TWI432654B - Linear actuator - Google Patents

Description

Linear actuator

The present invention is a linear actuator having a housing on which a transmission rod extending in the axial direction of the main shaft projects outwardly from the first end surface, and a driving guide portion of the sliding guide frame that protrudes before the first end surface Coupling with the transmission rod drive, the sliding guide frame further has a guiding edge protruding from the first side perpendicular to the main shaft, and the guiding edge is mounted in such a manner that it can be moved relative to the housing in the axial direction of the main shaft via the rolling bearing. a U-shaped guide section of the guide edge overlaps the support protrusion on the first side of the outer casing, so that the two side walls of the guide section and the support protrusion between the side walls together form a boundary of the storage compartment The function of the accommodating chamber is to accommodate a rolling element of a rolling bearing supported on the support protrusion on one side and supported on the side wall on the other side.

The linear actuator disclosed in DE 10 2006 023 358 A1 has a housing with a transmission piston which is connected to a transmission rod whose end face projects outwardly from the housing. A sliding guide frame movable relative to the outer casing is provided on one side of the outer casing, the sliding guide frame being coupled to the transmission rod. The guide edge of the sliding guide is situated on the outer casing, the guide edge having a U-shaped one-piece guide section which overlaps a longitudinal support projection on the outer casing. A channel-like accommodating chamber is formed between each of the side walls of the U-shaped guide segments and the support projections for accommodating rolling bearings having rolling elements that are directly supported on the inner surfaces of the support projections and the side walls. In order to make this known linear actuator roll The dynamic bearing has a proper bearing clearance, and the bearing surface on the side wall of the guide section must be subjected to complicated machining, thereby greatly increasing the manufacturing cost.

In the linear actuator disclosed in EP 0 868 965 B1, the rolling elements for mounting the sliding guide are supported on special rails, one of which is mounted on the outer casing and the other on the underside of the sliding guide. A disadvantage of this construction is that a considerable construction width is required, which is disadvantageous for the goal of producing a linear actuator with a narrow width.

SUMMARY OF THE INVENTION The object of the present invention is to provide a linear actuator which is not only simple in construction and narrow in construction, but also capable of accurately determining the bearing clearance of a rolling bearing.

In order to achieve the above object, the present invention makes the linear actuator mentioned at the outset have the following feature: the guiding section has a L-shaped body which is formed into a single member with the driving edge, and the first L-shaped side of the body constitutes a side wall. The second L-shaped edge is overlapped on the support protrusion, and the other side is formed by a flat body separated from the body, the flat body is fixed on the body by the fixing component, and the other function of the fixing component is to adjust the rolling element The pre-force determines the relative position between the body and the body through this pre-force.

In this way, when the linear actuator is assembled, the bearing clearance of the rolling bearing can be realized directly by the fixing means acting between the flat body and the body. The smaller the distance between the flat body and the body becomes due to the impact of the fixing member, the greater the pre-stress acting on the rolling elements in the storage chamber, the pre-force being the first side wall on the first body and Guide segment The second side wall of the plate body is produced. Since the guide segments are floating, the guide segments are automatically aligned with the support projections and are not clamped. Since the rolling elements can be directly impacted via the side walls of the guiding segments, no additional rails need to be added, thus providing the possibility of achieving a linear actuator with a narrow width.

The contents of the affiliated patent application are various advantageous modifications of the invention.

The fixing element is composed of one or more fixing screws, and the flat body and the body can be easily tensioned by the one or more fixing screws to connect the flat body and the body together, and to the rolling element. Precautions have an impact. When assembling a linear actuator, the pre-force and bearing clearance can be adjusted very accurately by selecting the appropriate starting torque. This allows for very fine adjustments even if the size of the linear actuator is very small, enabling the sliding guide to achieve low friction and precise linear guidance.

One advantageous way is to have the fixing element grip the second L-shaped side of the body from the body. In this case, the fixing element can extend to a region above the support projection.

An advantageous way is to deposit a flat body with a fixed section cooperating with the fixing element into a recess of the body, wherein the notch is located on the side of the second L-shaped side facing away from the first L-shaped side. This design is advantageous in narrowing the guide section. In particular, it is possible in this way to ensure that the lateral outer surface of the sliding guide and the lateral outer surface of the outer casing lie on a common plane.

For example, the rolling elements can be made into a spherical shape. Another possible way is to make the rolling elements into balls.

In an advantageous manner, the support projections cooperating with the rolling elements are outer casing members which are integrally formed with the outer casing. In this way, such a member can be easily and accurately manufactured.

