that lubricant oil retention member is installed to the inner circumferential surface of connector element and annular construction member;
The part of Figure 13 is amplified the longitudinal cross-section and is illustrated scraper plate and dust-proofing seal and be provided to the state for the sliding parts of piston rod;
The flexible couplings mechanism that provides between feed screw axle and rotary driving source is provided the exploded perspective of Figure 14;
The magnification fluoroscopy of Figure 15 illustrates this flexible couplings mechanism;
The perspective view of Figure 16 shows the state of the composed component of flexible couplings mechanism shown in Figure 15 with the integration mode assembling;
Figure 17 is the longitdinal cross-section diagram of being got along line XVII-XVII shown in Figure 16;
The front view of Figure 18 shows the axis T2 of live axle of the axis T1 of feed screw axle and rotary driving source at be separated by the separately from each other state of AT of parallel direction;
The axis T2 that the front view of Figure 19 shows the live axle of the axis T1 of feeding actuator and rotary driving source intersects the state of angle θ respectively;
The perspective view of Figure 20 shows the driver of this system;
The schematic block diagram of Figure 21 shows the configuration of driver shown in Figure 20;
The performance plot of Figure 22 show electric actuator slide block displacement amount and offer relation between the electric current of rotary driving source;
The block diagram of Figure 23 shows the configuration of the relay circuit that relates to comparative example 1;
The block diagram of Figure 24 shows the configuration of the servo circuit that relates to comparative example 2;
A plurality of attached fixing devices are installed to electric actuator shown in Figure 2 in the perspective view of Figure 25;
The outer cover component that has the open type upper surface in the perspective view of Figure 26 is installed to electric actuator shown in Figure 25;
There is not the outer cover component of opening to be installed to electric actuator shown in Figure 25 in the perspective view of Figure 27;
Sensor is installed to the long recess of outer cover component shown in Figure 27 in the perspective view of Figure 28
The perspective view of Figure 29 shows the electric actuator with another structure;
Figure 30 is the part longitdinal cross-section diagram of being got along line XXX-XXX shown in Figure 29;
Figure 31 is the amplification vertical cross-section diagram of being got along line XXXI-XXXI shown in Figure 30;
The perspective view of Figure 32 shows the state by fastening fixing device and band member sensor installation;
A plurality of attached securing meanss are installed to electric actuator shown in Figure 29 in the perspective view of Figure 33;
Attached securing means is installed to the bar cover part of electric actuator shown in Figure 29 in the perspective view of Figure 34;
The annular construction member that has pair of pivot in the perspective view of Figure 35 is installed to the bar cover part of electric actuator shown in Figure 29;
The exploded perspective of Figure 36 illustrates first in the system that will be attached to reduction speed ratio COMM communication automatically;
Figure 37 is the axial longitdinal cross-section diagram of getting along the first automatic reduction speed ratio COMM communication;
The longitudinal cross-section of Figure 38 illustrates the planetary pinion of the first automatic reduction speed ratio COMM communication;
Figure 39 is the vertical cross-section diagram of being got along line XXXIX-XXXIX shown in Figure 38;
The part amplification longitudinal cross-section of Figure 40 illustrates the mate between planetary pinion and the internal gear;
The perspective view of Figure 41 shows the first automatic reduction speed ratio COMM communication, has excised a part among the figure;
The plan view of Figure 42 shows the sense of rotation of sun gear, planetary pinion and internal gear under the high speed rotating state;
The plan view of Figure 43 shows the sense of rotation of sun gear, planetary pinion and internal gear when the load that surpasses default torque is applied to carrier;
The lock state that the perspective bacterium of Figure 44 shows the first automatic reduction speed ratio COMM communication has excised a part among the figure;
The plan view of Figure 45 shows the sense of rotation of sun gear, planetary pinion and internal gear under above-mentioned lock state;
The plan view of Figure 46 shows and follows the counter-rotating sun gear sense of rotation of sun gear, planetary pinion and internal gear afterwards closely;
The plan view of Figure 47 show that sun gear is inverted and the state of high speed rotating under the sense of rotation of sun gear, planetary pinion and internal gear;
The perspective view of Figure 48 shows the lock state of the first automatic reduction speed ratio COMM communication, has excised a part among the figure;
The plan view of Figure 49 shows the sense of rotation of comparing sun gear, planetary pinion and internal gear under the state that the load on the output shaft reduces with Figure 44;
The enlarged view of Figure 50 shows and compares the part that internal gear clutch and lock section are engaged with each other with Figure 44;
The biasing member that the perspective view of Figure 51 shows actuator is positioned at the state of initial position;
The perspective view of Figure 52 shows the state of the biasing member of actuator towards the workpiece displacement;
The perspective view of Figure 53 shows the biasing member of actuator and the state of workpiece adjacency;
The longitudinal cross-section of Figure 54 illustrates the second automatic reduction speed ratio COMM communication, and it provides the viscosity coupling unit for the first automatic reduction speed ratio COMM communication;
The longitudinal cross-section of Figure 55 illustrates the 3rd automatic reduction speed ratio COMM communication;
The internal gear latch-release mechanism that provides for the 3rd automatic reduction speed ratio COMM communication is provided the magnification fluoroscopy of Figure 56;
The longitudinal cross-section of Figure 57 illustrates the moving reduction speed ratio COMM communication of four selfs;
The longitudinal cross-section of Figure 58 illustrates the 5th automatic reduction speed ratio COMM communication;
The longitudinal cross-section of Figure 59 illustrates automatic deceleration unit and fixing reduction speed ratio deceleration unit state coupled to each other;
The part longitudinal cross-section of Figure 60 illustrates chuck assembly, and the first automatic reduction speed ratio COMM communication is applied to this chuck assembly;
Figure 61 be when rotary driving source only being provided and adding deceleration unit with rotary driving source torque with respect to the performance plot of obtained speed;
The perspective view of Figure 62 shows the state that a plurality of direction controlling and driving devices are assembled cluster;
The perspective view of Figure 63 shows the electric actuator that relates to conventional art, has excised a part among the figure;
The exploded perspective of Figure 64 illustrates the electric actuator shown in Figure 63.
Embodiment
Referring to Fig. 1, label 10 expressions actuator control system according to an embodiment of the invention.
As shown in Figure 2, electric actuator 11 comprises shell 12, and it is made of smooth basically block member; Rotary driving source 14, it is connected to an end of shell 12; Bar outer cover (end block) 16, its be arranged at shell 12 at a distance of the intended distance place, and with connect the opposite side of rotary driving source 14 those sides; And feed screw axle (driving force passing shaft) 18, it transmits the rotary driving force of rotary driving source 14 by the coupling component of describing after a while.
Be preferably feed screw axle 18 and apply electroless coating formula Nickel Plating Treatment, as surface treatment.Feed screw axle 18 generally also can be used as the live axle of rotary driving source 14, and does not use coupling component 28.
As shown in Figure 3, the clutch shaft bearing 30a and the second bearing 30b are provided respectively and and place the end of feed screw axle 18 of the coupling component 28 of next-door neighbour's shell 12.The clutch shaft bearing 30a and the second bearing 30b are respectively by the clutch shaft bearing cover 32a and the second bearing housing 32b maintenance.
In the tail end towards the shell 12 of piston 22, this vibration damper has through hole 34 to the first terminal vibration damper 36a, is used to allow feed screw axle 18 to pass by maintenance.As shown in Figure 6, the first terminal vibration damper 36a comprises stylolitic part 38 on the whole, and it has predetermined wall thickness; And flange portion 40, its with the external diameter of stylolitic part 38 mutually diameter group expand slightly at radially outward.
In this configuration, the annular groove 42 that the flange portion 40 of 36a is formed on the inwall of shell 12 is fastening.Thereby the first terminal vibration damper 36a is maintained in such state: the part of stylolitic part 38 (end) is stretched out predetermined length (referring to Fig. 3) from the end face of shell 12 towards piston 22.
The second terminal vibration damper 36b and lining 44 are provided on the inwall of bar outer cover 16, and piston rod 24 passes this inwall.The second terminal vibration damper 36b has the roughly the same shape with the first terminal vibration damper 36a.46 of the annular grooves that flange portion 40 is formed on the inwall of bar outer cover 16 are fastening.Thereby the second terminal vibration damper 36b is maintained in such state: the part of stylolitic part 38 (end) is stretched out predetermined length (referring to Fig. 3) from the end face of bar outer cover 16 towards piston 22.
Among the best first terminal vibration damper 36a and the second terminal vibration damper 36b each is an acceptor of energy, and it is by forming such as the such resilient member of urethane rubber.As shown in figure 13, dust-proofing seal 47 and scraper plate 49 are provided at the sliding parts with respect to piston rod 24, enter to avoid any foreign object.
