EP2005008B1 - Mecanisme de commande linéaire - Google Patents

Mecanisme de commande linéaire Download PDF

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Publication number
EP2005008B1
EP2005008B1 EP07711640A EP07711640A EP2005008B1 EP 2005008 B1 EP2005008 B1 EP 2005008B1 EP 07711640 A EP07711640 A EP 07711640A EP 07711640 A EP07711640 A EP 07711640A EP 2005008 B1 EP2005008 B1 EP 2005008B1
Authority
EP
European Patent Office
Prior art keywords
linear drive
guide
linear
drive device
ball
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.)
Not-in-force
Application number
EP07711640A
Other languages
German (de)
English (en)
Other versions
EP2005008A2 (fr
Inventor
Stefan Claus
Claus-Peter Kalka
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 EP2005008A2 publication Critical patent/EP2005008A2/fr
Application granted granted Critical
Publication of EP2005008B1 publication Critical patent/EP2005008B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/082—Characterised by the construction of the motor unit the motor being of the slotted cylinder type

Definitions

  • the invention relates to a linear drive device having a linear drive, which has a drivable to a linear output drive output member which is drivingly coupled or coupled via a coupling device with a on a linear guide in a direction parallel to the direction of the output movement slidably guided guide member coupled, wherein the coupling device at least a tension and compression stiff, on the one hand connected to the output part and on the other hand connected to the guide member or connectable coupling member.
  • the driven part of a fluid-operated linear drive is drivingly coupled in terms of movement with a guided on a rod guide guide part.
  • the guide part makes the linear movement of the driven part directly with.
  • a coupling device is present, which has a tension and compression stiff, but at the same time resiliently flexible coupling member which is pivotally mounted at one end to the drive part and the other end on the guide part. Due to this bearing and the bending elasticity of the coupling member, the coupling device is able to compensate for any non-parallelism in the direction of movement of the driven part and the guide member backlash. The manufacturing cost of the coupling device is relatively large.
  • the DE 92 18 883 U1 discloses a power cylinder in which a carriage is coupled via a single ball joint with a displacement sensor to avoid jamming between carriage and path sensor.
  • the coupling member is zug-, pressure and rigid formed in a linear drive device of the type mentioned and connected via a respective ball joint device with the output part and the guide member or connectable.
  • the two ball joint devices allow each other independent relative movements of the driven part and the guide member with respect to the coupling member, while ensuring a play-free in the direction of the output drive coupling between the output member and the associated guide member.
  • the coupling device is suitable for compensating any alignment and angle errors that may occur between the drive part of the linear drive and a normally connected during operation with a load to be moved or connectable guide member or exist. This prevents retroactive forces from causing premature wear due to over-determination. At the same time a precise positioning of the guide member and a possibly associated load can be ensured by the absolutely play-free coupling in the direction of the output movement.
  • the coupling device is particularly suitable for the field of servo-pneumatics, in which the positioning accuracy plays a special role. With all this very low production costs can be achieved by the simple structure.
  • the linear drive is expediently a fluid-actuated linear drive and, in particular, a pneumatic linear drive operated with compressed air.
  • the linear drive expediently has its own linear guide for the driven part, which is arranged, for example, on the outside of the drive housing, wherein it may be suitable for guiding a slide-like driven drive part.
  • the latter is especially relevant to a design as a rodless linear drive, in which the driven part moves exclusively along the drive housing and does not extend beyond its end faces.
  • reference may be made in particular to so-called slot cylinders, but also to linear drives with non-contact, magnetic force transmission to the driven part.
  • the coupling device can be designed for direct attachment of its coupling member on the output part and / or on the guide part be. However, easier handling results from a design in which the coupling device has a respective base element for releasable attachment preferably on the output part and on the guide part, wherein between each base element and the coupling member one of the two ball joint devices is interposed.
  • the ball joint device preferably comprises a ball seat arranged on the coupling member and a bearing ball rotatable therein in all directions about its ball center, fastening means for direct or indirect connection to the driven part or the guide part being arranged on the ball bearing.
  • fastening means may for example be designed as a radially projecting from the bearing ball mounting shank, in particular with a fastening thread.
  • the coupling member has at least in the region of its ball seats and preferably overall flat shape.
  • the ball seat can be formed here by an opening of the coupling member whose peripheral boundary surface forms a concave bearing surface corresponding to the ball for the bearing ball.
  • the bearing surface is designed in particular comparable to an equatorial spherical zone.
  • the bearing ball can be very easily inserted by pressing into the associated ball seat.
