WO2004058448A2 - Unite d'entrainement - Google Patents

Unite d'entrainement Download PDF

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Publication number
WO2004058448A2
WO2004058448A2 PCT/EP2003/014503 EP0314503W WO2004058448A2 WO 2004058448 A2 WO2004058448 A2 WO 2004058448A2 EP 0314503 W EP0314503 W EP 0314503W WO 2004058448 A2 WO2004058448 A2 WO 2004058448A2
Authority
WO
WIPO (PCT)
Prior art keywords
drive unit
unit according
actuator
longitudinal direction
part structure
Prior art date
Application number
PCT/EP2003/014503
Other languages
German (de)
English (en)
Other versions
WO2004058448A3 (fr
Inventor
Udo TÜLLMANN
Dietmar Hafla
Original Assignee
Index-Werke Gmbh & Co. Kg Hahn & Tessky
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 Index-Werke Gmbh & Co. Kg Hahn & Tessky filed Critical Index-Werke Gmbh & Co. Kg Hahn & Tessky
Priority to AU2003290085A priority Critical patent/AU2003290085A1/en
Publication of WO2004058448A2 publication Critical patent/WO2004058448A2/fr
Publication of WO2004058448A3 publication Critical patent/WO2004058448A3/fr

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
    • H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
    • B23Q5/22—Feeding members carrying tools or work
    • B23Q5/28—Electric drives
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K16/00—Machines with more than one rotor or stator
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
    • H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
    • H02K21/14—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures
    • H02K21/16—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures having annular armature cores with salient poles
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
    • H02K2201/18—Machines moving with multiple degrees of freedom