As shown in Figure 4, piston 22 comprises through hole 48, and it is formed entreats part to have oval basically vertical cross-section therein, so that axially passing; And a pair of lightening hole 50a, 50b, it is formed at the both sides of through hole 48, to realize weight saving.Piston 22 is for example by forming such as the such metallic material integral body of aluminium.Basically the sliding nut 52 of column is inserted into the through hole 48 of piston 22, so that sliding nut 52 is the endwisely slipping of feed screw axle 18, this nut has spiral hole 50, and feed screw axle 18 is screwed in this spiral hole.
In disposing with this, but sliding nut 52 and piston 22 are axially providing in the mode of slide relative at feed screw axle 18.In addition, piston 22 prevents that by pair of planar part 54a, 54b this is to form to planar section in the circumferencial direction rotation on the external peripheral surface of sliding nut 52.Can form unshowned spline wedge by external peripheral surface or replace this to planar section 54a, 54b, thereby realize the function of stopping the rotation by forming unshowned keyway at sliding nut 52.
As shown in Figure 5, preferably the shape of through hole 48a is designed so that between the inner wall surface that is formed sliding nut 52 with circular arc vertical cross-section and piston 22 spacing α is provided.When load was applied to the upper surface of piston 22, sliding nut 52 was owing to spacing α is allowed to depart from the direction of arrow A shown in Figure 51 or A2.
As a result, the load that is applied to piston 22 is not passed to sliding nut 52, has prevented that sliding nut 52 from standing unbalanced load.Can improve sliding nut 52 and such as the serviceability of other such elements of the feed screw axle 18 that is connected to sliding nut 52.
The annular groove that a pair of annular piston vibration damper 56a as shown in Figure 7,56b are installed to the two ends of sliding nut 52.This is provided as stretching out predetermined length (referring to Fig. 3) vertically from the end face of sliding nut 52 to piston vibration damper 56a, 56b.
In this configuration, each among piston vibration damper 56a, the 56b all has pair of planar part 57a, the 57b that is formed on its excircle. Piston vibration damper 56a, 56b is formed and the vertical cross-section outer circumferential shape of sliding nut 52 mutually concordant (referring to Fig. 4).
As shown in figure 11, contact the end that to be installed to feed screw axle 18 with the round member 67 that prevents to vibrate with the inner wall surface of piston rod 24, and be positioned at and that side relative side (that side of bar outer cover 16) of feed screw axle 18 by sliding nut 52 cantilever support.
Round member 67 is for example formed by resin material or rubber material.Round member 67 slides integratedly along the inner wall surface of piston rod 24 and the end of feed screw axle 18.Round member 67 prevents the vibration (deflection) that produced by the rotation of feed screw axle 18 ends when the displacement amount of piston 22 is set to long stroke is provided.
In this configuration, the piston vibration damper 56a that stretches out predetermined length from the end face of sliding nut 52 is provided as with second annular portion 64 of connector element 60 and contacts vertically.Another piston vibration damper 56b that stretches out predetermined length from the end face of sliding nut 52 is provided as with annular construction member 68 and contacts (referring to Fig. 3) vertically
Therefore, except piston rod 24 and workpiece W in abutting connection with and impact be applied on the piston rod 24 in, sliding nut 52 is fixed on the connector element 60 at piston 22 two ends and annular construction member 68 maintenances (insertion) in piston 22.Sliding nut 52 can be under with respect to the helical toothing effect of feed screw axle 18 and piston 22 displacement vertically integratedly.
As shown in figure 12, preferably lubricant oil is retained member 69a, 69b and is installed to annular groove on the inner circumferential surface of connector element 60 and annular construction member 68 respectively.Among lubricant oil retention member 69a, the 69b each for example is to be made of the malthoid that is impregnated with lubricant oil.Because lubricant oil is retained member 69a, 69b and is contacted with the spiral part of feed screw axle 18, and the sliding parts of feed screw axle 18 and sliding nut 52 is allowed to have lubricity.
This is suitable to piston vibration damper 56a, 56b as the energy vibration damper, and described energy vibration damper is pressed the mode identical with the first and second terminal vibration damper 36a, 36b by forming such as the such resilient member of urethane rubber.
The guide portion 70 (referring to Fig. 4) that has the cross section of the circular arc of being essentially separately is formed on two surfaces of piston 22, and these two surfaces are square with the axis.Piston 22 is inserted between a pair of guide rod 20a, the 20b.The a pair of plate 72a, the 72b that are formed from a resin are adhered to guide portion 70, and this contacts and extending axially along guide rod 20a, 20b with external peripheral surface line-line of guide rod 20a, 20b plate 72a, 72b.Be inserted between the piston 22 and guide rod 20a, 20b that each free metallic material makes by plate 72a, 72b that resin material is made by allowing, reduced slip resistance.
Preferably each in plate 72a, 72b and the sliding nut 52 is all formed by resin material, and this resin material is for example by any formation in polyimide (PI), polybutylene terephthalate (PBT) and the ultra-high molecular weight polyethylene (UHMWPE).Particularly, when forming, can obtain gratifying sliding properties by ultra-high molecular weight polyethylene (UHMWPE) when plate 72a, 72b and sliding nut 52.
When load radially be applied to piston 22 and when load by when sense of rotation is applied to piston 22, load is suitably absorbed guide rod 20a, 20b by this.When load by when sense of rotation applies, this plays a part to stop to rotate to guide rod 20a, 20b.
In the electric actuator 11 that is attached to embodiments of the invention, can also between the live axle 14a of feed screw axle 18 and rotary driving source 14, provide flexible couplings mechanism 74 as shown in figure 14, to replace coupling component 28 (referring to Fig. 3).
Be respectively cover joint 76a, 76b and form a pair of projection 84a, 84b, this stretches out with the axis of the live axle 14a of the axis of feed screw axle 18 or rotary driving source 14 basically coequally to projection.This is designed to their apart in a circumferential direction 180 degree angles to projection 84a, 84b.Solid section 86 is formed on the core (referring to Figure 17) of resilient member 78.In addition, radially outwards expand four projections 88 and be formed on the resilient member 78,90 degree of being separated by in a circumferential direction each other.
Promptly when the axis T2 of the axis T1 of feed screw axle 18 (cover joint 76a) and the live axle 14a of rotary driving source 14 (cover joint 76b) in parallel direction each other slightly during deviation, perhaps when the axis 72 of the axis T1 of feed screw axle 18 (cover joint 76a) and the live axle 14a of rotary driving source 14 (cover joint 76b) by displacement so that when intersecting, then be inserted in this to the projection 88 of the resilient member 78 between projection 84a, 84b of cover joint 76a, 76b by elastic strain.Therefore, allowable offset deviation and angular deviation between two axis of feed screw axle 18 and rotary driving source 14.
Traditionally, under the situation of the coupling component of the live axle that is used to connect feed screw axle and rotary driving source, by utilizing one group of screw to connect circular shaft or being cut into axle with D tee section.In the case, join strength is not enough.But, in an embodiment of the present invention, can increase join strength by utilizing flexible couplings mechanism 74 shown in Figure 15.In addition, needn't use one group of screw or analog.Thereby can reduce number of parts, to simplify assembly manipulation and to reduce production costs.
As shown in figure 20, driver 118 has casing 121, and this casing 121 has a plurality of blades 119, and these blades 119 are formed on the broad side, and therefrom stretch out.The a plurality of control terminals 123 that are electrically connected to controller 120 via cable are provided at the top of casing 121.Be provided at casing 121 the bottom be unshownedly to be connected to the power supply terminal of power supply 124 and the unshowned Out let that is used for rotary driving source that is connected to rotary driving source 14 via cable.
On the narrower side of driver 118, provide torque timer 125 is set, utilize this torque that regulator 125 is set, can be by regulating the rotating torques (thrust) that angle of rotation comes to be provided with arbitrarily from the outside rotary driving source 14 in a predetermined direction, wherein regulative mode for example is a plurality of display lamp 127a to 127d and a plurality of hand switch by utilizing Phillips screwdriver, can discern according to the emission of the light of unshowned LED, and these hand switches are feasible can for example carry out test operation according to manually-operable.
Hand switch comprises PHASE direction diverter switch 129, and it is operated according to ON/OFF and indicates A-PHASE direction (the elongation direction of piston rod 24) and this both direction of B-PHASE direction (the shortening direction of piston rod 24); ON/OFF switch 131, its excitation/de-excitation driver 118; SET switch 133 in this SET switch, is established initial setting up when switch is closed, and selects thrust from the outside by utilizing torque that regulator 125 is set when switch is opened.
Utilize PHASE direction diverter switch, in some cases, with respect to unshowned gear the seesawing of piston rod 24 of between A-PHASE direction and B-PHASE direction, reversing.
The control signal that slave controller 120 is incorporated in the driver 118 is made of binary signal ON/OFF.
