EP0941407B1 - Entrainement lineaire - Google Patents

Entrainement lineaire Download PDF

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Publication number
EP0941407B1
EP0941407B1 EP97910411A EP97910411A EP0941407B1 EP 0941407 B1 EP0941407 B1 EP 0941407B1 EP 97910411 A EP97910411 A EP 97910411A EP 97910411 A EP97910411 A EP 97910411A EP 0941407 B1 EP0941407 B1 EP 0941407B1
Authority
EP
European Patent Office
Prior art keywords
linear drive
drive according
stop
position setting
counter
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP97910411A
Other languages
German (de)
English (en)
Other versions
EP0941407A1 (fr
Inventor
Kurt Stoll
Thomas Feyrer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Festo SE and Co KG
Original Assignee
Festo SE and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Festo SE and Co KG filed Critical Festo SE and Co KG
Publication of EP0941407A1 publication Critical patent/EP0941407A1/fr
Application granted granted Critical
Publication of EP0941407B1 publication Critical patent/EP0941407B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/24—Other details, e.g. assembly with regulating devices for restricting the stroke
    • 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
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
    • F15B15/1423—Component parts; Constructional details
    • F15B15/1471—Guiding means other than in the end cap
    • 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
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/22—Other details, e.g. assembly with regulating devices for accelerating or decelerating the stroke
    • F15B15/228—Other details, e.g. assembly with regulating devices for accelerating or decelerating the stroke having shock absorbers mounted outside the actuator housing
    • 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
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/28—Means for indicating the position, e.g. end of stroke
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/18—Mechanical movements
    • Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
    • Y10T74/18576—Reciprocating or oscillating to or from alternating rotary including screw and nut
    • Y10T74/18696—Reciprocating or oscillating to or from alternating rotary including screw and nut including means to selectively transmit power [e.g., clutch, etc.]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/18—Mechanical movements
    • Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
    • Y10T74/18576—Reciprocating or oscillating to or from alternating rotary including screw and nut
    • Y10T74/18704—Means to selectively lock or retard screw or nut
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/18—Mechanical movements
    • Y10T74/18856—Oscillating to oscillating

Definitions

  • the invention relates to a linear drive according to the features the preamble of claim 1.
  • Linear drives are mainly used in assembly and handling technology used and go for example from EP 0 219 439 A1.
  • Stripping section provided in a front section of a housing lying storage area from a storage facility includes and thereby under lateral support in Is guided displaceably in the longitudinal direction.
  • a position specification element protruding to the side of the driven part provided that runs along a threaded rod, which are arranged in a side next to the stripping section
  • Position specification space is arranged.
  • Position specification space there are also several on the position specification element responsive sensors with one of the Interact with the threaded rod assigned brake device.
  • the braking device controlled with a brake signal so that the Threaded rod fixed non-rotatably and a further axial movement of the position specification element and with this connected stripping section is prevented.
  • the section of the driven part protruding from the housing is very often subject to high lateral forces during operation.
  • the output part is provided with a gripper, who has to carry heavy loads. You can also use other linear drives be attached to a multi-axis handling device to obtain. It is therefore necessary that Output part relative to the housing over a proportionate long storage area and support in the transverse direction. This results in a correspondingly large overall length of the Housing.
  • a storage device In a linear drive known from EP-A-0 472 778 a storage device is provided, which extends over only a partial circumference of the stripping section, so that position setting elements arranged on the driven part axially immerse in the storage area.
  • the Storage facility is within a closed Profile trained housing.
  • the Housing at least in the storage area via a storage device load-bearing, approximately L-shaped in cross section Basic body, the one facing away from the two L-legs Circumferential area of the stripping section forms the free space.
  • the position setting element can thus on the effective storage device move past into the storage area become.
  • the free space is expediently one with the base body connected lid body covered, which also the position specification space limited.
  • the housing of the linear drive is expediently designed such that that it has a rectangular-like outer contour in cross-section Has.
  • the storage device is preferably of at least two diametrically opposite, for example, cassette-like built-up storage units formed on with respect the longitudinal axis of the driven part diametrically opposite Pages with the outer circumference of the stripping section to the Working together storage.
  • Several such pairs of storage units can be distributed in the longitudinal direction of the stripping section be fixed to the housing.
  • the storage device expediently serves at the same time Anti-rotation device of the driven part.
  • Anti-rotation device of the driven part are diametrically opposite arranged storage units available the stripping part expediently in the corresponding areas each via a longitudinal guide groove, in which engages the respective associated storage unit in a form-fitting manner.
  • the free space accessible by the position-setting element placed so with respect to the transverse and vertical axes of the housing is that it has an oblique orientation, whereby it obliquely to the side and at the same time points up or down.
  • the position setting element is in an expedient embodiment formed as a stop that with at least a counter-stroke works together, the component a position setting device arranged in the position setting space is.
  • the stop runs to specify the position to a counterstop arranged in its relocation path on.
  • the existing counter stops are expediently on one in the position specification space parallel to the longitudinal axis of the driven part extending support rod arranged.