An advantageous way is to make the sliding guide frame L-shaped, that is to say by a first L-shaped edge as a transmission edge and a second L-shaped edge as a guiding edge. On the end portion of the drive edge facing away from the guide edge, there can be a fastening projection projecting axially outwardly from the housing, on which the fastening element is provided, which can be used to move the component or linearly The additional components of the actuator are fixed. An example of such an additional component is a tool to be positioned, such as a clamping tool (especially a suction clamp).

In any case, the sliding guide preferably has a fastening element that is positioned and constructed as desired to secure the aforementioned components and/or additional components.

In some specific applications it is necessary to supply a sliding guide high pressure medium. For example, one of the applications is to activate a suction clamp that is placed on the sliding guide. One possible way is to directly connect a flexible fluid delivery tube to the sliding guide, which can be moved with the sliding guide. Another better way is to supply the fluid required to slide the guide through the housing. In this case, a fluid passage passes through the outer casing, and the outlet of the fluid passage is at a first end face facing the transmission side, wherein a transmission edge of the sliding guide has a connection with the transmission side. The tubular body is settled into the fluid passage in a slidable and sealed manner. In this way, the high-pressure medium can pass through the fluid passage and the interior of the tubular body, thereby flowing into the sliding guide. The pipe body is always settled in the fluid passage, and its sinking depth is determined by the relative position between the sliding guide frame and the outer casing.

Preferably, the tubular body is a plastic component and the tubular body has a central sealing flange integrally formed with the tubular body, so that no additional sealing element is required, the sealing flange forming a slidable sealing contact with the inner surface of the fluid passage. .

For example, a linear actuator can utilize an additional component (using a suction clamp) mounted on a sliding guide to move sensitive components (such as a computer chip) between different positions. In this case, it is advantageous to fix the sliding guide to the transmission rod in a swellable manner and to control the degree of expansion and contraction with the spring element. Under normal use, the spring element ensures that the sliding guide is in a fixed position relative to the transmission rod, and only when the stress of the sliding guide is greater than the spring force of the spring element, the sliding of the spring element is caused by the deformation of the spring element. The guide frame leaves this reference position.

The spring element is a compression spring, in particular a helical compression spring. An advantageous way is to arrange the spring element directly on the transmission rod and coaxially with the transmission rod. In this way the transmission rod prevents unwanted bending of the spring element when subjected to an impact.

In order to enable the sliding guide to reach the position of the drive in the presence of the spring element, that is to say the slide guide rests on the first end of the housing Preferably, the surface is formed in the outer casing to form an annular receiving chamber surrounding the transmission rod, the storage chamber leading to the first end surface and which can be settled into the spring element.

The sliding guide can be provided with one or more transverse holes, the presence of which can reduce the weight of the sliding guide and, if necessary, also for fixing.

In principle the linear actuator can be an electric linear actuator. However, a particularly advantageous way is to design the linear actuator as a fluid pressure controlled linear actuator, in which case the transmission rod is pushed by a transmission piston that can move axially within the housing and can utilize high pressure medium Shock the piston.

The contents of the present invention will be further described below in conjunction with the drawings.

In principle, the linear actuator (1) is a universal linear actuator, but its main field of application is control technology, that is, for gripping components (such as workpieces) and moving between different positions. Other embodiments relating to this field of application do not constitute any limitation to the inventive wire drive.

In the aforementioned field of application, the linear actuator (1) has an additional component consisting of a suction clamp (2) which can be subjected to a vacuum impact to attract the component to be moved and fix. To lower the component, the suction clamp (2) should be vented to relieve the previously applied negative pressure.

The suction clamp (2) is arranged on the sliding guide (3) of the linear actuator (1), and the sliding guide (3) is placed in an axially movable manner along the imaginary spindle (5). On the outer casing (4) of the actuator (1). Marked with double arrows Within the range of linear working movement (6), the sliding guide (3) can be moved between the driving position indicated by the solid line in the drawing and the driving position indicated by the broken line in Fig. 4, wherein the suction clamp ( 2) Moves with this work (6). In this way, the sliding guide (3) can be moved to the exit position for gripping the member, then the member is moved to the driving position, and finally after the entire linear actuator (1) is brought to another position, again The sliding guide (3) is driven out to release the previously grasped member.