The rotational speed of may command rotary driving source 14, so that for example by utilizing unshowned resistance or transformer to change the voltage that applies that is applied to driver 118 from power supply 124 arbitrarily, perhaps rotary driving source 14 is attached in the unshowned bridge circuit, with the electronic controller (not shown) of the feedback of the unbalanced voltage that is provided for realizing bridge circuit.
The schematic block diagram of Figure 21 shows the configuration of driver 118.
Current amplifier/limiter 136 has comparer, and it will be stored in the default reference current I in the storage device
MAXWith compare from the testing signal of current sensor 138 detected current values via detection line 145; And current limiting device (current-limiting apparatus), its restriction will be provided to the electric current of rotary driving source 14, is applied to rotary driving source 14 and expects that the electric current that will be provided to rotary driving source 14 can surpass reference current I with convenient high capacity
MAXThe time, electric current is no more than reference current I
MAX
At first, direction instruction signal (binary signal) is incorporated into driver 118 by slave controller 120.Driver 118 is based on direction instruction signal switched voltage polarity.Thereby the sense of rotation of rotary driving source 14 be switched to forward direction and the back in any one.Be imported into current amplifier/limiter 136 corresponding to the voltage that is provided to the electric current of rotary driving source 14 from direction COMM communication 134.
Current amplifier/limiter 136 will be corresponding electric current from the voltage transitions of direction COMM communication 134 outputs, and this electric current is provided to rotary driving source 14.Thereby rotary driving source 14 is driven and in predetermined direction rotation, and the rotary driving force of rotary driving source 14 is coupled member 28 and is delivered to feed screw axle 18.
Xuan Zhuan feed screw axle 18 is screwed in the spiral hole 50 of the sliding nut 52 that serves as feed nut in a predetermined direction.Thereby, sliding nut 52 and piston 22 with by this piston rod 24 displacement vertically integratedly that guide rod 20a, 20b are guided.Therefore, piston rod 24 and piston 22 are integratedly towards external displacement, and arrival stroke end points.Thereby piston rod 24 is pushed the unshowned workpiece (work mounting s operation) that is positioned at the pre-position.
As shown in Figure 8, when piston 22 does not arrive a stroke end points or another stroke end points, and the operation of pushing workpiece W be betwixt neutral position place carry out the time, then impact via socket 26 and be passed to piston 22, wherein socket 26 and workpiece W, piston rod 24 and connector element 60 adjacency.
In the case, as shown in Figure 9, the end portion of the piston vibration damper 56a that contacts with connector element 60 is received thereby impact in an embodiment of the present invention by elastic strain.In addition, the sliding nut 52 that provides in piston 22 is with respect to axially slightly slide (referring to two chain line Fig. 9 shown in) of piston 22 along feed screw axle 18.Suitably absorbed thereby impact.
In other words, provide the piston 22 and the connector element 60 that are connected with each other, they can be in response to the impact that is applied to piston rod 24 in the axial displacement of feed screw axle 18.The slight displacement of piston 22 and connector element 60 is absorbed by piston vibration damper 56a, and this piston vibration damper 56a has elasticity and is installed to the end of sliding nut 52.Suitably absorbed thereby impact.
In this case, sliding nut 52 is not with respect to 18 displacements of feed screw axle, and this is because sliding nut 52 has been screwed onto on the feed screw axle 18.In addition, prevented to impact the helical toothing part that is passed to sliding nut 52 and feed screw axle 18.Thereby, can suitably protect the helical toothing part of sliding nut 52 and feed screw axle 18.
Therefore, in an embodiment of the present invention, even by being pressed in two places, neutral position between the midstroke, the impact that is applied to piston rod 24 is also absorbed by the slide relative displacement between piston 22 and sliding nut 52 and the elastic piston vibration damper 56a workpiece W smoothly by piston rod 24.Therefore, can avoid the deterioration of the serviceability of electric actuator 11.
In addition, when the stroke end points place at the forwarding end points place of piston rod 24 produces when impacting, impact is more suitably absorbed, and this is because the buffer function of piston vibration damper 56a and by the synergy (referring to Figure 10) of the buffer function that adjacency produced of the annular flange portion 66 of connector element 60 and the second terminal vibration damper 36b.
Similarly, when the stroke end points place at the reverse end points place of piston rod 24 produces when impacting, impact is more suitably absorbed, and this is because the buffer function of piston vibration damper 56a and by the synergy (referring to Fig. 3) of the buffer function that adjacency produced of the end face of annular construction member 68 and the piston 22 and the first terminal vibration damper 36a.
As mentioned above, in an embodiment of the present invention, provide damping mechanism, the first and second terminal vibration damper 36a, 36b and bar outer cover 16 that this mechanism is included as pair of pistons vibration damper 56a, 56b that piston 22 provides, provides for shell 12.Thereby,, can suitably cushion the impact that is applied on the piston 22 in any position that comprises the neutral position between stroke end points and the two stroke end points.
In an embodiment of the present invention, even there be not pressurized air maybe can not use under the compressed-air actuated situation, electric actuator also can be used as can with the mode identical with inflator use by electric motor driven actuator.
In this case, the meaning of " in the mode identical with inflator " this phrase for example is meant that electric actuator is to control according to ON/OFF to drive, do not need controller, can push piston 22, electric actuator even can under situation, be driven without any sensor, and can control rate and thrust.
In addition, in an embodiment of the present invention, predetermined rigidity guaranteed directed parallel bar 20a, 20b by this, and need not rigid body.Thereby, reduced number of parts, reduce cost of production, and can realize lighter weight.
In addition, vibration energy adsorber or impact energy adsorber (vibration damper) generally are arranged at the position of collision place in the drive unit.But, in an embodiment of the present invention, when the impact value when attribute, size and the displacement amount of vibration damper are set to collide is no more than 5G, and when preferably being no more than 2G, then can improve the serviceability of vibration damper, thereby also improve the serviceability of electric actuator.Can reduce the intensity of each part by suppressing impact value, thereby can reduce device size and weight.
For the method for production shell 12 and bar outer cover 16, preferred use is for example based on aluminum dipping form casting, compressing tablet metal deep draw and the global formation of integrally formed band stake corrosion resistant plate by using the stake a plurality of corrosion resistant plates of support.
For feed screw axle 18, slip screw axle, the slip screw axle that is made of metal, the spherical spiral axle that preferred use for example is formed from a resin or hang on timing tape between coaster.
When after piston 22 and piston rod 24 arrives the stroke end points, by being pressed in pre-position and high capacity when being applied to rotary driving source 14, applying of the live axle of rotary driving source 14 is stopped workpiece W, to provide constrained state by piston rod 24.In the case, the torque of exporting from the live axle of rotary driving source 14 is directly proportional with the electric current that is applied to rotary driving source 14.Therefore, in constrained state, the electric current (excess current) that surpasses previous predetermined electric current value is applied to rotary driving source 14.When producing excess current, rotary driving source 14 may undesirably burn.
Thereby, in an embodiment of the present invention, be fed back to the party upstream of current amplifier/limiter 136 via current loop 140 from the testing signal that is used to detect the electric current that offers rotary driving source 14 of current sensor 138.Current amplifier/limiter 136 will be stored in default reference current I in the storage device by comparer
MAXCompare with the testing signal that provides from current sensor 138.In addition, the electric current that offer rotary driving source 14 is limited by current limiting device, so that electric current is no more than reference current I
MAX(referring to Figure 22).
For example be limited in the constrained state that the live axle at rotary driving source 14 is stopped at the current value that control is used during rotary driving source 14 and be not more than 0.6A, and during non-loaded driving, be not more than 0.2A.Thereby rotary driving source 14 can have long working life.
As mentioned above, under the situation of the driver 118 of embodiments of the invention, the current value that is provided to rotary driving source 14 is monitored by current sensor 138, and current amplifier/limiter 136 electric current of being used to be provided to rotary driving source 14 is restricted to and is not more than reference current I
MAX
Thereby even under the live axle that high capacity is applied to rotary driving source 14 and is in the rotary driving source 14 in the ON state is stopped with the situation that provides constrained state, the electric current that is provided to rotary driving source 14 is restricted to and is not more than default reference current I
MAXTherefore, can prevent that rotary driving source 14 from being burnt by excess current.The electric current that is provided to rotary driving source 14 by restriction must torque-limiting.
In an embodiment of the present invention, running speed and the position of needn't provide encoder, coming control piston 22 and piston rod 24 such as the such decoder of solver and control circuit.By utilizing ball bearing made using can prevent that rotary driving source 14 from burning.Thereby can reduce production costs.
In this configuration, preferably driver 118 is applied to drive unit (electric actuator), wherein has only the effect of pushing of piston rod 24 and the sense of rotation of rotary driving source 14 to be controlled.