  • the counter stops are expedient in the longitudinal direction adjustable to different position requirements as required to be able to make. To ensure that force is applied as centrally as possible to obtain, the stop is preferably designed so that he at least partially and preferably the support rod grips like a fork.
  • a change in the position specification can be done without axial Adjust the counter stops if the position setting device about at least one counterstop has the intermediary of an associated switching device between one in the stroke of the stop outstanding effective position and one outside the travel path the inactive position of the stop switchable is.
  • the switching device expediently works with the handrail carrying the counter stops, the positioning of a respective counter-stop by rotating the handrail around its longitudinal axis becomes.
  • the support rod can be conveniently in positioned at least two different rotational angle positions become. The number of positionable angular positions depends largely on the number of switchable Counter-stops.
  • a single intermediate position For example, a middle position can be specified, so suffice a counter stop and two positionable angular positions, around the counterstop either in the effective or to spend the ineffective position.
  • To a bigger one To be able to specify the number of intermediate positions is one correspondingly larger number of counter-stops are provided, which is achieved by gradually positioning the handrail can optionally shift into the effective position.
  • the handrail can be moved in this way stored that they along a predetermined damping distance is limited axially movable. In this case one takes the setting of the counterstops appropriately in such a way that they then take up their position specification, if the handrail at one end of the damping section arrives at a predetermined end position. The damping section is then defined by the distance that that of counter-attack acted upon until it is reached the end position mentioned. This way regardless of which counterstop is effective, one reliable shock absorption, not every counter stop own shock absorber device must be assigned, but a single one interacting with the handrail Shock absorber device is sufficient.
  • the shock absorber device expediently has only two shock absorbers, each in one stroke direction are effective and particularly in the area of the two axial end regions of the support rod. Thus are for Positioning in two or more positions preferably only two shock absorbers required.
  • the linear drive according to the example has a housing 1, the one extending in the longitudinal direction, in cross section 4 has an approximately L-shaped base body 2, on the in the limited by the two L-legs Area a lid body with a L-shaped cross section 5 is releasably attached so that there is a cross section in results in a substantially rectangular outer contour of the housing 1.
  • the housing 1 is on both ends by a front (6) or rear (7) end wall closed, whereby the end walls 6, 7 via fasteners 8 on the Base body 2 are fixed and the lid body 5 in turn removable with the base body 2 and the two end walls 6, 7 is connected.
  • the linear drive has a housing 1 axially displaceable output part 12, which is a rod-shaped Has shape and is tubular, for example.
  • the stripping section 12 extends partially inside the Housing 1, wherein there is a predetermined storage area in the housing 1 13 and the front end wall 6 penetrates and protrudes from the housing 1 with an outer longitudinal section 14.
  • the storage area 13 is preferably located in the front section assigned to the front end wall 6 the housing 1.
  • a housing-fixed storage device 15 arranged which cooperates with the outer circumference of the driven part, whereby it supports the driven part 12 laterally and at the same time leads axially displaceable.
  • the storage facility 15 expediently also serves to prevent rotation Fixing the stripping section 12 to twist it around its To prevent longitudinal axis 16 with respect to the housing 1.
  • Outdoors End of the outer length section 14 is on the driven part 12 a force tapping element 17 arranged with a component to be moved can be connected.
  • the anti-rotation device guarantees an always unchanged angular alignment of the power output element 17, so that the linear drive especially for use in assembly and handling technology is suitable where, among other things, objects are transported and must be positioned correctly.
  • the output part 12 is a fluid-operated drive device 18 assigned, with the help of the driven part 12 through Fluid force for a reciprocating axial linear movement is drivable in the direction of its longitudinal axis 16.
  • This Drive device 18 is preferably inside the housing 1 housed.
  • the drive device 18 is preferably an independent one fluid-operated cylinder 22 is formed. This has a rear on the rear end wall 7 of the housing 1 of the linear drive fixed axially immovable Cylinder housing 21 that is parallel to the driven part 12 is aligned.
  • the housing is attached expediently with the mediation of a rear end body 24 on which the rear end of a cylinder tube 23 is attached and this in turn is dash-dotted indicated screw connection 25 or another Connection type set on the rear end wall 7 is.
  • the cylinder tube 23 of the cylinder housing 21 closed by a front end body 26, which penetrates under seal by a piston rod 27 is, the inner end of one in the interior of the cylinder tube 23 axially displaceably guided piston 28 fixed is.
  • the piston 28 divides the interior of the cylinder tube 23 in two volume-changing work rooms 32, 33, those on the opposite axial side of the assigned one End bodies 24, 26 are tightly limited.
  • the axial length of the working cylinder 22 is less than that of the housing 1.
  • the facing the front end wall 6 Front of the cylinder housing 21 ends axially inside the front end wall 6 and, for example, in the Storage area 13.
  • the tubular output part 12 is related the cylinder housing 21 and the entire working cylinder 22 executed as a separate component. It is coaxial with the cylinder barrel 23 arranged and axially from the front pushed onto this so that it over the cylinder tube 23 encloses at least part of its overall length on the outside. there is the driven part 12 arranged relative to the housing Cylinder housing 21 axially displaceable, depending on it from its axial position more or less far beyond protrudes the front of the cylinder housing 21 and accordingly also the length of the outer length section 14 of the Output part 12 varies.