It is best to move the work with fluid pressure (especially pneumatic pressure) (6). To achieve this, the outer casing (4) has a long transmission chamber (7), and the transmission piston (8) sealed in the transmission chamber (7) can move linearly in the transmission chamber (7) while transmitting The piston (8) divides the transmission chamber (7) into a first working chamber (12a) facing forward and a second working chamber (12b) facing backward. Dedicated control channels (13a, 13b) enter the two working chambers (12a, 12b), respectively, and the control channels (13a, 13b) each have a connection opening (14a, 14b) leading to the outer surface of the outer casing (4). The working chambers (12a, 12b) can be subjected to fluid impact via control channels (13a, 13b). The working chamber (12a, 12b) allows the transmission piston (8) to move linearly. This linear movement is transmitted to the transmission rod (15) that is linked to the transmission piston (8). The transmission rod (15) is along the axis of the main shaft (5). Extending outwardly from the outer casing (4) from the first end face (16) facing forward from the direction of the outer casing (4). The outer terminal section (17) located outside the outer casing (4) is fixed to the sliding guide frame (3) and thus participates in the transmission movement of the transmission piston (8) and the transmission rod (15) to complete the working movement (6) ). A throttle device (11) as a throttle washer can be installed in each of the control passages (13a, 13b) for controlling the flow rate to a prescribed range. Inside.

In the present embodiment, the transmission chamber (7) is formed by a longitudinal section of a cylindrical recess (180), the notch (18) extends within the outer casing (4), and its outlet (22) leads to the first mentioned first End face (16). The cylindrical notch (18) has a multi-segment sleeve-shaped cover plate (23) spaced from the outlet (22) by an axial distance through which the transmission rod (15) passes. The outer gasket (24) separates the cover plate (23) from the outer wall of the cylindrical recess (18), and the inner gasket (25) separates the cover plate (23) from the transmission rod (15). One is fixed to the outer casing ( 4) The crossbar (26) inside and through the cover (23) secures the cover (23) in place in the axial direction.

Between the cover plate (23) and the outlet (22) there is an annular storage chamber (27) extending axially and coaxially surrounding the transmission rod (15), the function of the storage chamber (27) will be Description.

A cover plate (23) separate from the outer casing (4) is adjacent to the first working chamber (12a) on the face facing the transmission piston (8). The extent of the second working chamber (12b) is axially constrained by the partition wall (28), which is preferably a member integrally formed with the outer casing (4).

Preferably, the two connection openings (14a, 14b) are disposed on the second end face (32) of the outer casing (4) facing away from the first end face (16) and facing rearward.

As can be seen from the drawing, an outer casing (4) and a main shaft (5) are angularly elongated and have a rectangular cross section. The outer casing (4) has a total of four sides extending between the first end face (16) and the second end face (32), one of which may be an upwardly facing first side (33). The first side (33) is one of the two narrow sides of the outer casing (4).

Preferably, the sliding guide frame (3) is entirely L-shaped. The slide guide (3) has a first L-shaped edge called the drive edge (34) and a second L-shaped edge called the guide edge (35) that is at right angles to the first L-shaped edge. The drive side (34) of the slide guide (3) protrudes before the first end face (16), and the guide edge (35) protrudes before the first side (33). The outer casing (4) is thus at least partially surrounded by the sliding guide frame (3) on both faces. The plane in which the drive side (34) and the leading edge (35) are extended coincides with the main surface (36) of the outer casing (4) which is cut by the first side (33) and transversely cut by the outer casing (4).

The sliding guide (3) is in transmission coupling with the transmission rod (15). This coupling is formed between the drive side (34) and the drive rod (15). The drive side (34) has a cross section perpendicular to the main shaft (5) so that the drive side (34) covers the entire first end face (16) of the outer casing (4). The terminal end of the drive side (34) facing away from the leading edge (35) projects outwardly to the second outer side (37) of the outer casing (4) facing away from the first side (33).

In principle, the aforementioned suction clamp (2) can be fixed in any suitable position on the sliding guide (3). An advantageous way is to fasten the suction clamp (2) to the transmission side (34), in which case the transmission side (34) needs to have suitable fixing elements (38) and, if necessary, still allow suction The clip (2) is released from the fixing member.

For example, the fixing element (38) is a threaded bore that allows the suction clamp (2) to be screwed in. In order to achieve a sufficient screw-in depth, the fixing element (38) forms a fixing projection (42) which is located on the transmission side (34) in the axial direction of the main shaft (5) facing away from the outer casing (4). ) on the outer surface (43).

The sliding guide has more parts on the drive side (34) and the guide side (35) A plurality of transverse holes (44) passing through the sliding guide frame (3) in a direction perpendicular to the main axis (5). The presence of these transverse holes (44) not only saves material and reduces weight, but also if necessary. Can be used as a fixed component.