For the driver 118 of embodiments of the invention, the effect of pushing based on 24 couples of workpiece W of piston rod of electric actuator 11 is illustrated.But be not limited to this.The present invention is used for certainly that piston rod 24 by electric actuator 11 transmits, clogs, promotion and supporting workpiece, can be used in addition coming holding workpiece by unshowned electric chuck, and vises workpiece by unshowned electronic clamp.
Promptly ought be for example make high capacity be applied to rotary driving source 14 by transmission, clamping or the effect of vising workpiece, and the rotation of the live axle of rotary driving source 14 is stopped when providing constrained state, the electric current that is provided to rotary driving source 14 is limited, so that electric current is not more than reference current I
MAX
Next, will the comparative example 1 and the comparative example 2 of comparing with the driver 118 of embodiments of the invention be described.To represent the assembly identical with identical label, and omit detailed description thereof with the assembly of driver shown in Figure 21 118.
Figure 23 illustrates the relay circuit 150 that relates to comparative example 1.In this configuration, when a plurality of relay circuits 150 are combined, can switch the sense of rotation of rotary driving source 14.But when the live axle of rotary driving source 14 is stopped when providing constrained state, the electric current that surpasses the electric current that rotary driving source 14 allowed may undesirably be provided, and rotary driving source 14 can be burnt.
Figure 24 illustrates the servo circuit 160 that relates to comparative example 2.Servo circuit 160 comprises that it comprises the control circuit by the feedback control of speed loop 164 and velocity-variation amplifier/limiter 166 execution speeds such as the such detector of solver and encoder 162; And control circuit, it is by the feedback control of position loop 168 and position amplifier/limiter 170 executing location.Therefore, the servo circuit 160 that relates to comparative example 2 requires highly accurate control circuit, for example is used for control position and speed.Therefore, servo circuit 160 is expensive, and cost of production is expensive.
On the contrary, the driver 118 of embodiments of the invention serves as relay circuit 150 that relates to comparative example 1 and the whatsit between the servo circuit 160 that relates to comparative example 2.Can also reduce production costs in addition.
In addition, in the driver 118 of embodiments of the invention, can by with control electrical power for operation actuator 11 with the identical mode of solenoid operated valve according to ON/OFF, thereby electric actuator 11 for example can be used as the device that control is suitable for the direction pushing and transmit.
In addition, in the driver 118 of embodiments of the invention, needn't provide any for rotary driving source 14 is externally additional such as the such detector of encoder.Therefore can reduce device size and weight.
As shown in figure 25, the first attached fixing device 92 is installed to the side of bar outer cover 16 by a plurality of screw member 94, and this first attached fixing device 92 has the attached hole 90 of minor diameter, and is bent to have L shaped vertical cross-section.In addition, the a pair of second attached fixing device 98 (one is not shown) is installed in the flat bottom surface part of shell 12, in this second attached fixing device 98 each has the attached hole 96 of minor diameter, perpendicular to the axis of shell 12, and press opposite direction and extend.When using the first attached fixing device 92 and screw member 94, then improved the attached performance of electric actuator 11, and can strengthen the versatility with regard to installation environment.
As shown in figure 26, outer cover component 100 can be installed to electric actuator shown in Figure 25 11, and this outer cover component 100 is installed in shell 12 and has between the bar outer cover 16 of open type upper surface.When outer cover component 100 is installed, compare when outer cover component 100 not being installed, can suppress dust and so on and enter in the electric actuator 11.
As shown in figure 27, when comprising upper surface when another all closed outer cover component 102 of interior all surface is installed between shell 12 and the bar outer cover 16, can prevent suitably that dust and so on from entering electric actuator.
In this configuration, as shown in figure 28, the elongated slot with circular section 104 that is used for sensor installation can be formed at outer cover component 102, and the sensor 106 that is used to detect the position of piston 22 can be installed to along any position of elongated slot 104.Sensor 106 for example can comprise magnetic sensor, proximity sense and light microsensor at least.
Next, according to the electric actuator 180 of another configuration shown in Figure 29 to 31.Represent the assembly identical with same numeral, and omit explanation it with the assembly of electric actuator shown in Figure 2 11.Therefore identical in the function of piston vibration damper 56a, 56b and the first and second terminal vibration damper 36a, 36b and the foregoing description omit the explanation to it.
Be not provide this to guide rod 20a, 20b according to the electric actuator 180 of another configuration and the difference of the foregoing description, provide very long stylostome 186 connecting cylindrical shell 182 and step-by-step movement cylindrical rods outer cover 184, and piston 190 is accommodated in the hollow space 188 of pipe 186.
Be respectively fixed to piston 190 external peripheral surface be a pair of guide plate 192a, 192b, wherein each is made by resin material and extends vertically; And pair of magnets 194a, 194b, wherein each is semicircle, and has the circular plate type cross section.
In this configuration, have only this that guide plate 192a, 192b are slided along smooth guiding surface 196a, 196b on the inwall that is formed on pipe 186.Therefore, piston 190 has been realized guiding function, and realized anti-rotation effect at the circumferencial direction of pipe 186.At the outer wall of piston 190 with manage that the part place except guide plate 192a, 192b provides predetermined spacing 198 (referring to Figure 31) between 186 the inwall.
According to mode same as the previously described embodiments, have identical shaped sliding nut 52 and be slidably mounted within the piston 190.Sliding nut 52 is connected to the connector element of an end of piston 190 and 202 maintenances of C clamp (referring to Figure 30) that are installed to the other end of piston 190.
For example be attached to predetermined part on pipe 186 the external peripheral surface by fastening fixing device 108 and band member 110 by any sensor that constitutes 106 in magnetic sensor, proximity sense and the light microsensor.The sensor 106 that pipe 186 is installed in the magnetic field of magnet 194a, 194b detects.The position of piston 22 thereby detected (referring to Figure 32).
As shown in figure 33, be bent into the spiral part that the first attached fixing device 112 with L shaped basically vertical cross-section is installed to bar outer cover 184, and the first attached fixing device 112 by fastening locking nut 114 by maintenance.In addition, be installed to second attached fixing device 116 locked nut 117 maintenances of the annular stepping part between shell 182 and the rotary driving source 14.Be respectively the first attached fixing device 112 and 116 and formed circular attached hole 141.
As shown in figure 34, the attached fixing device 142 locked nuts 114 of rectangular plate shape are installed to shaft-like outer cover 184.Perhaps as shown in figure 35, suitably construct so-called gudgeon type cylinder, so that have the side that the annular construction member 144 of pair of columnar pivot 143a, 143b is installed to step-by-step movement cylindrical rods outer cover 184, and pivot 143a, 143b are supported by unshowned lining, thereby can unsteadily support electric actuator 180.
In the above-described embodiments, piston rod 24 extends and the bar type electric actuator that contacts with the mode shown in 21 with Fig. 2 though only disclose wherein, is not limited to this.The present invention can certainly be applied to slip bench-type electric actuator, and this slip bench-type electric actuator will use by unshowned sliding stand is connected to piston 22.
When adopting slip bench-type electric actuator, the bar outer cover by dismantling lower piston rods 24 and use another unshowned hole that wherein allows piston rod 24 to pass to be closed from piston 22 can become the bar type into the slip bench-type at an easy rate.
Preferably, in conjunction with a kind of automatic reduction speed ratio COMM communication, wherein when surpassing default pre-determined torque and be applied to rotary driving source 14, reduction speed ratio is automaticallyed switch in actuator control system 10 according to an embodiment of the invention.In this case, can control the rotational speed of rotary driving source according to load.
The exploded perspective of Figure 36 illustrates the first automatic reduction speed ratio COMM communication 210.As shown in figure 36, the first automatic reduction speed ratio COMM communication 210 comprises shell 212a, 212b and the planetary gears 214 that is configured to by being divided into two parts.
212a is similar with shell, and shell 212b also is a rectangle.Formed lock section 233a to 233d in the inboard of shell 212b, these lock sections be internal gear 220 along when the direction of the output shaft of describing after a while 228 is carried out parallel shift with the circular arc projection of described internal gear locking receiving part 231a to 231d engagement after a while.In addition, shell 212b has bearing part 234b, is used for supporting rotatably output shaft 228.
Major diameter internal gear 220 meshes with the outer circumferential sides of planetary pinion 218a, 218b, 218c, the internal gear teeth engagement on the inner circumference of internal gear 220 of planetary pinion 218a, 218b, 218c and engraving.Be connected to the rotating driveshaft of unshowned rotary driving source via the coupling component (not shown) with sun gear 216 integrally formed input shafts 226.In this configuration, as shown in figure 36, input shaft 226 and output shaft 228 are provided by coaxial.
In order to obtain viscous resistance effectively, the interval 227 between interior section 223 and planetary pinion 218a, 218b, the 218c preferably is not more than 0.1mm (referring to Figure 40).