  • the front end wall 6 out of the front end body 26 of the working cylinder 22 emerging piston rod 27 protrudes into the cylinder housing 21 axially upstream interior 34 of the tubular driven part 12 in and extends forward to in the proximity of the force tapping element 17 on which they are common is attached to the driven part 12.
  • Each working space 32, 33 of the working cylinder 22 communicates with a connection opening 35, 36 assigned to it, via the if necessary, a fluid pressure medium, especially compressed air, fed into and out of the working spaces 32, 33 can be dissipated.
  • a fluid pressure medium especially compressed air
  • the piston 28 is in the axially shifted in one direction or another, being its movement via the piston rod 27 to that firmly connected to it Output part 12 is transmitted.
  • the resulting Axial displacement of the driven part 12 is this for example, exclusively from the storage facility 15 led.
  • connection area between the rear end of the working cylinder 22 and the rear end wall 7 can if necessary, limited flexibility and / or with a pivoting option be carried out for manufacturing or assembly-related reasons Misalignment with respect to the longitudinal axes of the working cylinder 22 and the output part 12 to compensate automatically.
  • this is shown schematically by a dash-dotted line indicated pivot axis 38 indicated.
  • the second connection opening 36 is expediently located in the vicinity of the first connection opening 35 and in particular on the rear end wall 7. It communicates with a rear body 24 also pulling through second connection channel 44, which in the immediate adjacent rear work space 32 opens out. To this The fluidic control of the linear drive is by possible from a central location.
  • connection channel 42 is exemplary as with respect to the Interior 32, 33 of the cylinder tube 23 arranged concentrically Ring channel 46 executed, the ring-shaped according to Figure 4 Cross section.
  • the radial dimensions of this Ring channel 46 can be carried out minimally, because by the large circumferential extent a sufficiently large flow cross-section results.
  • the ring channel 46 is expediently realized by that one from the cylinder tube 23 as in the embodiment an inner tube 47 of smaller diameter and one the inner tube with radial space enclosing on all sides, Outer tube 48 arranged coaxially to the inner tube 47.
  • the inner tube 47 delimits the working spaces 32, 33 and forms the tread for the piston 28 and the circumferential Gap between the two tubes 47, 48 represents the Ring channel 46 represents.
  • the concentric alignment of the two Tubes 47, 48 are made by appropriate attachment to concentric offset mounting sections 51, 52 of the two End body 24, 26 so that it is in the interior of the ring channel 46 no flow obstacles.
  • the linear drive is expediently provided with a position setting device 53 equipped, which is in the housing 1 laterally next to the driven part 12 or the working cylinder 22 extends. It works with a position specification element 54 together, which in a region of the driven part 12 this is co-movable, which is independent of the axial position of the driven part 12 axially within the Housing 1 is located. For example, it is at an axial distance to both front ends of the driven part 12 on The outer circumference of the driven part 12 is arranged. Conveniently, it is near the inner end of the Output part 12.
  • position specification space 55 designated receiving space, in which also the position setting device 53 is housed. Will the stripping section 12 axially displaced, the position setting element shifts 54 according to double arrow 56 in the longitudinal direction of the Position specification space 55.
  • the position setting device 53 By interacting with the position setting element 54, the position setting device 53 is able to specify different axial positions of the driven part 12. In this way, the driven part 12 can be positioned as required in predetermined positions during its operation.
  • the position setting element 54 is designed, for example, as a stop body projecting in the transverse direction from the driven part 12, hereinafter referred to as stop 57. He is able to work with one or more counter stops 58, which are part of the position setting device 53 defined on the housing side. If the stop 57 runs onto one of the counter stops 58 positioned in its travel path 56, the driven part 12 is stopped in its movement.
  • the example arrangement made so that the position specification space 55 in which the stop 57 runs along from the rear of the housing 1 into the storage area 13 stretched axially into it. This allows the stop 57 to move freely run past the storage facilities 15. The range of motion of the stop 57 and the storage area 13 thus overlap in the axial direction, so that a shortened Overall length is possible.
  • the storage facility 15 at least along their section of their overall length and preferably - as in the exemplary embodiment - along the entire length Length of the storage area 13, only over part of the circumference of the stripping section 12 extends.
  • the stripping section 12 is thus not completely enclosed by the bearing device 15, it there is only storage in some areas.
  • the bearing on two diametrically opposite, seen in cross-sectional view rather selective Areas of the outer circumference of the driven part 12 are limited.
  • the corresponding storage areas are shown in FIGS. 4 and 5 marked by reference numerals 62.
  • the bearing device 15 comprises here two successively in the longitudinal direction of the driven part 12 arranged pairs of diametrically opposite each other especially cassette-like storage units 63, 64, which in the storage areas 62 on the outer surface of the Output part 12 abut so that it is axially displaceable is guided and supported in the transverse direction at the same time.
  • the number of storage units 63, 64 is basically arbitrary. For example, there could already be a pair of storage units 63, 64 are sufficient if this has a suitable Length.