The sliding guide frame (3) is seated on the outer casing (4) via a guiding edge (35) so as to be linearly movable to define the moving direction of the working movement (6) while simultaneously at the right angle with the moving direction There is support on one side. Therefore, the lateral force or moment acting on the sliding guide (3) when the sliding guide (3) is activated is guided to the outer casing (4) via the transmission rod (15) and is carried by the outer casing (4). The placement and linear guidance of the sliding guide (3) is carried out by a rolling bearing (45) located at the leading edge (35) and the outer casing (4).

In order to position the rolling bearing (45) in an optimal manner, it is advantageous to have a guiding section (46) on the guiding edge (35) having a U-shaped cross section. This U-shaped section can be clearly seen from Fig. 6, and it can be seen that the opening of the U-shaped section faces the first side (33).

The guiding section (46) having a U-shaped cross section extends over the entire length of the guiding edge (35), and the entire length of the sliding guiding frame (3) is located first when the sliding guide frame (3) is in the driving position Opposite the side (33). In the present embodiment, this length is the entire length of the leading edge (35).

The length of the leading edge (35) is shorter than the outer casing (4). Therefore, when the sliding guide (3) is in the entering position, the sliding guide (3) is stopped at the maximum distance before the second end (32). As mentioned previously, the first side (33) is stepped, wherein the guiding edge (35) extends along a longitudinal section of the outer casing (4) which is measured between the two sides (33, 37) The height is less than the axial direction of this longitudinal section The height measured by the outer casing terminal section (47) that connects to and leads to the second end face (32). Through the steps of different heights, the face of the outer casing end section (47) facing the guiding edge (35) axially forms a stop surface of the damping element (52) fixed to the end face end region of the guiding edge (35). ). The cushioning element (52) has a terminal position damping effect.

In this longitudinal section through which the guiding section (35) can extend, the outer casing (4) has a slat or rib-like support projection (53) on the first side (33) parallel to the main shaft (5). The width of the support projection (53) is smaller than the outer casing (4) and is located at a central position of the width of the outer casing (4). In addition, the width of the support protrusion (53) is also smaller than the net between the first side wall (54) and the second side wall (55) of the U-shaped cross section of the guide section (46) that limits the side of the U-shaped opening. distance.

The support projection (53) settles into the U-shaped guide section (46), in other words, the guide section (46) overlaps the support projection (53) like a slider. The length of overlap of the support projections (53) and the guide segments (46) in the axial direction of the main shaft (5) is determined by the relative position between the slide guide (3) and the outer casing (4). When the sliding guide is in the driving position, the axial overlap length is maximized, and the entire axial length of the support projection (53) is located in the guide section (46).

Since the width of the support projection (53) is smaller than the clear width of the U-shaped opening, both sides of the support projection (53) are each formed by a storage chamber formed between the support projection (53) and the side walls (54, 55) ( 56) Surrounded. The rolling bearing (45) is located in the storage chamber (56).

The rolling bearing (45) in each of the storage chambers (56) contains at least one rolling bearing unit (45a, 45b, 45c), which are composed of a plurality of A spherical rolling element (57) in which the shafts (5) are axially aligned with each other and a rolling element holder (58) which combines the rolling elements (57) into one assembly. The rolling element holder (58) is preferably strip or elongated and has a plurality of indentations each of which can accommodate a rolling element (57) and permit the rolling element (57) to rotate therein.

The rolling elements (57) of each of the rolling bearing units (45a, 45b) are supported on one side of the outer bearing surface (62) formed by the inner surface of the side walls (54, 55) and the other side supported on the outer bearing surface (62). And perpendicular to the inner bearing surface (63) of the main surface (36), wherein the inner bearing surface (63) is formed by the outer surface of the support projection (53). Both the outer bearing surface (62) and the inner bearing surface (63) are longitudinal grooves, so that the storage chamber (56) is a channel-like passage, and the rolling elements (57) are located in this paragraph. Each bearing surface can have two surface sections that are angled to each other, with the rolling elements (57) abutting the surface sections so that a four-point support can be formed for each rolling element (57).

When the work is moved (6), the rolling element (57) can roll on the outer bearing surface (62) and the inner bearing surface (63), that is, in the axial direction. Usually the amount of movement of the rolling element (57) corresponds to half of the stroke of the sliding guide (3) at the time.

In order to ensure a precise linear guidance of the sliding guide (3), it is advantageous if the support projection (53) is integrally formed with the outer casing (4). Another important factor related to the accuracy of the guide is that the portion of the slide guide (3) at the guide section (46) is not a one-piece, but multi-piece. This part is made up of an L-shaped body (64) and a fixed body (64). The upper divided body (65) is formed.