The angle of torsion of each in the Screwed gear of sun gear 216, planetary pinion 218a, 218b, 218c and internal gear 220 (spirality is along the angle of inclination of screw thread) does not limit especially.But this angle of torsion preferably is about 30 ° to 40 °.Do not limit especially as the oil of being stained with property resistance component or the viscosity of grease or analog.But this viscosity preferably is about 10000 to 100000 (cSt) (0.01m
2/ s to 0.1m
2/ s).In addition, the viscous resistance of viscous resistance member also can change by shearing speed and by the width of above-mentioned spacing 227 and the viscosity of grease or analog.
Stretch out the tail end that also crooked a plurality of internal gears locking receiving part 230a to 230d, 213a to 231d are formed on column-shaped internal section gear 220.As shown in figure 50, internal gear locking receiving part 230a to 230d, 231a to 231d have outstanding shape, so that along the circumferential direction draw the curve corresponding to lock section 232a to 232d, 232a to 233d.Internal gear locking receiving part 230a to 230d, 23a to 231d and lock section 232a to 232d, 233a to 233d serve as the internal gear locking framework.
When the input shaft 226, internal gear 220 and the carrier 222 that form of structure is by device in a manner described, then input shaft 226 at first is inserted into holding among the shaft portion 234a of shell 212a, output shaft 228 is inserted among the bearing part 234b of shell 212b, and internal gear 220 is installed in the outside of carrier 222.Shell 212a and shell 212b are engaged with each other, so that the sun gear of input shaft 226 216 and planetary pinion 218a, 218b, 218c engagement are tightened then.Thereby planetary gears 214 is accommodated in (referring to Figure 37) among shell 212a, the 212b.
Next, will the operation of the first automatic reduction speed ratio COMM communication 210 be described.
At first, unshowned rotary driving source is energized, and the rotary driving force of rotary driving source is passed to sun gear 216 via input shaft 226.Suppose to point to from input shaft 226 direction (direction of the arrow Z shown in Figure 37) of output shaft 228, rotary driving force rotates input shaft 226 and sun gear 216 in the direction of the clock.
When the rotating force under the low load is passed to input shaft 226, planetary pinion 218a, 218b, 218c revolve round the sun (by the direction indication of netted arrow, also illustrate similarly in below describing) rather than rotation, internal gear 220 also (indicate along the direction of arrow by the direction by thick arrow, also illustrate similarly in below describing) do revolution, and carrier 222 is also in the direction of the clock with integral way revolve round the sun (referring to Figure 42).This is because the viscous resistance member is used between sun gear 216, planetary pinion 218a, 218b, 218c, interior section 223 and the internal gear 220, thereby stiction is applied by the viscous resistance of viscous resistance member.
Promptly, referring to Figure 42, when sun gear 216 during along the direction of arrow (, also illustrating similarly in below describing) rotation by the indication of the direction of hacures arrow, because low rotation is so stiction is applied by the viscous resistance member between interior section 223 and the internal gear 220.Therefore, interior section 223, internal gear 220, planetary pinion 218a, 218b, 218c and sun gear 216 rotate with integral way.
Then, when the load that surpasses default torque is applied to carrier 222 via output shaft 228, then sun gear 216 is rotated, thereby not revolving round the sun, planetary pinion 218a, 218b, 218c, rotate (referring to Figure 43) and press counter clockwise direction with the internal gear 220 of planetary pinion 218 engagements by the counter clockwise direction opposite (direction of blank arrow) rotation with the direction of sun gear 216.When promptly the load that is applied to output shaft 228 when rotational speed reduces, also be lowered with the rotational speed of output shaft 228 integrally formed carriers 222.
But internal gear 220 tends to be rotated as its past.In other words, the rotational speed of internal gear 220 is higher than the rotational speed of carrier 222.Therefore, the viscous resistance between internal gear 220 and the carrier 222 has increased.Because viscous resistance increases as mentioned above, therefore the stripe direction along the gear teeth produces thrust, and internal gear 220 moves along the direction of arrow Z1 shown in Figure 44, this be because with its planet gear meshed 218a, 218b, 218c and internal gear 220 are spiral gears.
Thereby, internal gear locking receiving part 231b and lock section 233b engagement, internal gear locking receiving part 231c and lock section 233c engagement.Internal gear 220 is in the lock state, thereby can't move again.When internal gear 220 is in the lock state, then sun gear 216 is along hacures direction of arrow rotation shown in Figure 42, thereby planetary pinion 218a, 218b, 218c are with carrier 222 revolution (referring to Figure 45), simultaneously by rotation counterclockwise, with the transmission of torque of the rotational speed that will reduce and increase to output shaft 228.In the case, torque is with corresponding corresponding to the power of the gear ratio between planetary pinion 218a, 218b, 218c and the internal gear 220.
Then, the rotation driving direction is inverted, to remove the lock state of internal gear 220.Be that sun gear 216 is transfused to axle 226 by rotation counterclockwise.Thereby, as shown in figure 46, planetary pinion 218a, 218b, 218c with carrier 222 by revolution counterclockwise, simultaneously according to the rotation of sun gear 216 and rotation in the direction of the clock.
After sun gear 216 began by rotation counterclockwise, internal gear 220 was in the lock state immediately, i.e. halted state.Therefore, between carrier 222 and internal gear 220, appear at relative rotation number purpose difference, thereby the viscous resistance between internal gear 220 and the interior section 223 increases.Because the viscous resistance between internal gear 220 and the interior section 223 increases and planetary pinion 218a, 218b, 218c and internal gear 220 are respectively spiral gears, therefore the stripe direction along the gear teeth of spiral formation on the cylinder surface of gear has produced thrust.
Thrust causes internal gear 220 along doing parallel shift in the opposite direction with Z1 side.Internal gear 220 rotates simultaneously in the direction of the clock along doing parallel shift in the opposite direction with Z1 side, and the internal gear locking receiving part 230 of internal gear 220 is separated with the lock section 232 of shell 212b, and internal gear 220 is disengaged lock state.
As mentioned above, when internal gear 220 is disengaged lock state, planetary pinion 218a, 218b, 218c, internal gear 220 and carrier 222 are done revolution around sun gear 216 by counter clockwise direction with integral way according to sun gear 216 anticlockwise rotations (referring to Figure 47) once more, to return to initial position shown in Figure 41.
When promptly sun gear 216 is by the counter clockwise direction high speed rotating after internal gear 220 is disengaged lock state, planetary pinion 218a, 218b, 218c revolve round the sun by counter clockwise direction under the situation that does not cause its rotation, and internal gear 220 is also by rotation counterclockwise.
Above-mentioned situation example shows the state that input shaft 226 and sun gear 216 rotate in the direction of the clock.But, when input shaft 226 and sun gear 216 when counterclockwise rotating, also obtain operation and effect identical or that be equal to.
Promptly, when input shaft 226 and sun gear 216 by rotation counterclockwise, and when the load that surpasses default torque under this state is applied to carrier 222 via output shaft 228, then internal gear locking receiving part 230b and lock section 232b engagement, internal gear locking receiving part 230c and lock section 232c engagement, internal gear 220 is in the lock state, as shown in figure 48.In addition, when rotary driving force is inverted so that when rotating sun gear 216 in the direction of the clock by input shaft 226, internal gear 220 is disengaged lock state, to return to original state shown in Figure 41.
On the other hand, when internal gear 220 is in as shown in figure 44 lock state, can remove the lock state of internal gear 220 by the load that reduces to be applied to output shaft 228.
Promptly, in the state that load on output shaft 228 reduces, planetary pinion 218a, 218b, 218c revolve round the sun according to sun gear 216 clockwise rotations in the direction of the clock with carrier 222, simultaneously by rotation counterclockwise, and rotate (referring to Figure 49) in the direction of the clock with the internal gear 220 of planetary pinion 218a, 218b, 218c engagement.
In this state, owing to place the viscous resistance member between internal gear 220 and the interior section 223, the rotational speed of internal gear 220 becomes less than the rotational speed of carrier 222, and has occurred relative rotation number purpose difference between carrier 222 and internal gear 220.Thereby the viscous resistance between internal gear 220 and the interior section 223 increases.Because increase of the viscous resistance between internal gear 220 and the interior section 223 and planetary pinion 218 and internal gear 220 are spiral gears, therefore the direction along the striped of the gear teeth of spiral formation on the cylinder surface of gear has produced thrust.
In addition, as shown in figure 50, each among internal gear locking receiving part 231c and the lock section 233c has such shape: draw a curve in a circumferential direction.Therefore, when internal gear 220 rotated in the direction of the clock, with thrust, also the edge had applied power in the opposite direction with Z1 side, and internal gear 220 is done parallel shift.
That is, along doing parallel shift in the opposite direction with Z1 side, internal gear locking receiving part 231a to 231b separates with lock section 233a to 233d internal gear 220 when rotating in the direction of the clock, and internal gear 220 is disengaged lock state.