  • the storage units 63, 64 can be used as required as a plain bearing or as a roller bearing, the latter in particular in ball or roller circulation technology.
  • the bearing device 15 expediently forms at the same time an anti-rotation device for the driven part 12.
  • the driven part 12 in its storage areas 62 in each case in its outer circumference introduced, longitudinal guide groove 61, into which the associated bearing units 63, 64 form-fit intervention. The latter can be seen clearly from FIG. 4.
  • the bearing units 63, 64 each only extend over a partial circumference of the driven part 12. This results two peripheral portions 65, 66 of the driven part 12, which are not cooperate with the storage device 15. Along one this peripheral portions 65 is the driven part 12 in the Storage area 13 exposed, so that laterally next to the Output part 12 a in the longitudinal direction and at the same time results in the circumferentially extending free space 67. This is aligned so that it is in the travel 56 of the stop 57 and is therefore part of the position specification space 55 forms. Its extent extends for example in the range of 180 ° and is due to the width of the bearing units 63, 64, slightly less than 180 °.
  • the stop 57 is located inside the housing 1 axially spaced from the storage area 13. However, it is able to extend the driven part 12 in the mentioned Retract clearance 67, being the storage facility 15 happened on the side.
  • Figure 5 is dash-dotted at 68 the stop 57 retracted into the free space 67 is indicated.
  • the width of the housing 1 is in the by the stripping section 12 and the position setting space 55 passing through Plane measured direction larger than in the direction perpendicular to this Direction.
  • the corresponding orientation is therefore as vertical axis 72, the right-angled orientation referred to as transverse axis 73.
  • the free space 67 is expediently based on the Placed transverse and vertical axes 73, 72 so that it is aligned obliquely , the exposed peripheral portion 65 of the Output part 12 obliquely sideways in the transverse direction and at the same time points up or down in the height direction.
  • the base body 2 has, for example at least in the storage area 62 the L-like already mentioned above Cross-sectional shape, being with its two L-legs 3, 4 the one peripheral section 66 of the driven part 12 covers - expediently without managerial tasks themselves to take over - and an exposed peripheral section 65 remains, to which the free space 67 is assigned.
  • the free space 67 like the rest of the position setting space 55, could basically be open on the side. To injuries to avoid, however, expediently one Cover by the lid body 5 already mentioned.
  • the position setting device provided in the exemplary embodiment 53 extends over almost the entire length of the housing between the front and the rear end wall 6, 7. It has two adjacent to the end walls 6, 7 arranged holder 74, 75 on the base body 2 in particular on the inner surface of the longer L-leg 3 are set.
  • the base body 2 can have at least one longitudinal anchoring groove 76, on the holder 74, 75 using commercially available sliding blocks are anchored axially adjustable.
  • the two holders 74, 75 carry one extending between them and parallel to the longitudinal axis 16 of the stripping section 12 extending support rod 77.
  • On the support rod 77 are several of the already mentioned counter stops 58 with axial Spacing from each other held in rotation. are exemplary two each in the neighborhood of one of the two holders 74, 75 arranged end counter-stops 58 'and one at a distance to these two end counter-stops 58 ' Between counter-stop 58 '' provided.
  • the stop 57 protrudes towards the support rod 77, which it at least partially encompasses, what can be seen for example from Figures 11 and 12 is.
  • the stop 57 protrudes into the axial space between the two end counter-stops 58 ', which are such are arranged and designed so that they are always in Travel 56 of the stop 57 are. They serve as a default the end positions of the driven part 12, the stop 57 with the retracted end position according to FIG. 1 to the rear End counter-stop 58 'and when extended, not shown End position on the front end counter stop 58 ' has accrued.
  • the holding rod 77 can be used as a threaded rod be carried out on the counter stops 58 with a complementary internal thread 78 are screwed on, so that they screw axially and when the desired one is reached Fix position releasably by means of a lock nut 83 to let.
  • the intermediate counterstop additionally provided in the exemplary embodiment 58 '' allows in addition to the two end positions the requirement of an intermediate position of the Output part 12.
  • This intermediate position can be in advance adjust as required by using the intermediate counterstop 58 '' for example comparable to the end counter stops 58 'in Axial direction is adjustable.
  • the intermediate counter-stop 58 ′′ via a with respect to the longitudinal axis 85 of the holding rod 77 asymmetrical and in particular not rotationally symmetrical Shaping.
  • An exemplary embodiment is shown in figures 11 and 12. This shape makes it possible to use the intermediate counterstop 58 '' between one in the travel path 56 of the stop 57 projecting effective position (Figure 12) and one located outside the travel path 56 of the stop 57 switch inactive position ( Figure 11).
  • the switching process is, for example, by a switching device 84 caused, which cooperates with the support rod 77 and is able to move it about its longitudinal axis 85 in to rotate and position the preselected angular positions.
  • the intermediate counter-stop 58 '' plugged coaxially onto the holding rod 77, but deviates from a circular or rotationally symmetrical contouring from.
  • it has two diametrically opposed, on a common imaginary radius 87 lying counter-stop parts 86, in particular wing-like protrude radially outwards.