  • the fastening means arranged on the bearing balls can point to the same side or to opposite sides.
  • linear drive device includes a linear drive 2 with a driven part 5, which is driven in the operation of the linear drive 2 to a direction indicated by a double arrow reciprocating linear output movement 4.
  • the direction of the output movement 4 is predetermined by a belonging to the linear drive 2 first linear guide 3, which is exemplified as extending in the direction of the output movement 4 guide rail 3a.
  • it is arranged on the outer circumference of the longitudinal shape, designated as the drive housing 6 housing of the linear drive 2. It can be made in one piece with this drive housing 6 as shown, although a realization as a separate component would be possible.
  • the drive housing 6 houses in its interior all or part of serving for driving the driven part 5 drive means 7. These include in the embodiment in which the linear drive 2 is a fluid-operated and in particular a pneumatically actuated linear drive 2, a drive piston 8, in a longitudinally the drive housing 6 extending receiving space 12 is slidably mounted. It is equipped with sealing means 13, by means of which it cooperates sealingly with the wall of the receiving space 12, so that it axially divides the receiving space 12 into two working chambers 14a, 14b. The latter are controlled by not shown in detail, the wall of the drive housing 6 passing through fluid channels acted upon by pressure medium to axially displace the drive piston 8 in one or the other direction.
  • the drive piston 8 is coupled in a motion-coupled manner to the output part 5 in such a way that the latter participates synchronously in the linear motion of the drive piston 8 while carrying out the output motion 4.
  • the linear drive 2 could be a working cylinder, in which the power transmission device 15 is formed by a front end wall of the drive housing 6 passing through the piston rod which engages outside the drive housing 6 on the output member 5 or this forms itself.
  • the invention is preferably used in a so-called rodless linear drive 2, as is apparent from the drawing by way of example.
  • the drive housing 6 is longitudinally slotted at one point of the circumference of the receiving space 12, wherein through the longitudinal slot 16 a belonging to the power transmission device 15 driver 17 engages, which connects the drive piston 8 with the driven part 5 drivingly. It can be covered by a cover 18 attached to the output part 5.
  • the longitudinal slot 16 is covered by a sealing band 22 resting against its slot flanks from the inside. This is lifted in the region of the drive piston 8 in the lying between the two sealing means 13 area by not shown in detail on the inside of the longitudinal slot to allow the passage of the driver 17 through the longitudinal slot 16.
  • the linear drive 2 could for example also be an electric or an electrofluidic linear drive.
  • the output member 5 may be formed in particular slide-like. Conveniently, it surrounds the guide rail 3a of the first linear guide 3 like a clamp (see FIG. 3 ). Bearing means 23 arranged on the output part 5 cause the guiding contact with the first liner guide 3.
  • the bearing means 23 can be plain bearing means and / or roller bearing means.
  • a generally designated by reference numeral 24 coupling device 24 of the liner drive device 1 allows in the direction of the output movement 4 - hereinafter also referred to as "axial direction" - a play-free driving connection with a guide member 26 slidably guided on another, second linear guide 25 in the longitudinal direction.
  • the movement of the guide member 26 is referred to as a guide movement 27.
  • the second linear guide 25 is formed so that the direction of movement of the guide movement 27 is parallel to the direction of movement of the driven movement 4. At least this is the claim in the realization of the overall arrangement. In practice, however, at least minimal None completely exclude deviations in the parallelism between the output movement 4 and the guide movement 27 due to manufacturing and assembly tolerances. These deviations, which can be described as misalignment and angle errors, can lead to increased wear and thus to a reduction in the service life given an overall rigid coupling of output part 5 and guide part 26.
  • the coupling device 24 reduces or eliminates this problem by indeed in the axial direction causes a play-free driving coupling between the output part 5 and guide member 26, but otherwise permits relative movements between said components to compensate for any misalignment and angle errors automatically.
  • the second linear guide 25 is a rod guide in the embodiment. It contains at least one and preferably at least two guide rods 25a, 25b, which run alongside one another in a parallel position, on which the guide part is movably guided in the longitudinal direction.
  • Other designs for the second linear guide 25 are also possible. For example, it could be formed by one or more guide rails.
  • the second linear guide 25 as well as the associated guide member 26 may for example be part of a machine or system with which the linear drive 2 is drivingly coupled by means of the coupling device 24 to provide a driving force.
  • the linear drive 2 can be installed independently of the second linear guide 25.
  • a support structure 28 is indicated, on which the second linear guide 25 is fixed independently of the linear drive 2 and which is formed for example by a machine frame on which the linear drive 2 can be mounted with its drive housing 6.
  • linear drive 2 coupling device 24, guide member 26 and second linear guide 25
  • first linear guide 3 can be dispensed with.