The first L-shaped edge (66) of the body (64) constitutes a first side wall (54). a second L-shaped edge (67) joined to the first L-shaped edge (66) and sandwiched at a right angle is overlapped on the outer surface of the support projection (53) opposite the outer casing (4), wherein the second L-shaped edge ( The width of 67) is preferably equal to the total width of the leading edge (35).

The flat body (65) constitutes a second side wall (55). The flat body (65) extends in a direction parallel to the first L-shaped edge (66) to a second L-shaped edge (67) opposite the longest side (68) of the first L-shaped edge (66), wherein the longest side ( The edge section of 68) is a fixed section (72) that is embedded in the notch (73) of the second L-shaped edge (67), thus forming a step on the longest side (68) of the second L-shaped edge (67).

The flat body (65) is fixed to the body (64) by a fixing member (74). In this embodiment, a fixing screw (75) is used as a fixing member. For example, a plurality of (for example two) fixing screws (75) can be used, and these fixing screws (75) are spaced apart from each other by a certain distance in the axial direction of the main shaft (5).

In addition to joining the plate body (65) and the body (64) together, another function of the securing member (64) is to adjust the bearing force of the preload and rolling elements (57).

The purpose of adjusting the bearing clearance can be achieved by fitting various components in a special way. The basic principle of adjustment is that in a neutral state, that is, in the state where the rolling element (57) is in close proximity to the inner bearing surface (63) and the outer bearing surface (62), in the fixed section of the flat body (65) (72) And a gap (76) is left between the second L-shaped edge (67) facing the fixed section (72) and facing the main surface (36) at a right angle. Fixing element (74) capable of moving the body The tensioning direction of (65) and the body (64) is also a constant angle with the main surface (36). At this time, the fixing member (74) can be screwed more or less, and the width of the gap (76) can be changed to change the relative position between the flat body (65) and the body (64), so that the The side walls (54, 55) formed by an L-shaped edge (66) and the flat body (65) directly affect the magnitude of the pressure of the rolling elements (57) supported on the outer edge of the support projection (53).

If the fixing screw (75) is used as the fixing member (74), it is easy to adjust the bearing preload by selecting an appropriate starting torque as needed.

When assembling the linear actuator (1), it is usually only necessary to adjust the pre-force once. The safety measures (such as applying an adhesive) followed by the adjustment of the pre-force can prevent the adjusted pre-force from being inadvertently changed.

The fixing screw (75) passes through the fixing section (72), wherein the screw head (71) of the fixing screw (75) is supported on the outer surface of the fixing section (72), and the threaded rod (70) is screwed into the second L-shaped side (67) Threaded hole (77). One advantageous way is to use a countersunk screw to prevent the set screw (75) from extending beyond the outer surface of the body (65). In this way it is easy to have the lateral outer surface of the outer surface of the sliding guide (3) comprising the side walls (54, 55) at least substantially in a common plane with the lateral outer surface of the outer casing (4). This makes it possible for the linear actuator (1) to have a rectangular cross-sectional shape in the region where the outer casing (4) and the sliding guide frame (3) are axially overlapped.

In the present embodiment, in order to be able to activate the aforementioned suction clamp (2), the fastening element (38) consists of a connection opening (78), and the suction clamp (2) can be placed (especially screwed in). Opening (78). Connecting the opening (78) to the empty body (79) The cavity is connected, wherein the pipe body (79) is fixed on the transmission side (34) while extending along the axial direction of the main shaft (5) toward the outer casing (4), and the pipe body (79) is settled to the fluid passage (83). The settling depth is determined by the current stroke position of the sliding guide (3), the fluid passage (83) is located in the outer casing (4), and one end thereof leads to the first end surface (16). The other end of the fluid passage (84) has a further connection opening (84) to the second end face (32), and the aforementioned negative pressure or ventilation can be switched via the further connection opening (84).

In this way the suction clamp (2) can pass through the outer casing (4) and can be controlled without being affected by the stroke position of the sliding guide (3). As can be seen from Fig. 4, when the sliding guide (3) is in the exit position indicated by the broken line, a part of the pipe body (79) still settles in the fluid passage (83).

The tubular body (79) is sealed against the wall surface of the fluid passage (83). On the outer surface of the tubular body (79) there is a sealing flange (85) integrally formed therewith. To form the sealing flange (85), the tubular body (79) is preferably made of plastic.

In this embodiment, the top surface of the outer casing terminal section (47) is provided with a retaining element (86) that can be used to secure the outer casing (4) to a support structure. The second end face (32) remains in an accessible state after the outer casing (4) is secured to connect the fluid tube to the connection opening (14a, 14b, 84).