  • the on the radius 87 between the intermediate areas 88 lying opposite the counter-stop parts 86 are free.
  • the stop 57 is on his the support rod 77 partially encompassing section two each other with respect to the longitudinal axis 85 of the support rod 77 also diametrically opposite stop parts 89 provided, which are concentric with respect to the longitudinal axis 85 Perimeter 87 protrude. The rest of the area around 87 Intermediate areas between the stop parts 89 are free.
  • the stop parts 89 are preferably located in the Area of the free end of one around the support rod 77 fork-like section of the stop 57.
  • the intermediate counterstop is in the inactive position 58 '' in such a rotating position that its counterstop parts 86 according to Figure 11 outside the axial Travel of the stop parts 89 are.
  • the intermediate counterstop 58, 58 '' rotated so far by means of the switching device 84, until its counterstop parts 86 according to FIG axial travel of the stop parts provided on the stop 57 89 lie.
  • a reliable, non-rotatable fixation of the intermediate counterstop 58, 58 'on the support rod 77 can be a modification of the above-mentioned embodiment special type of attachment may be provided.
  • the holding rod 77 designed as a threaded rod via a square from FIGS. 11 and 12 Cross section, with only the corner areas with threads are provided so that the end counter-stops 58 ' and easily screw on the lock nuts 83 assigned to them to let.
  • the intermediate counter-stop has 58 '' over a central, cross-sectional shape of the handrail 77 corresponding square opening 90, with the axial slidably and at the same time rotatably on the support rod 77 can be postponed.
  • a mounting nut 92 is provided so that the intermediate counter-stop 58 '' axially immobile at the desired point can be tightened.
  • the handrail can 77 by the switching device 84 in two different Position the angular positions that the effective and ineffective position of the intermediate counterstop 58, 58 'correspond.
  • a suitable one for this Switching device 84 is schematic in FIGS. 9 and 10 indicated. It comprises a holding body 82, via which it is attached the base body 2 of the housing 1, for example on the anchoring groove 76, is attached.
  • On the holding body 82 is one Actuation device 97 with an application element 93 arranged with a rotatable with the support rod 77 connected pawl 94 cooperates.
  • a Spring device 95 is the pawl 94 in an initial position biased, in which the support rod 77 one of the ineffective position takes the corresponding rotational angle position ( Figure 9).
  • the pawl 94 By actuating the loading element 93, the pawl 94 against the force of the spring device twisted until it is the one shown in FIG assumes the actuated position in which the holding rod 77 in one of the effective position of the intermediate counterstop 58, 58 '' corresponding angle of rotation position is shifted.
  • the actuated position of the ratchet 94 is expediently an example of a screw formed adjusting element 96 is provided.
  • the loading element 93 is in the exemplary embodiment Part of a fluid-operated application device, for example a working cylinder. But here would be too any other type of actuation is conceivable, for example an electrical one Activity. Also could work without a return spring by double-acting actuation of the loading element 93 provides.
  • the switching device 84 for example corresponding to that shown in FIG Design to run as a stepper drive with the the holding rod 77 by gradually turning it into more than two predetermined rotational angle positions can be positioned.
  • the switchover device 84 according to FIG an application device provided with an application element 93 97 provided with one of the handrails 77 associated pawl 94 cooperates.
  • the pawl 94 is shown by a not shown Spring device 95 in the illustrated starting position biased.
  • the pawl 94 is freely rotatable the support rod 77 arranged and with at least one or several movable pawls 98 provided with in the circumferential direction Rest areas arranged in a star-like pattern 99 of a switching body connected in a rotationally fixed manner to the holding rod 77 100 can work together.
  • a stop 57 of a preferred embodiment is shown in FIG Individual representation shown. You can see the fork-like section 102 with the two attachment parts provided on it 89.
  • the fork-like stop 102 at a distance from the front End counter-stop 58, 58 'upstream is expedient another fork section 103 is provided.
  • Upon reaching the stop 57 runs in the inner end position of driven part 12 with the rear fork-like portion 102 on the inner End counterstop 58, 58 'on while reaching the outer end position with the fork section 103 on the front End counter stop 58, 58 'collides. It is now possible to a single existing intermediate counterstop 58 '' by placing it close to the front End counter stop 58, 58 'is screwed.
  • the attack 57 is then able with its fork section 103 continue to run onto the front end counter stop 58, 58 ', the intermediate counter-stop 58, 58 ′′ ineffective immersed in the fork mounts.
  • the slot-like space 104 facilitates the accessibility of one fastening nut 92 when the stop 58 on for adjustment purposes the intermediate counterstop 58 '' was created.
  • the position setting device 53 is preferred equipped with a shock absorber device 105.
  • she comprises at least one and, for example, two movable Attenuators 106, 106 'with which the support rod 77 is axially coupled.
  • the shock absorber device 105 is assigned to all counter-stops 58 together with which she works together on the support rod 77.
  • the support rod 77 is a damping section s designated distance limited axially movable suspended on the housing 1 via the shock absorber device 105.
  • This is achieved, for example, in that the Both ends of the support rod are conveniently piston-like trained guide members 107, 107 'are provided via which provided the support rod 77 in on the holders 74, 75 Guides 108, 108 'is axially displaceably guided.