  • the guide member 26 preferably forms a load carrier 32, so a component with which a load to be moved, of whatever kind, is connectable. It contains for fastening the load to be moved suitable fastening means 33, for example, among other things, a plurality of threaded holes. As shown by the dot-dashed line at 32a in FIG. 2 However, the load carrier can also be a respect to the guide member 26 separate component, which is attached to the guide member 26, in whatever way.
  • the second linear guide 25 extends at a distance alongside next to the linear drive 2.
  • Output member 5 and guide member 26 are in the direction of an in FIG. 3 by a dash-dotted line indicated transverse axis 34 spaced from each other. The latter, with the mutually parallel directions of movement of output part 5 and guide part 26, biases a main plane 35 of the linear drive device 1.
  • the coupling device 24 includes a zugsteif, rigid and rigid trained coupling member 36 which is connected via a respective ball joint device 37 with both the output member 5 and the guide member 26 or can be connected. About this arrangement, the driving force is transmitted from the output member 5 to the guide member 26.
  • the coupling member 36 is preferably oriented such that a straight connecting line 38 connecting the two ball joint devices 37 is oriented essentially parallel to the direction of the output movement 4. An at least light one However, skew is readily possible as well. It is expedient if the included between the connecting line 38 and the axial direction of the driven movement 4 angle is an acute angle, if there is an oblique arrangement.
  • Each ball joint device 37 includes a ball seat 42 arranged or formed on the coupling member 36 and a bearing ball 43 mounted therein, wherein the bearing allows rotation of the bearing ball 43 with respect to the ball seat 42 in all directions around its ball center 44.
  • the coupling member 36 can be arbitrarily rotated or pivoted about the ball center 44 in the region of each ball joint device 37.
  • Each bearing ball 43 is equipped with fastening means 45 for the particular releasable connection with the associated output member 5 or guide member 26.
  • This fastening means 45 expediently include a radially projecting from the associated bearing ball 43 and in particular integrally formed with the bearing ball 43 mounting shank 46.
  • the coupling member 36 has flat shape at least in the area of at least one and preferably in the area of both ball receptacles.
  • optimal overall flat design of the coupling member 36 is considered, so practically as a plate element with any outer contour.
  • it is provided in the region of the two ball seats 42 with circular contoured end portions, between which extends a narrower web portion.
  • the coupling member 36 is aligned so that its in FIG. 3 dash-dotted lines indicated main extent plane 47 substantially parallel to the above-defined main plane 35 extends. Due to existing misalignment between the two linear guides 3, 25 but other orientations are possible.
  • the thickness of the coupling member 36 is expediently less than the diameter of the associated ball bearing 43, at least in the region of the ball receptacles 32. This consequently projects according to FIGS. 4 and 5 on both sides beyond the coupling member 36 addition.
  • the fastening means 45 are oriented transversely to the main extension plane 47 of the coupling member 36.
  • the fastening means 35 starting from the main extension plane 47, to the same side.
  • they can also be opposite to each other.
  • the type of arrangement will be oriented, in particular, to the conditions of the association between output part 5 and guide part 26.
  • the ball seat 42 is formed in the embodiment of an opening of the coupling member 36, the circumferential boundary surface forms the bearing surface 48 for the rotatably received bearing ball 43 or has.
  • the bearing ball 43 can not fall out, the bearing surface 48 is concave, corresponding to the ball curvature.
  • it has the shape of a spherical zone symmetrical to the equatorial plane in the mathematical sense.
  • the bearing ball 43 does not have to have a spherical shape in its entirety.
  • the spherical shape can be limited to that section which, taking into account the possible rotational and pivoting angles always within the ball seat 42 remains.
  • the bearing ball 43 is flattened on the side diametrically opposite the fastening means 45.
  • the coupling member 36 at least in the area of ball seats 42 and expediently a total of a plastic material which has a certain elastic deformation capability, the mounting of the bearing balls 43 in their ball mounts 42 is particularly simple. It suffices simply to press the bearing balls 43 through one of the two mouths of the ball receivers 42, so that no separate fastening means are required. This allows a particularly cost-effective production.
  • the coupling member 36 can be made in one piece, especially in such a design.
  • each bearing ball 43 could be fastened directly to a matching counterpart of the driven part 5 and / or the coupling member 36.
  • the coupling device 24 expediently contains, per ball joint device 37, a base element 52 which functions as an interface element for connecting the bearing ball 43 to the output part 5 or the guide part 26.
  • Each bearing ball 43 is fastened via its fastening means 45 to a base element 52.
  • One of the base elements 52 is then attached via suitable further attachment means 53 on the driven part 5 and on the guide part 26, in particular in a detachable manner.
  • the further fastening means 53 may in particular be fastening screws which can be passed through the base element 52 in order subsequently to be screwed to the driven part 5 or the guide part 26.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Bearings For Parts Moving Linearly (AREA)
  • Transmission Devices (AREA)