In the first automatic reduction speed ratio COMM communication 210, spiral gear is used to sun gear 216, planetary pinion 218a, 218b, 218c and internal gear 220, and the viscous resistance member is provided in internal gear 220 and the interior section 223 that provides for carrier 222 between.Thereby when the load that surpasses default torque was applied to carrier 222, internal gear 220 was based on the relative rotation speed difference between internal gear 220 and the carrier 222, along doing parallel shift towards the direction of input shaft 226 or towards the direction of output shaft 228.Thereby can automatically switch is delivered to the reduction speed ratio of the biasing member of actuator from output shaft 228.
Certain goes out in the route to stop outside when the biasing member of actuator, when biasing member is once more along the direction displacement of the route of going out then, then also can easily removes internal gear 220 lock states, and change reduction speed ratio automatically.In addition, the biasing member of actuator can low torque and high-speed along going out the route displacement.
Next will the press device 270 (actuator) that combine with the first automatic reduction speed ratio COMM communication 210 be described with reference to Figure 51 to 53.
Press device 270 (actuator) is the device that is used for pushing where necessary workpiece W.Press device 270 (actuator) consists essentially of motor 272, automatically deceleration unit 274, fixedly reduction speed ratio deceleration unit 276, feed screw axle 278, movable member 280, pipeline 282 and guiding device 284.Movable member 280 and pipeline 282 serve as the biasing member of actuator.
In press device 270, feed screw axle 278 under as the incentive action of the motor 272 of rotary driving source by deceleration unit 274 and fixedly reduction speed ratio deceleration unit 276 rotations automatically.The feed nut (not shown) with helical groove of movable member 280 is directed device 284 and guides, and moving axially along feed screw axle 278.Movable member 280 is connected to the pipeline 282 that the front end place has pressing part 286, with workpiece W adjacency so that push workpiece W.Pipeline 282 has its hollow inside.In this structure, feed screw axle 278 is inserted in the hollow inside.
When motor 272 is driven, the rotating force rotation sun gear 216 of motor 272 under the low load.Thereby, planetary pinion 218a, 218b, 218c, internal gear 220 and carrier 222 with integral way around sun gear 216 revolve round the sun in the direction of the clock (referring to Figure 42).Thereby the rotation number purpose rotation corresponding to input shaft 226 is passed to output shaft 228, to cause high speed rotating.Rotation is transmitted with swivel feeding screw axis 278 from output shaft 228 via fixing reduction speed ratio deceleration unit 276.The feed nut with helical groove of movable member 280 is directed device 284 and guides, and moving axially along feed screw axle 278.Thereby, 286 from the initial position shown in Figure 51 towards workpiece W high-speed displacement (referring to Figure 52).
Shown in Figure 53, displacement pressing part 286 and workpiece W adjacency, the load that surpasses default torque is applied to carrier 222 via output shaft 228 from press device 270.In the case, sun gear 216 is rotated, thus planetary pinion 218a, 218b, 218c by the counter clockwise direction rotation opposite with the direction of sun gear 216, planetary pinion 218a, 218b, 218c do not revolve round the sun simultaneously.The internal gear 220 that is meshed with planetary pinion 218a, 218b, 218c is by rotation (referring to Figure 43) counterclockwise.Thereby thrust is on internal gear 220, and internal gear 220 is done parallel shift along the Z1 direction.
Be the result of parallel shift along the Z1 direction as internal gear 220, as shown in figure 44, internal gear locking receiving part 231b and lock section 233b engagement, internal gear locking receiving part 231c and lock section 233c engagement, internal gear 220 is in the lock state.When internal gear 220 is in the lock state, then planetary pinion 218 revolves round the sun according to the rotation of sun gear 216 in the direction of the clock with carrier 222, rotation (referring to Figure 45) in the counterclockwise direction simultaneously, and the torque that increases is passed to the pressing part 286 of press device 270 via output shaft 228.Thereby the workpiece W part 286 that is pressed is pushed (referring to Figure 53).Thereby workpiece W carried out pushed processing, and/or carried out the operation of the position that is used for travelling workpiece W.
The reduction speed ratio that obtains in the lock state of internal gear 220 is represented that by 1/ (1+Z (C)/Z (A)) wherein Z (A) represents the number of the gear teeth of sun gear 216, the number of the gear teeth of Z (C) expression internal gear 220.The output torque that draws from output shaft 228 is doubly the same big with (1+Z (C)/Z (A)) of the input torque of introducing from input shaft 226.For example, when the gear teeth number of sun gear 216 is 12, the gear teeth number of internal gear 220 is 66 o'clock, has then obtained 6.5 times high torque (HT).
After the part 286 that is pressed at workpiece was as mentioned above pushed, when the current polarity that is applied to motor 272 was inverted, sun gear 216 was transfused to axle 226 by rotation counterclockwise.Planetary pinion 218a, 218b, 218c revolve round the sun by counter clockwise direction according to the rotation of sun gear 216 with carrier 222, simultaneously rotation (referring to Figure 46) in the direction of the clock.
Thereby thrust is on internal gear 220.Internal gear 220 is done parallel shift with Z1 side in the edge in the opposite direction when rotating in the direction of the clock.The internal gear locking receiving part 230 of internal gear 220 is separated with the lock section 232 of shell 212b, and internal gear 220 is disengaged lock state.
When internal gear 220 was disengaged lock state, planetary pinion 218a, 218b, 218c, internal gear 220, carrier 222 were pressed counterclockwise revolution (referring to Figure 47) with integral way around sun gear 216 according to sun gear 216 rotation in the counterclockwise direction again again.
Thereby, be directly transferred to output shaft 228 corresponding to the rotational speed of input shaft 226, to cause high speed rotating.Pressing part 286 is when being directed device 284 guiding, along the direction high-speed mobile of separating with workpiece W.Thereby can return to the initial position shown in Figure 51.
According to the first automatic reduction speed ratio COMM communication 210, when the load that surpasses default torque via output shaft 228 when actuator is applied to carrier 222, by the internal gear 220 of the sense of rotation rotation identical with sun gear 216 by the direction rotation different with sun gear 216.Thereby internal gear locking receiving part 230a to 230d, 231a to 231d and lock section 232a to 232d, 233a to 233d mesh, and the rotation of internal gear 220 stops, and internal gear 220 is locked.When internal gear 220 was in the lock state, then the reduction speed ratio of transmitting via output shaft 228 was automaticallyed switch, and the biasing member of actuator is with high torque (HT) and low speed displacement.
On the other hand, in order to make biasing member direction of displacement is become return route from the route of going out, the current polarity of rotary driving source is inverted.Like this, sun gear 216 is inverted as mentioned above, and internal gear 220 is disengaged lock state.Therefore, the reduction speed ratio that is delivered to the biasing member that is used to constitute actuator from output shaft 228 is automaticallyed switch.Biasing member can low torque and at a high speed along the return route displacement.
The viscosity coupling unit 236 that serves as internal drag also can be provided between output shaft 228 and the carrier 222, even so that the rotation number of output shaft 228 also can be effectively under less than the rotation number purpose situation of input shaft 226 with rotational speed and transmission of torque to output shaft 228, and the rotation number purpose difference of the rotation number of input shaft 226 and output shaft 228 becomes big in the first automatic reduction speed ratio COMM communication 210.
The second automatic reduction speed ratio COMM communication 210A with viscosity coupling unit 236 is shown in Figure 54.In the second automatic reduction speed ratio COMM communication 210A, viscosity coupling unit 236 is provided at carrier 222 1 sides.
Next, the 3rd automatic reduction speed ratio COMM communication 210B is shown in Figure 55.In the 3rd automatic reduction speed ratio COMM communication 210B, compare with the second automatic reduction speed ratio COMM communication 210A, internal gear latch-release mechanism 240 is provided on the excircle end face of internal gear 220A.
As what also illustrate among Figure 56, internal gear latch-release mechanism 240 comprises spring attachment part 242, spring 244a, 244b and internal gear locking receiving part 230a to 230d, 231a to 231d.
When being inserted in the spring attachment part 242 that the position at center provides with circular pattern basically vertically, on the external peripheral surface of internal gear 220A, formed groove.Spring 244a, 244b are wrapped in around the groove spirally.In addition, the column tail end that a plurality of internal gear locking receiving part 230a to 230d that stretch out respectively, 231a to 231d are formed on internal gear 220.In the 3rd automatic reduction speed ratio COMM communication 210B, spring 244a, 244b have been used.But be not limited to spring component, as long as resilient member is provided.For example, can also use rubber or analog.Magnet usable as internal gear locking cancel system 240 is so that guarantee the function that the elastic force with resilient member is equal to.