  • a respective guide member 107, 107 ' forms at the same time a stop element, which with one of the damping section s corresponding distance a arranged on the associated holder 74, 75 Stroke limiting section 109, 109 'axially opposite.
  • the holding rod 77 takes a basic position a, in which their guide members 107, 107 'to both stroke limiting parts 109. 109 'spaced by the damping distance s are. This is shown in Figures 1, 2 and 7. stabilized is this basic position by those already mentioned Attenuators 106, 106 'of two fluid shock absorbers 110, the axially on both sides of the support rod 77 in extension are arranged to this. They are with their damper housing 111 fixed on the relevant holder 74, 75 in such a way that its attenuator 106, 106 'facing the support rod 77 is and this is applied under resilient pretension. As a result, the holding rod 77 is in its basic position axially stabilized.
  • the preload is not one caused spring device shown in the associated damper housing 111 is housed.
  • the attenuators 106, 106 ' are from the damper housing 111 outstanding bumpers formed on those in the damper housing 111 a damping piston is arranged, with a respective attenuator 106, 106 'while displacing a Shift damping fluids towards damper housing 111 leaves.
  • Shock absorbers of this type be they gas dampers, hydraulic ones Shock absorbers or mixed mode shock absorbers, are known as such, so that a closer look then unnecessary at this point.
  • the individual counter stops 58 are expediently Set so that they have the desired position specifications take exactly when the handrail 77 has reached the end position at the end of the damping process.
  • the damping distance s is expediently given unchangeably.
  • the stroke limitation sections 109, 109 ' are separate from the respective shock absorber 110 arranged on the associated holder 74, 75.
  • the shock absorbers 110 are in the longitudinal direction the holding rod 77 is adjustable on the associated holder 74, 75 attached, the axial distance between the damper housing 111 variable to the assigned stroke limitation section 109, 109 ' can be adjusted.
  • the setting option is preferred guaranteed by a screw connection.
  • damper housings 111 are provided with an external thread 112, through which they are screwed into an internal thread Retaining recess 113 with variable screw-in depth can be screwed in are.
  • a lock nut can be used to fix the position 114 serve.
  • At least one guide member 107 ' provided with an actuating element 118, for example with a permanent magnet, at least one Sensor 119 is assigned, which is in the area of the outer circumference the associated guide 108 '.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Transmission Devices (AREA)

Claims (29)

  1. Dispositif d'entraínement linéaire comportant une partie menée (12) bloquée en rotation de type barre, qui, par l'intermédiaire d'un dispositif de support (15) prévu dans une zone de support (13) d'un boítier (1) et coopérant avec son pourtour extérieur, est guidée de manière à pouvoir coulisser axialement par rapport au boítier (1), dans lequel, sur la partie menée (12), est prévu au moins un élément de sélection de position (54) qui dépasse latéralement et qui, pendant le mouvement axial de la partie menée (12), est déplacé le long d'un espace de sélection de position (55) s'étendant à côté de la partie menée (12), dans lequel le dispositif de support (15) s'étend au moins le long d'une partie de sa longueur de construction uniquement sur une partie de la circonférence de la partie menée (12), et la partie menée (12) est dégagée dans la zone de support (13) le long d'un segment périphérique ne coopérant pas avec le dispositif de support (15), de sorte que dans la zone de support (13) se trouve, sur le côté de la partie menée (12), un espace libre (67) s'étendant dans sa direction longitudinale et circonférentielle, lequel espace libre forme une partie constitutive de l'espace de sélection de position (55) sur laquelle peut passer l'élément de sélection de position (54), caractérisé en ce que le boítier (1) dispose au moins dans la zone de support (13) d'un corps de base (2) de section transversale en L, portant le dispositif de support (15).
  2. Dispositif d'entraínement linéaire selon la revendication 1, caractérisé en ce que sur le corps de base (2) de section transversale en L est placé, de manière séparable, un corps formant couvercle (5) de section transversale en L, de sorte que l'on obtient un contour extérieur du boítier (1) dont la section transversale est sensiblement rectangulaire.
  3. Dispositif d'entraínement linéaire selon la revendication 1 ou 2, caractérisé en ce que l'espace libre (67) s'étend au moins approximativement sur toute la longueur de la zone de support (13).
  4. Dispositif d'entraínement linéaire selon l'une des revendications 1 à 3, caractérisé en ce que l'étendue circonférentielle de l'espace libre est approximativement d'un ordre de grandeur de 180°, avantageusement d'un peu moins de 180°.
  5. Dispositif d'entraínement linéaire selon l'une des revendications 1 à 4, caractérisé en ce que le dispositif de support (15) est formé par au moins deux unités de support (63, 64) s'étendant chacune uniquement sur une partie de la circonférence de la partie menée (12) et qui coopèrent sur des côtés diamétralement opposés l'un à l'autre avec le pourtour extérieur de la partie menée (12).
  6. Dispositif d'entraínement linéaire selon la revendication 5, caractérisé en ce que le dispositif de support (15) comporte plusieurs paires d'unités de support (63, 64) diamétralement opposées, qui sont disposées les unes à la suite des autres en alignement axial.