Claims (18)

  1. Dispositif d'entraînement linéaire, avec un entraînement linéaire (2) qui présente une partie de sortie (5) pouvant être entraînée en un mouvement linéaire de sortie (4), partie qui est couplée ou peut être couplée en entraînement, par l'intermédiaire d'un dispositif de couplage (24), à une partie de guidage (26) guidée sur un guidage linéaire (25) de manière coulissante dans une direction de déplacement parallèle à la direction du mouvement de sortie (4), dans lequel le dispositif de couplage (24) présente au moins un organe de couplage (36) rigide en traction et en compression, relié ou pouvant être relié d'un côté à la partie de sortie (5) et de l'autre côté à la partie de guidage (26), caractérisé en ce que l'organe de couplage (36) est réalisé rigide en traction, en compression et en flexion et est relié ou peut être relié à la partie de sortie (5) et à la partie de guidage (26) par l'intermédiaire d'un dispositif à rotule (37) à chaque fois.
  2. Dispositif d'entraînement linéaire selon la revendication 1, caractérisé en ce que l'entraînement linéaire (2) est un entraînement linéaire (2) actionné par un fluide, en particulier pneumatique.
  3. Dispositif d'entraînement linéaire selon la revendication 2, caractérisé en ce que l'entraînement linéaire (2) est un entraînement linéaire sans tige de piston.
  4. Dispositif d'entraînement linéaire selon l'une des revendications 1 à 3, caractérisé en ce que l'entraînement linéaire (2) est muni de son propre guidage linéaire (3) séparé par rapport au guidage linéaire (25) destiné à la partie de guidage (26) et sur lequel la partie de sortie (4) est guidée de manière mobile linéairement.
  5. Dispositif d'entraînement linéaire selon la revendication 4, caractérisé en ce que l'entraînement linéaire (2) comprend un boîtier d'entraînement (6) abritant entièrement ou partiellement ses moyens d'entraînement (7), sur la face extérieure duquel est placé le guidage linéaire (3) destiné à la partie de sortie (5).
  6. Dispositif d'entraînement linéaire selon la revendication 4 ou 5, caractérisé en ce que le guidage linéaire (3) est conformé en rail de guidage (3a) pour la partie de sortie (5).
  7. Dispositif d'entraînement linéaire selon l'une des revendications 1 à 6, caractérisé en ce que la partie de sortie (5) est conformée en chariot.
  8. Dispositif d'entraînement linéaire selon l'une des revendications 1 à 7, caractérisé en ce que le dispositif de couplage (24) présente à chaque fois un élément de socle (52) pour la fixation sur la partie de sortie (5) et sur la partie de guidage (26), l'organe de couplage (36) étant relié à chaque élément de socle (52) par l'intermédiaire d'un dispositif à rotule (37).
  9. Dispositif d'entraînement linéaire selon l'une des revendications 1 à 8, caractérisé en ce que chaque dispositif à rotule (37) présente un logement de rotule (42) placé sur l'organe de couplage (36) et une rotule (43) montée dans le logement de rotule (42) de manière rotative dans toutes les directions autour de son centre de rotule (44), avec des moyens de fixation (45) convenant pour la liaison avec la partie de sortie (5) ou avec la partie de guidage (26).
  10. Dispositif d'entraînement linéaire selon la revendication 9, caractérisé en ce que les moyens de fixation (45) contiennent une tige de fixation (46) sortant radialement de la rotule (43), en particulier équipée d'un filetage de fixation.
  11. Dispositif d'entraînement linéaire selon la revendication 9 ou 10, caractérisé en ce que l'organe de couplage (36) présente une forme plate au moins au niveau d'au moins un logement de rotule (42), le logement de rotule (42) étant formé par une traversée de l'organe de couplage (36) dont la surface limite forme ou présente, pour la rotule (43), une surface de soutien (48) concave correspondant à la courbure de la rotule.
  12. Dispositif d'entraînement linéaire selon la revendication 11, caractérisé en ce que l'organe de couplage (36) est constitué d'une matière plastique au moins au niveau des logements de rotule (42) et les rotules (43) sont insérées dans les logements de rotule (42) par pressage.
  13. Dispositif d'entraînement linéaire selon la revendication 11 ou 12, caractérisé en ce que les moyens de fixation (45) des deux rotules (43) sont orientés vers le même côté ou vers des côtés opposés par rapport à l'organe de couplage (36).
  14. Dispositif d'entraînement linéaire selon l'une des revendications 1 à 13, caractérisé en ce que la partie de sortie (5) et la partie de guidage (26) sont placées l'une à côté de l'autre dans la direction d'un axe transversal (34) du dispositif d'entraînement linéaire, l'organe de couplage (36) étant un composant plat et étant conformé de telle manière que son plan d'extension principal (47) s'étend au moins sensiblement parallèlement à l'axe longitudinal du dispositif d'entraînement linéaire (1) et à l'axe transversal (34).
  15. Dispositif d'entraînement linéaire selon l'une des revendications 1 à 14, caractérisé en ce que le guidage linéaire (25) pour la partie de guidage (26) est un guidage par tige avec, de manière avantageuse, deux tiges de guidage (25a, 25b) placées parallèlement et à distance l'une à côté de l'autre.
  16. Dispositif d'entraînement linéaire selon l'une des revendications 1 à 15, caractérisé en ce qu'une ligne de liaison droite (38) reliant les deux dispositifs à rotule (37) est orientée sensiblement parallèlement à la direction du mouvement de sortie (4) ou forme un angle aigu avec cette direction.
  17. Dispositif d'entraînement linéaire selon l'une des revendications 1 à 16, caractérisé en ce que la partie de guidage (26) est conformée en support de charge (32, 32a) ou est reliée à un tel support de charge.
  18. Dispositif d'entraînement linéaire selon l'une des revendications 1 à 17, caractérisé en ce que l'organe de couplage (36) est un composant d'un seul tenant.
EP07711640A 2006-04-12 2007-02-23 Mecanisme de commande linéaire Not-in-force EP2005008B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200620005952 DE202006005952U1 (de) 2006-04-12 2006-04-12 Linearantriebsvorrichtung
PCT/EP2007/001566 WO2007118546A2 (fr) 2006-04-12 2007-02-23 Mecanisme de commande linéaire