Thereby the 3rd automatic reduction speed ratio COMM communication 210B can be incorporated in the press device 270 shown in Figure 51 to 53.From state shown in Figure 2, when pressing part 286 towards the predetermined distance of workpiece W displacement in case with workpiece W adjacency, and the load that surpasses default torque via output shaft 228 when press device 270 is applied to carrier 222, then planetary pinion 218a, 218b, 218c rotate by the counter clockwise direction opposite with the direction of sun gear 216 according to the rotation of sun gear 216, and do not revolve round the sun, and the internal gear 220A that is meshed with planetary pinion 218 is by rotation (referring to Figure 43) counterclockwise.Thereby thrust is on internal gear 220A, and internal gear 220A does parallel shift along the Z1 direction.
Then, after pushing workpiece W by pressing part 286, the current polarity that is provided to motor 272 is inverted.Thereby sun gear 216 is transfused to axle 226 by rotation counterclockwise.Planetary pinion 218 revolves round the sun by counter clockwise direction according to the rotation of sun gear 216 with carrier 222, simultaneously rotation (referring to Figure 46) in the direction of the clock.
Thereby thrust is on internal gear 220A.Internal gear 220A does parallel shift with Z1 side in the edge in the opposite direction when rotating in the direction of the clock.The internal gear locking receiving part 231 of internal gear 220A is separated with the lock section 233 of shell 212b, and 220A is disengaged lock state.
According to the 3rd automatic reduction speed ratio COMM communication 210B, can remove the lock state of internal gear locking receiving part 230,231 and lock section 232,233 rapidly by internal gear latch-release mechanism 240 is provided for internal gear 220A.
Next, Figure 57 illustrates the moving reduction speed ratio COMM communication 210C of four selfs.Shown in Figure 57, the moving reduction speed ratio COMM communication 210C of four selfs comprises shell 212a, 212b and planetary gears 214B.Planetary gears 214B is accommodated among shell 212a, the 212b.
Formed a plurality of carrier locking receiving parts 252,253, wherein each end from column like catalyst carrier 222B stretches out.Carrier locking receiving part 52,253 has outstanding shape, to draw the curve corresponding to lock section 254,255 in circumferencial direction.The carrier locking device is served as in carrier locking receiving part 252,253 and lock section 254,255.
Next the operation of 210C will be described.Motor 272 is driven, and the rotating force of motor 272 rotates sun gear 216 under the low load.Thereby planetary pinion 218, internal gear 220B and carrier 222B are integrally around sun gear 216 revolve round the sun in the direction of the clock (referring to Figure 42).Thereby, be passed to output shaft 228B corresponding to the rotation number purpose rotation number of input shaft 226, so that carry out high speed rotating.Feed screw axle 278 is rotated via fixing reduction speed ratio deceleration unit 276 by output shaft 228B.The feed nut with helical groove of movable member 280 is moving axially along feed screw axle 278 when being directed device 284 guiding.Thereby pressing part 286 is the direction high-speed displacement (referring to Figure 52) along close workpiece W from the initial position shown in Figure 51.
Shown in Figure 53, when pressing part 286 and workpiece W adjacency, and the load that surpasses default torque via output shaft 228B when press device 270 is applied to internal gear 220B, then planetary pinion 218a, 218b, 218c are by the counter clockwise direction rotation opposite with the sense of rotation of sun gear 216, planetary pinion 218a, 218b, 218c do not revolve round the sun when sun gear 216 rotations simultaneously, and the internal gear 220B that is meshed with planetary pinion 218a, 218b, 218c is by rotation (referring to Figure 43) counterclockwise.Thereby thrust is on carrier 222B, and carrier 222B does parallel shift along the Z direction.
Carrier 222B does parallel shift along the Z direction, carrier locking receiving part 253 and lock section 255 engagements, and lock state is presented.When carrier 222B is in the lock state when middle, planetary pinion 218a, 218b, 218c revolve round the sun according to the rotation of sun gear 216 with carrier 222B, simultaneously by rotation (referring to Figure 45) counterclockwise.The torque that increases is passed to the pressing part 286 of press device 270 via output shaft 228B, and part 286 is pushed (referring to Figure 53) thereby workpiece W is pressed.
Then, when after pushing workpiece W by pressing part 286, when the current polarity that is provided to motor 272 is inverted, sun gear 216 via input shaft 226 by rotation counterclockwise.When sun gear 216 rotations, by revolution counterclockwise, the while is rotation (referring to Figure 46) in the direction of the clock with carrier 222B for planetary pinion 218a, 218b, 218c.Thereby thrust is on carrier 222B.Carrier 222B does parallel shift with Z side in the edge in the opposite direction when rotating in the direction of the clock.The carrier locking receiving part 253 of carrier 222B is separated with lock section 255, and carrier 222B is disengaged lock state.
When carrier 222B was disengaged lock state, planetary pinion 218a, 218b, 218c, internal gear 220, carrier 222 were pressed counterclockwise revolution (referring to Figure 47) with integral way around sun gear 216 according to sun gear 216 rotation in the counterclockwise direction again again.Thereby, be directly transferred to output shaft 228B corresponding to the rotational speed of the rotational speed of input shaft 226, to cause high speed rotating.Pressing part 286 is when being directed device 284 guiding, along the direction high-speed mobile of separating with workpiece W, so that successfully return to the initial position shown in Figure 51.
According to the moving reduction speed ratio COMM communication 210C of four selfs, when the load that surpasses default torque via output shaft 228B when actuator is applied to internal gear 220B, by planetary pinion 218a, 218b, 218c and the carrier 222B of the sense of rotation rotation identical with sun gear 216 by the direction rotation different with sun gear 216.Thereby, carrier locking receiving part 252,253 and lock section 254,255 engagements, the rotation of carrier 222B stops, to realize locking.
When carrier 222B was in the lock state, the reduction speed ratio of transmitting via internal gear 220B was automaticallyed switch.The biasing member that constitutes actuator goes out near the terminal position of route outside with high torque (HT) and low speed displacement.On the other hand, when biasing member when the route of going out is displaced to return route, the current polarity of rotary driving source is inverted, and sun gear 216 is inverted, to remove the lock state of carrier 222B.Therefore, the reduction speed ratio that is delivered to the biasing member of actuator from output shaft 228B is automaticallyed switch.The biasing member that constitutes actuator can be along return route with low torque and high-speed displacement.
Next, Figure 58 illustrates the 5th automatic reduction speed ratio COMM communication 210D.Shown in Figure 58, in the 5th automatic reduction speed ratio COMM communication 210D, moving reduction speed ratio COMM communication 210C compares with four selfs, provides annular groove at the circumference edge portion of carrier 222C, and annular spring 260a, 260b are provided in groove.
Thereby, when the 5th automatic reduction speed ratio COMM communication 210D is incorporated in the press device 270, pressing part 286 in the state shown in Figure 52 towards workpiece W displacement intended distance, with workpiece W adjacency.When the load that surpasses default torque via output shaft 228C when press device 270 is applied to internal gear 220C, sun gear 216 is rotated, thereby planetary pinion 218 rotates by the counter clockwise direction opposite with the direction of sun gear 216, and does not revolve round the sun.The internal gear 220C that is meshed with planetary pinion 218a, 218b, 218c is by rotation (referring to Figure 43) counterclockwise.Thereby thrust is on carrier 222C, and carrier 222C does parallel shift along the Z direction.
Then, when after pushing workpiece W by pressing part 286, when the current polarity that is provided to motor 272 is inverted, sun gear 216 via input shaft 226 by rotation counterclockwise.When sun gear 216 rotations, by revolution counterclockwise, the while is rotation (referring to Figure 46) in the direction of the clock with carrier 222C for planetary pinion 218a, 218b, 218c.
Thereby thrust is on carrier 222C.Carrier 222C does parallel shift with Z side in the edge in the opposite direction when rotating in the direction of the clock.The carrier locking receiving part 253 of carrier 222C is separated with lock section 255, and carrier 222C is disengaged lock state.The carrier locking receiving part 253 of carrier 222C is separated with the lock section 255 of shell 212b, and carrier 222C is disengaged lock state.During this process, carrier 222C is owing to the elastic force of spring 260b experiences the parallel shift of going up in the opposite direction with Z1 side.Carrier 222C is disengaged lock state rapidly.
According to the 5th automatic reduction speed ratio COMM communication 210D,, thereby can promptly remove the lock state of carrier locking receiving part 252,253 and lock section 254,255 for carrier 222C provides spring 260a, 260b.
By being used in combination the 5th automatic reduction speed ratio COMM communication 210D and fixing reduction speed ratio deceleration unit 276, the reduction speed ratio of obtainable wide range.For example, when the reduction speed ratio of automatic deceleration unit 274 is 1: 4, and fixedly the reduction speed ratio of reduction speed ratio deceleration unit 276 is 1: 4 o'clock, then with respect to the input of planetary pinion 294, changes in the scope that reduction speed ratio can be big 1: 4 to 1: 16.The longitudinal cross-section of Figure 59 illustrates automatic deceleration unit 274 and the fixing state that is connected with each other of reduction speed ratio deceleration unit 276.