  7. Dispositif d'entraínement linéaire selon l'une des revendications 1 à 6, caractérisé en ce que le dispositif de support (15) forme en même temps un dispositif de blocage en rotation pour la partie menée (12).
  8. Dispositif d'entraínement linéaire selon la revendication 7 rattachée à la revendication 5 ou 6, caractérisé en ce que la partie menée (12) dispose dans les zones (62), coopérant avec les unités de support (63, 64), de son pourtour extérieur, d'au moins une rainure de guidage (61) s'étendant longitudinalement dans laquelle s'engage l'unité de support (63, 64) associée pour le blocage en rotation de la partie menée (12).
  9. Dispositif d'entraínement linéaire selon l'une des revendications 1 à 8, caractérisé en ce que l'espace libre (67) est placé par rapport à l'axe transversal et l'axe vertical (73, 72), vus en coupe transversale, du boítier (1), de manière qu'il soit orienté obliquement, le segment périphérique dégagé (65) de la partie menée (12) étant dirigé obliquement vers le côté et en même temps dans la direction de la hauteur.
  10. Dispositif d'entraínement linéaire selon l'une des revendications 1 à 9, caractérisé en ce que la partie menée (12) ressort du boítier (1), sur au moins un côté frontal, la zone de support (13) étant prévue dans le tronçon terminal, associé à ce côté frontal, du boítier (1).
  11. Dispositif d'entraínement linéaire selon l'une des revendications 1 à 10, caractérisé en ce que la partie menée (12) est de forme tubulaire.
  12. Dispositif d'entraínement linéaire selon l'une des revendications 1 à 11, caractérisé en ce que l'élément de sélection de position (54) est disposé à distance axiale des deux extrémités frontales de la partie menée (12), sur le pourtour extérieur de la partie menée (12).
  13. Dispositif d'entraínement linéaire selon l'une des revendications 1 à 12, caractérisé en ce que l'élément de sélection de position (54) coopère avec un dispositif de sélection de position (53) disposé dans l'espace de sélection de position (55).
  14. Dispositif d'entraínement linéaire selon la revendication 13, caractérisé en ce que l'élément de sélection de position (54) est conformé en butée (57) déplacée avec la partie menée (12), au moins une contre-butée (58) du dispositif de sélection de position (53) étant prévue dans sa trajectoire de déplacement (56) dans la zone de l'espace de sélection de position (55).
  15. Dispositif d'entraínement linéaire selon la revendication 14, caractérisé en ce que dans l'espace de sélection de position (55) s'étend, à côté de la partie menée (12), une barre de retenue (77) du dispositif de sélection de position (53) sur laquelle est disposée au moins une contre-butée (58) qui peut être en particulier ajustée dans la direction longitudinale.
  16. Dispositif d'entraínement linéaire selon la revendication 15, caractérisé en ce que la butée (57), prévue sur la partie menée (12), entoure au moins en partie la barre de retenue (77) du dispositif de sélection de position (53).
  17. Dispositif d'entraínement linéaire selon la revendication 16, caractérisé en ce que la barre de retenue (77) est entourée en partie par au moins un tronçon (102) de type fourche de la butée (57).
  18. Dispositif d'entraínement linéaire selon l'une des revendications 14 à 17, caractérisé en ce que le dispositif de sélection de position (53) dispose d'au moins une contre-butée (58) qui, par l'intermédiaire d'un dispositif de commutation (84) associé, peut être commutée entre une position active, pénétrant dans la trajectoire de déplacement de la butée (57), et une position inactive située à l'extérieur de la trajectoire de déplacement de la butée (57).
  19. Dispositif d'entraínement linéaire selon la revendication 18 rattachée à l'une des revendications 15 à 17, caractérisé en ce que la ou les contre-butées (58) sont montées solidairement en rotation sur la barre de retenue (77), le dispositif de commutation (84) coopérant avec la barre de retenue (77) et faisant tourner celle-ci autour de son axe longitudinal (85), pour faire commuter la ou les contre-butées (58).
  20. Dispositif d'entraínement linéaire selon la revendication 19, caractérisé en ce que la barre de retenue (77) peut être positionnée par le dispositif de commutation (84) dans au moins deux positions angulaires différentes.
  21. Dispositif d'entraínement linéaire selon la revendication 19, caractérisé en ce que le dispositif de commutation (84) est conformé en dispositif d'entraínement pas à pas au moyen duquel la barre de retenue (77) peut être positionnée, par rotation pas à pas, de préférence dans plus de deux positions angulaires prédéterminées.
  22. Dispositif d'entraínement linéaire selon l'une des revendications 18 à 21, caractérisé en ce que le dispositif de sélection de position (53) dispose de deux contre-butées terminales (58, 58') extérieures définissant les positions de fin de course de la partie menée (12), qui sont telles qu'elles prennent leur position active, indépendamment de la position angulaire de la barre de retenue (77), et axialement entre ces contre-butées terminales (58, 58') est prévue au moins une contre-butée intermédiaire (58, 58") commutable.