Publications (2)

Publication Number Publication Date
EP2005008A2 EP2005008A2 (fr) 2008-12-24
EP2005008B1 true EP2005008B1 (fr) 2009-08-12

Family

ID=36710227

Family Applications (1)

Application Number Title Priority Date Filing Date
EP07711640A Not-in-force EP2005008B1 (fr) 2006-04-12 2007-02-23 Mecanisme de commande linéaire

Country Status (4)

Country Link
EP (1) EP2005008B1 (fr)
CN (1) CN101415953A (fr)
DE (2) DE202006005952U1 (fr)
WO (1) WO2007118546A2 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
PL3869611T3 (pl) * 2018-10-17 2023-08-21 Airbus Defence And Space, S.A. Mechanizm przegubowy i przegubowy układ nakierowujący zawierający ten mechanizm

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0157892B1 (fr) * 1984-04-10 1987-06-24 Reinhard Lipinski Transporteur linéaire
DE29508663U1 (de) * 1995-05-24 1995-08-17 Festo Kg, 73734 Esslingen Kupplungseinrichtung für Linearantriebe
US6253657B1 (en) * 1999-12-22 2001-07-03 Trw Inc. Steering apparatus

Also Published As

Publication number Publication date
DE502007001307D1 (de) 2009-09-24
CN101415953A (zh) 2009-04-22
WO2007118546A2 (fr) 2007-10-25
WO2007118546A3 (fr) 2007-12-27
DE202006005952U1 (de) 2006-07-06
EP2005008A2 (fr) 2008-12-24

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