Another possibility is to use the second end face (32) as a fixed interface for assembling the linear actuator (1). In this case, it is preferable to guide the passage of the control passages (13a, 13b) in a different manner, that is, to have their connection openings (14a, 14b) on the second side (37). This configuration is indicated by a dashed line in Figure 4. The fluidization control of the suction clamp (2) is via a work move (6) The moving fluid tube is carried out, wherein the fluid tube is directly connected to the sliding guide (3). As indicated by the dashed line in Fig. 4, in this case the other connection opening (84) is located directly on the sliding guide (3), in particular on the transmission side (34) of the sliding guide (3). on.

Another feature of the linear actuator (1) of the present invention is the transmission coupling between the transmission rod (15) and the sliding guide (3). In this way, the sliding guide (3) can elastically expand and contract relative to the transmission rod (15) in the axial direction of the transmission rod (15) when a specific load condition occurs. In order to achieve this function, the measures described below should be performed.

An outer terminal section (17) of the transmission rod (15) passes through the transmission edge (34) to the coaxial through hole (93) of the transmission rod (15). The outer diameter of the terminal section (17) and the inner diameter of the penetration hole (93) cooperate with each other such that the slide guide (3) and the transmission rod (15) can move relative to each other in the direction of the working movement (6).

There are stop elements (89) on the drive rod (15) section on the outer surface of the drive side (34) facing away from the outer casing (4), these stop elements (89) projecting from the outer surface of the drive side (43) prior to. In this embodiment, the stop element (89) is a pop-open safety ring. When the drive side (34) abuts against the stop element (89), the drive side (3) is in a reference position relative to the drive rod (15).

The spring element (87) acting between the sliding guide (3) and the transmission rod (15) will always impact the sliding guide (3) in the direction of the reference position and press the sliding guide (3) Stop element (89). The spring element (87) is preferably a compression spring. The spring element used in the present invention is a helical compression spring and is disposed coaxially with the transmission rod (15) interposed between the transmission side (34) and the outer casing. (4) On the longitudinal section between. The front end section of the spring element (87) is pressed against the back side of the drive side (34). The rear end section of the spring element (87) is supported on a support element (90) provided on the transmission rod (15). In this embodiment, the support element (90) is a support ring which is equivalent to a buckle A safety ring into the groove on the outer surface of the transmission rod (15).

The spring element (87) acts to stress the sliding guide by a rated force to a reference position to ensure that between the sliding guide (3) and the transmission rod (15) under normal operating conditions. It is able to maintain axial coupling without gaps. Therefore, under normal conditions, the sliding guide (3) and the transmission rod (15) can be regarded as a rigid construction unit during the working movement (6). The spring element (87) does not function until the transmission movement of the transmission rod (15) is interrupted until the sliding guide (3) or the suction clamp (2) encounters resistance during the exit movement. This situation occurs when the suction clamp (2) reaches the component to be grasped earlier than expected, especially because the component tolerance or the uneven distribution of the components to be treated makes the suction clamp (2) more than expected. Arrive the component to be grasped earlier.

In this case, the expanded and contracted spring element (87) limits the pressure exerted by the sliding guide (3) or the suction clamp (2) on the member to be grasped. This feature is important for sensitive components such as computer chips. For example, in this case, the spring element (87) can be designed such that when the amount of deformation of the spring element (87) reaches 1 to 2 mm, a spring force of 1.2 to 2 N is generated.

Through expansion and contraction, the spring element (87) can be temporarily ejected inwardly when receiving the member, so that when the transmission rod (15) is driven in, it is again driven out to the reference position, and then stays at the reference position until the overload state mentioned above. Reappear until.

When the sliding guide (3) is moved to the driving position, the spring element (87) can settle into the annular storage chamber (27). In this way, the sliding guide frame (3) can smoothly enter the first end surface (16).

Due to the rolling bearing measures mentioned above, a linear actuator (1) with a narrow width can be produced. For example, a linear actuator with a width of only 8 mm can be realized. Although the width is so small, it is still possible to integrate the rolling bearing device required for precise and low-friction linear guidance.

Both the outer casing (4) and the sliding guide frame (3) are made of stainless steel.

The previously mentioned flat body (65) is used as a clamping body which, like the first L-shaped side (66) of the body (64), acts directly on the rolling element (57). The flat body (65) is placed on the side of the body (64) like a cover. Another function of the flat body (65) is to make the mounting work of the rolling bearing (45) simpler because the presence of the flat body (65) contributes to the improvement of the accessibility of the internal space surrounded by the U-shaped guiding edge. .