  23. Dispositif d'entraínement linéaire selon l'une des revendications 18 à 22, caractérisé en ce que la contre-butée (58) commutable dispose de parties de contre-butée (86) dépassant à la manière d'ailettes et coopérant avec la butée (57).
  24. Dispositif d'entraínement linéaire selon l'une des revendications 15 à 23, caractérisé en ce que le dispositif de sélection de position (53) dispose d'un dispositif amortisseur de chocs (105) qui comporte au moins un organe d'amortissement (106, 106') mobile avec lequel la barre de retenue (77), montée coulissante axialement, est accouplée en déplacement.
  25. Dispositif d'entraínement linéaire selon la revendication 24, caractérisé en ce que partant d'une position de base et par enfoncement du ou des organes d'amortissement (106, 106'), la barre de retenue (77) peut être déviée dans au moins une direction axiale, d'une distance d'amortissement (s) prédéterminée, jusqu'à atteindre une position terminale prédéterminée.
  26. Dispositif d'entraínement linéaire selon la revendication 25, caractérisé en ce que la position terminale de la barre de retenue (77) est prédéfinie de manière fixe, indépendamment de la course d'amortissement maximale possible de l'organe d'amortissement (106, 106') du dispositif amortisseur de chocs (105).
  27. Dispositif d'entraínement linéaire selon l'une des revendications 24 à 26, caractérisé en ce que le dispositif amortisseur de chocs (105) dispose de deux amortisseurs de chocs (110) comportant les organes d'amortissement (106, 106'), dont les effets d'amortissement sont dirigés axialement dans des sens opposés par rapport à la barre de retenue (77).
  28. Dispositif d'entraínement linéaire selon la revendication 27, caractérisé en ce que les deux amortisseurs de chocs (110) sont associés à des zones terminales opposées axialement de la barre de retenue (77) et sont disposés avantageusement dans le prolongement axial de la barre de retenue (77), et sont fixés chacun en particulier sur un support (74, 75) solidaire du boítier.
  29. Dispositif d'entraínement linéaire selon l'une des revendications 24 à 28, caractérisé en ce que la barre de retenue (77) est montée coulissante en particulier par l'intermédiaire d'organes de guidage (107, 107') de type piston, un organe de guidage (107, 107') au moins pouvant comporter un élément d'actionnement (118) coopérant avec un capteur de position (119).
EP97910411A 1996-11-30 1997-10-04 Entrainement lineaire Expired - Lifetime EP0941407B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19649718 1996-11-30
DE19649718A DE19649718C1 (de) 1996-11-30 1996-11-30 Linearantrieb
PCT/EP1997/005456 WO1998025032A1 (fr) 1996-11-30 1997-10-04 Entrainement lineaire

Publications (2)

Publication Number Publication Date
EP0941407A1 EP0941407A1 (fr) 1999-09-15
EP0941407B1 true EP0941407B1 (fr) 2003-04-09

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Application Number Title Priority Date Filing Date
EP97910411A Expired - Lifetime EP0941407B1 (fr) 1996-11-30 1997-10-04 Entrainement lineaire

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US (1) US6279411B1 (fr)
EP (1) EP0941407B1 (fr)
DE (2) DE19649718C1 (fr)
WO (1) WO1998025032A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10046191C2 (de) * 2000-09-12 2003-10-09 Bosch Rexroth Teknik Ab Stockholm Lineareinheit (Positioniermodul)
DE10244260A1 (de) 2002-09-24 2004-04-01 Festo Ag & Co. Linearantriebsvorrichtung

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5234176A (en) 1975-09-10 1977-03-15 Okamura Seisakusho:Kk Variable operation length air cylinder
SE439968B (sv) * 1982-10-19 1985-07-08 Ulf Kenneth Folke Fasth Stelldon
FR2566847B1 (fr) 1984-06-28 1989-01-06 Schrader Verin
JPS61256007A (ja) 1985-05-09 1986-11-13 Shotaro Hattori 流体圧機器用行程制限装置
FR2588328B1 (fr) * 1985-10-04 1989-07-21 Schrader Verin a arret en tout point
US4686870A (en) 1985-11-04 1987-08-18 Mack James F Position incrementer
DE4027122A1 (de) 1990-08-28 1992-03-05 Montech Ag Lineareinheit
DE4111202C2 (de) * 1991-04-06 1995-06-08 Bosch Gmbh Robert Druckmittelbetätigte Lineareinheit
US5193430A (en) * 1991-10-03 1993-03-16 Ilgovsky Adolf M Air cylinder with intermediate mechanical dead-stop
DE4206751A1 (de) * 1992-03-04 1993-09-09 Festo Kg Linearantrieb
DE29719015U1 (de) * 1997-10-25 1997-12-11 Festo AG & Co, 73734 Esslingen Dreh-Linear-Einheit

Also Published As

Publication number Publication date
US6279411B1 (en) 2001-08-28
DE59709804D1 (de) 2003-05-15
WO1998025032A1 (fr) 1998-06-11
EP0941407A1 (fr) 1999-09-15
DE19649718C1 (de) 1998-04-23

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