Thereby in press device 270, rotatablely moving of motor 272 is delivered to fixedly reduction speed ratio deceleration unit 276 by the first automatic reduction speed ratio COMM communication 210 from output shaft 228.Shown in Figure 59, in fixing reduction speed ratio deceleration unit 276, the sun gear 290 that is meshed with output shaft 228 is rotated, and with rotation planetary pinion 294, this planetary pinion 294 is rotatably supported by latch 292 and is meshed with sun gear 290.In addition, the internal gear 296 that is meshed with planetary pinion 294 is rotated.The rotational speed that is passed to internal gear 296 is passed to output shaft 302 via output shaft 298 and Coupler 300.Coupler 300 and output shaft 302 are connected with each other by viscosity coupling unit 308.Output shaft 302 is screwed on the axle 306 by screw 304.
In this configuration, the actuator that is connected to output shaft 228 is not limited to press device 270.Obviously actuator can comprise linearity or reciprocating rotatably mechanism, the reciprocating hydro cylinder of for example unshowned wherein piston rod (biasing member), the wherein reciprocating linear actuators of slide block (biasing member), revolving actuator and the reciprocating clamp device of clamper arm (biasing member) wherein.Actuator also is not limited to these devices in addition.
Figure 60 illustrates chuck assembly 310, as a kind of clamp device.Provide the rotary driving force that comes via automatic deceleration unit 314 that comprises the first automatic reduction speed ratio COMM communication 210 and fixing reduction speed ratio deceleration unit 316 and be passed to output shaft 318 from motor 312.When output shaft 318 is rotated, be screwed to the Coupler 322 on the screw 320 and the feed nut 326 that is screwed on the screw 324 is rotated.When feed nut 326 was rotated, the feed screw axle 328 that is screwed on the feed nut 326 moved vertically.When feed screw axle 328 moved, retained part 322 can pass through arm 330 holding workpiece W.
Figure 61 illustrates when rotary driving source 14 only being provided and being equipped with automatic reduction speed ratio COMM communication (for example first automatic reduction speed ratio COMM communication 210) for rotary driving source 14 torque with respect to the characteristic of obtaining speed.Understand as can from Figure 61, knowing, compare with the situation that rotary driving source 14 only is provided, when rotary driving source 14 is equipped with automatic reduction speed ratio COMM communication, can be at an easy rate with respect to the speed controlling torque.
The perspective view of Figure 62 illustrates the driver bunch that is used for direction control.
The a plurality of drivers 118 that are connected to a plurality of electric actuators 11 (electronics cylinder) that are used for direction control can be piled up continuously, so that this bunch to be provided.In this configuration, a plurality of drivers 118 that are used for direction control are coupled with bus mode by the unshowned connector that is used to transmit electrical signal (for example serial signal).A unit preferably additionally is provided, is used to generate for example AC 100 to 200V or DC 24V, so that power supply.The a plurality of drivers 118 that are used for direction control pile up removably continuously by long track component 350.Preferably be respectively driver 118 and the power supply generating unit provides fan respectively.
Though be shown specifically and described some preferred embodiment of the present invention, should be appreciated that and to carry out variations and modifications without departing from the scope of the appended claims.
Claims (7)
1. actuator control system, comprise electric actuator (11), this electric actuator (11) has the biasing member of quilt via the rotary driving force institute displacement of the next rotary driving source (14) of driving force passing shaft transmission, also be included as the control unit that described electric actuator (11) provides, wherein
Described electric actuator (11) has damping mechanism, and its absorption is applied to the impact on the described biasing member;
Described biasing member comprises piston (22) and sliding nut (52), described sliding nut (52) along described piston (22) axially by maintenance in the hole of described piston (22) and can described driving force transmit under the axial screw turning effort with described piston (22) with the displacement of one mode;
Described control unit comprises current sensing means, and its detection will be provided to the electric current of described rotary driving source (14); Comparer, it will be compared with default reference current from the testing signal of described current sensing means; And current-limiting apparatus, it limits described electric current, so that the live axle that load is applied to described rotary driving source (14) and described rotary driving source (14) under actuated state is stopped when providing constrained state, the described electric current that will offer described rotary driving source (14) is no more than described reference current; And
Described damping mechanism comprises piston vibration damper (56a, 56b), described piston vibration damper be respectively described sliding nut (52) axially on the resilient member that provides of place, two ends, and absorb the impact that is applied to described piston (22), wherein when described impact was absorbed by described piston vibration damper (56a, 56b), described sliding nut (52) and described piston (22) are provided as can be along the axial relative displacement of described driving force passing shaft.
2. actuator control system as claimed in claim 1, wherein said damping mechanism comprise the first terminal vibration damper (36a), are provided at the end of shell (12) towards described piston (22); And the second terminal vibration damper (36a), it is for providing with the be separated by bar outer cover (16) of intended distance of described shell (12).
3. actuator controller system as claimed in claim 1 also comprises automatic reduction speed ratio COMM communication (210), and it is in response to the described load that is applied to described rotary driving source (14), automatic switchover reduction speed ratio.
4. actuator control system as claimed in claim 1 also comprises flexible couplings mechanism (74), and it is provided between the driving force passing shaft and described rotary driving source (14) of described electric actuator (11), wherein
Described flexible couplings mechanism (74) has centering error and allows function, with between the axis of the described live axle of the axis that allows described driving force passing shaft and described rotary driving source (14) along the displacement of parallel direction; And angular deviation allows function, with intersecting between the described axis of the described live axle of the described axis that allows described driving force passing shaft and described rotary driving source (14).
5. actuator control system as claimed in claim 4, wherein said flexible couplings mechanism (74) comprises a pair of cover joint (76a, 76b), it is formed and is of similar shape by metallic material, and is to assemble with the phase place of deviation predetermined angle in a circumferential direction; And resilient member (78), it has the cross vertical cross-section, is formed by elastic material, and rotatably is provided in described cover joint between (76a, 76b).
6. actuator control system as claimed in claim 1 wherein avoids the round member (67) of any deflection to be installed to an end of the described driving force passing shaft of described electric actuator (11).
7. actuator control system as claimed in claim 1, wherein lubricant oil retention member (69a, 69b) is provided at the slide part office between described sliding nut (52) and the described driving force passing shaft.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2004335196 | 2004-11-18 | ||
| JP2004335196 | 2004-11-18 | ||
| JP2004-335196 | 2004-11-18 | ||
| JP2005-289199 | 2005-09-30 | ||
| JP2005289199 | 2005-09-30 |
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| Publication Number | Publication Date |
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| CN1796823A CN1796823A (en) | 2006-07-05 |
| CN100424378C true CN100424378C (en) | 2008-10-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005101204717A Active CN100424378C (en) | 2004-11-18 | 2005-11-18 | Actuator control system |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2379895T3 (en) * | 2006-12-31 | 2012-05-04 | Linak A/S | Drive system |
| JP5417588B2 (en) * | 2009-11-13 | 2014-02-19 | Ｓｍｃ株式会社 | Actuator |
| CN103166184A (en) * | 2011-12-19 | 2013-06-19 | 苏州能健电气有限公司 | Delayed alarm method for direct current variable pitch motor |
| CN103166190A (en) * | 2011-12-19 | 2013-06-19 | 苏州能健电气有限公司 | Alternating current variable-pitch motor protection device and method |
| CN103166189A (en) * | 2011-12-19 | 2013-06-19 | 苏州能健电气有限公司 | Delayed alarm protection method for alternating current (AC) variable-pitch motor |
| CN102882346A (en) * | 2012-09-29 | 2013-01-16 | 比克希线束电子（苏州）有限公司 | Miniature linear execution system |
| CN105757205B (en) * | 2014-11-12 | 2017-10-27 | 力纳克传动系统（深圳）有限公司 | linear actuator system |
| US10618370B2 (en) * | 2016-09-02 | 2020-04-14 | Mando Corporation | Active roll stabilizer |
| CN106992627B (en) * | 2017-05-19 | 2019-05-28 | 上海宇航系统工程研究所 | A kind of high frequency sound straight line driving mechanism |
| CN109883717A (en) * | 2019-03-14 | 2019-06-14 | 哈尔滨工程大学 | A kind of cylinder of internal-combustion engine simulator and control method |
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| CN1135675A (en) * | 1995-02-10 | 1996-11-13 | Smc株式会社 | Electric actuator |
| US5660591A (en) * | 1996-01-31 | 1997-08-26 | Reliance Electric Industrial Co. | Flexible coupling device |
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| CN1796823A (en) | 2006-07-05 |
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