1‧‧‧Linear actuator

2‧‧‧Inhalation clip

3‧‧‧Sliding guide

4‧‧‧ Shell

5‧‧‧ Spindle

6‧‧‧Work movement

7‧‧‧ Transmission room

8‧‧‧Drive Piston

11‧‧‧Throttle device

12a‧‧‧First Studio

12b‧‧‧Second studio

13a, 13b‧‧‧Control channel

14a, 14b‧‧‧ connection opening

15‧‧‧Drive rod

16‧‧‧ first end face

17‧‧‧Outdoor terminal segment

18‧‧‧ gap

22‧‧‧Export

23‧‧‧ Cover

24‧‧‧Outer gasket

25‧‧‧Inner gasket

26‧‧‧crossbar

27‧‧‧ Storage room

32‧‧‧second end face

33‧‧‧ first side

34‧‧‧ Drive side

35‧‧‧ guiding edge

37‧‧‧Second outer side

38‧‧‧Fixed components

42‧‧‧Fixed bulge

43‧‧‧ outer surface

44‧‧‧ transverse holes

45‧‧‧ rolling bearings

45a, 45b, 45c‧‧‧ rolling bearing units

46‧‧‧steering section

47‧‧‧Outdoor terminal segment

48‧‧‧stop surface

52‧‧‧ cushioning element

53‧‧‧Support bulges

54‧‧‧First side wall

55‧‧‧second side wall

56‧‧‧ Storage room

57‧‧‧ rolling elements

58‧‧‧Rolling element bracket

62‧‧‧Outer bearing surface

63‧‧‧Inner bearing surface

64‧‧‧Ontology

65‧‧‧Table body

66‧‧‧First L-shaped edge

67‧‧‧Second L-shaped edge

68‧‧‧Longest side

70‧‧‧Threaded rod

71‧‧‧ screw head

72‧‧‧ fixed section

73‧‧‧ gap

74‧‧‧Fixed components

75‧‧‧ fixing screws

76‧‧‧ gap

77‧‧‧Threaded holes

78‧‧‧ openings

79‧‧‧ tube body

83‧‧‧ fluid passage

84‧‧‧Connecting opening

85‧‧‧ Sealing flange

86‧‧‧Fixed components

87‧‧‧Spring elements

89‧‧‧stop components

90‧‧‧Support components

93‧‧‧through hole

Figure 1 is a perspective side view of an advantageous embodiment of the linear actuator of the present invention.

Figure 2 shows the linear actuator as shown in Figure 1 from the other side from another perspective.

Fig. 3 is a plan view of the linear actuator as seen from the direction of arrow III in Fig. 1.

Figure 4 is a linear actuator that passes through the IV-IV tangent of Figures 3, 5, and 6. Profile view.

Figure 5 is a front elevational view of the linear actuator as seen from the direction of arrow V of Figure 4.

Figure 6 is a cross-sectional view through the linear actuator of the tangential line VI-VI of Figure 4.

1‧‧‧Linear actuator

3‧‧‧Sliding guide

4‧‧‧ Shell

6‧‧‧Work movement

17‧‧‧Outdoor terminal segment

33‧‧‧ first side

34‧‧‧ Drive side

35‧‧‧ guiding edge

37‧‧‧Second outer side

38‧‧‧Fixed components

43‧‧‧ outer surface

45‧‧‧ rolling bearings

45b‧‧‧ rolling bearing unit

46‧‧‧steering section

55‧‧‧second side wall

57‧‧‧ rolling elements

58‧‧‧Rolling element bracket

68‧‧‧Longest side

74‧‧‧Fixed components

75‧‧‧ fixing screws

89‧‧‧stop components

Claims (18)

A linear actuator having a casing (4) having a transmission rod (15) extending in the axial direction of the main shaft (5) outwardly from the first end surface (16), sliding guide A transmission edge (34) of the frame (3) protruding from the first end surface (16) is coupled to the transmission rod (15), and the sliding guide frame (3) further has a protrusion perpendicular to the main shaft (5). The leading edge (35) before the first side (33), the guiding edge (35) is mounted in such a manner that it can be moved relative to the outer casing (4) in the axial direction of the main shaft (5) via the rolling bearing (45), the leading edge (35) a U-shaped guide section (46) is lapped on the support projection (53) on the first side (33) of the outer casing (4), thereby causing two of the guide sections (46) The side walls (54, 55) and the support projections (53) between the side walls (54, 55) together form the boundary of the storage chamber (56), and the storage chamber (56) functions to accommodate one side of the support projections (53). a rolling element (57) of the rolling bearing (45) supported on the upper side and the other side of the side wall (54, 55). The linear actuator is characterized in that the guiding section (46) has a combination with the transmission side (34). The single member has an L-shaped body (64). The first L-shaped edge (66) of the body (64) constitutes a side wall (54), the second L-shaped edge (67) is overlapped on the support protrusion (53), and the other side (55) is composed of a body and a body (64) A separate plate body (65) is constructed, the plate body (65) is fixed to the body (64) by a fixing member (74), and the other function of the fixing member (74) is to adjust the pre-rolling member (57). The force is used to determine the relative position between the flat body (65) and the body (64) through this pre-force. The actuator of claim 1, wherein the fixing component (74) It is composed of at least one fixing screw (75), and the starting torque of the fixing screw (75) affects the pre-stress of the rolling element (57). The actuator of claim 1 or 2, wherein the fixing member (74) grips the second L-shaped edge (67) from the body (64). The actuator of claim 1 or 2, wherein a gap is formed on a side of the second L-shaped edge (67) of the body (64) facing away from the first L-shaped edge (66) (73), the plate body (65) with a fixed section (72) cooperating with the fixing member (74) is settled into the notch (73). The actuator of claim 1 or 2, wherein the sliding guide frame (3) comprises two side walls (54, 55), the outer surface of the outer surface of the outer surface is at least substantially opposite to the outer casing (4) The lateral outer surfaces lie on a common plane. The actuator of claim 1 or 2, wherein the rolling elements (57) in the same receiving chamber (56) are fixed to each other at a certain relative position to the belt rolling element bracket (58). Within the gap. An actuator according to claim 1 or 2, wherein the rolling element (57) is spherical. The actuator of claim 1 or 2, wherein the support projection (53) cooperating with the rolling element (57) is a member integrally formed with the outer casing (4). The actuator of claim 1 or 2, wherein the sliding guide (3) is L-shaped, wherein the end portion of the transmission side (34) pointing toward the guiding edge (35) has a pointing housing (4) fixing protrusion (42) at the solid The fixed projections (42) are provided with fixing elements which can hold at least one additional component. The actuator of claim 1 or 2, wherein the fluid passage (83) passes through the outer casing (4), and the outlet of the fluid passage (83) is at the first end surface (16), wherein the sliding guide The lead frame (3) has an axially movable tubular body (79) that settles into the fluid passage (83), and a fluid is circulated between the cavity of the tubular body (79) and the connecting opening (78), wherein The connection opening (78) is interlocked with the sliding guide (3) and is located on the side of the transmission side (34) facing away from the outer casing (4). The actuator of claim 10, wherein the connecting opening (78) is connected to a suction clamp (2). The actuator of claim 10, wherein the tube body (79) is made of plastic, and the outer surface of the tube body (79) has a sealing flange (85), the sealing flange (85) Forming a sealing contact with the inner surface of the fluid passage (83). The actuator of claim 1 or 2, wherein the sliding guide frame (3) is fixed to the transmission rod (15) by the action of the spring element (87), and the fixing manner is a sliding guide frame. (3) It is elastically expandable and contractible relative to the transmission rod (15) in the axial direction of the main shaft (5). The actuator of claim 1 or 2, wherein the transmission side (34) is disposed on the transmission rod (15) in such a manner as to be movable relative to the transmission rod (15) in the axial direction of the main shaft (5) Upper, wherein the transmission side (34) is pre-tensioned by a spring element (87) acting between the transmission side (34) and the transmission rod (15) in a direction away from the outer casing (4) to a transmission rod (15) Stop element (89) The base position. The actuator of claim 13, wherein the spring element (87) is a compression spring and is disposed coaxially between the transmission rod (15) between the outer casing (4) and the transmission side (34). In the longitudinal section, wherein the transmission rod (15) is provided with a support member (90), and the spring member (87) is supported on the support member (90). The actuator of claim 13, wherein an annular storage chamber (27) extending toward the first end surface (16) is formed between the transmission rod (15) and the outer casing (4), and the spring element (87) It can settle into the receiving chamber (27), in particular the drive side (84) can occupy a position adjacent to the first end face (16) of the outer casing (4). The actuator of claim 1 or 2, wherein the sliding guide (3) has at least one transverse hole (44), and at least one transverse hole (44) passes through the sliding guide in the lateral direction. Riser (3). The actuator of claim 1 or 2, wherein the transmission rod (15) is fixed to an axially movable transmission piston (8) in the outer casing (4), and the transmission piston (8) will be two The working chambers (12a, 12b) are spaced apart from each other, at least one of which is in communication with a control passage (13a, 13b) for controlling fluid impact, wherein at least one of the control passages (13a, 13b) is directed to the back The second end face (32) of one end face (16) or the second side face (37) leading to the first side face (33) of the outer casing (4).