Definitions

  • the invention relates to a drive unit for industrial production, in particular for machine tools, comprising a bearing housing, an actuator extending in the direction of a longitudinal axis, which in two in a longitudinal direction parallel to the longitudinal axis at a distance from each other and held on the bearing housing in the longitudinal direction relative to Bearing housing is slidable and rotatably mounted about the longitudinal axis relative to the bearing housing.
  • Such drive units are known from the prior art. They serve, in particular, as so-called quills to position tools or workpieces for machining, these quills carrying a workpiece carrier or a tool carrier with at least one tool or several tools for machining a workpiece.
  • Such quills are usually moved linearly by conventional drives, such as spindle drives or hydraulic drives, and driven by rotary drives.
  • the object of the invention is to make a drive unit for industrial production, in particular for machine tools, structurally as advantageous as possible.
  • a drive unit for industrial production in particular for machine tools, of the type described in the introduction in that secondary part elements for a rotary linear drive of the actuator about the longitudinal axis and for a translational linear drive in the longitudinal direction are arranged, which form an at least rotationally usable secondary part structure and an at least translationally effective secondary part structure that around the actuator primary part elements for the rotary linear drive of the actuator about the longitudinal axis as well as for the translational linear drive of the actuator in the longitudinal direction, which form an at least rotationally effective primary part structure and an at least translationally effective primary part structure.
  • An expedient solution provides in particular that secondary part elements for a rotary linear drive of the actuator about the longitudinal axis and for a translational linear drive in the longitudinal direction are arranged on the actuator, which at least partly form a secondary part structure that is effective for rotary drive and at least partly a translational one
  • the drive-effective secondary part structure is such that primary part elements for the rotary linear drive of the actuator about the longitudinal axis and for the translational linear drive of the actuator in the longitudinal direction are arranged around the actuator, which at least partly form a rotary-acting primary part structure and at least partly a translatory primary part structure form.
  • the advantage of the solution according to the invention can be seen in the fact that by arranging secondary part elements directly on the actuator, which on the one hand enable a rotary linear drive and on the other hand a translatory linear drive, a particularly simple, in particular compact drive structure is created, which on the other hand is due to the direct arrangement the actuator also ensures high positional stability, positional accuracy and rigidity. No further details were given with regard to the secondary part elements used.
  • An advantageous exemplary embodiment provides that the secondary part elements comprise magnets. These could be energized magnets.
  • the magnets are permanent magnets, since a power supply to the actuator can then be omitted.
  • the secondary part elements comprise currentless, that is to say windings which are not externally supplied with current, in which currents are induced by fields of the primary part and thus also magnetization is achieved.
  • both rotationally and translationally active secondary part structures can be combined in a simple manner so that there is also the possibility of carrying out either only rotational movements or also only only translatory movements or a combination of all of these.
  • Such secondary part structures can be implemented particularly easily if they are arranged mirror-symmetrically to one another.
  • Such a mirror plane preferably runs perpendicular to the longitudinal direction.
  • an advantageous exemplary embodiment provides that an embodiment of an at least rotationally active secondary part structure has secondary part elements with strip-shaped magnetic poles with at least one component in the longitudinal direction. Magnetic poles of this type in the longitudinal direction are particularly suitable for a rotary linear drive.
  • a magnetic pole is understood to mean magnetic poles that are magnetized either by the magnets encompassed by the secondary part elements or by currentless windings, that is to say, windings that are not externally supplied with current.
  • Strip-shaped magnetic poles formed in this way can be aligned in a wide variety of ways.
  • the secondary part elements then act both rotationally and translationally.
  • strip-shaped magnetic poles are aligned such that they extend approximately parallel to the longitudinal direction.
  • the stripe-shaped magnetic poles essentially only have a rotary effect.
  • an embodiment of an at least linear translationally effective secondary part structure has secondary part elements with strip-shaped magnetic poles with at least one component running perpendicular to the longitudinal direction.
  • Such magnetic poles are particularly suitable for a translatory linear drive in the longitudinal direction.
  • the magnetic poles of the secondary part structure, which is at least linearly translatory, can also be aligned in a wide variety of ways.
  • strip-shaped magnetic poles extend obliquely to the longitudinal direction and thus act both linearly translationally and rotationally.
  • stripe-shaped magnetic poles extend approximately parallel to the azimuthal direction of the actuator and are therefore essentially only linearly translationally effective.
  • the secondary sub-elements comprise magnetic poles which are circumferential in an azimuthal direction of the actuator.
  • strip-shaped magnetic poles which run obliquely to the longitudinal direction
  • strip-shaped magnetic poles of one secondary part structure and the strip-shaped magnetic poles of the other secondary part structure form an angle of less than 180 ° with their longitudinal directions.
  • Angles in the range between approximately 30 ° and approximately 150 ° are preferably provided here.
  • a mirror plane is preferably provided, to which the longitudinal directions of the strip-shaped magnetic poles of one secondary part structure and the longitudinal directions of the strip-shaped magnetic poles of the other Secondary structure is mirror-symmetrical.
  • another exemplary embodiment of a secondary structure according to the invention provides that it has magnetic poles of secondary elements arranged in a two-dimensional surface pattern, of which several are arranged in succession both in the longitudinal direction and in the azimuth direction and can be used both rotationally and translationally effectively.
  • the magnetic poles have an extension in the longitudinal direction as well as in the azimuthal direction which is of the same order of magnitude, that is to say is not significantly larger in one of the directions than in the other direction.
  • the magnetic poles of the secondary part elements extend in the longitudinal direction and in the azimuthal direction only over a fraction of less than one tenth of the extent of the secondary part structure in the respective direction.
  • the primary part structure which can be used at least in a translatory manner, can also be used in a rotationally effective manner.
  • At least two primary substructures are provided and if the at least two primary substructures are designed and can be used in such a way that when both are activated, either their rotary action or their translational action can be canceled out, while a translational or rotary action can be added ,
  • Such primary part structures can be combined particularly advantageously if they are arranged mirror-symmetrically to one another.
  • a mirror plane preferably runs perpendicular to the longitudinal direction.
  • the primary part structure, which can be used at least in a rotational manner can only be used in a rotationally effective manner.
  • the primary part structure, which can be used at least in a translatory manner can only be used in a translationally effective manner.
  • an embodiment of an at least rotationally active primary part structure has primary part elements with strip-shaped poles running with at least one component in the longitudinal direction and magnetizable by a coil.
  • the strip-shaped poles can be aligned differently.
  • the strip-shaped poles extend obliquely to the longitudinal direction.
  • the poles are both translational and rotational.
  • strip-shaped poles extend approximately parallel to the longitudinal direction and are therefore only rotationally effective.
  • an embodiment of an at least translationally active primary part structure has primary part elements with strip-shaped poles which run at least one component perpendicular to the longitudinal direction and are magnetizable by a coil.
  • strip-shaped poles extend approximately parallel to the azimuthal direction and are therefore essentially only linearly translationally effective.
  • the primary part elements have poles running in the azimuthal direction, which in particular run in a ring around the actuator.
  • the poles running transversely to the longitudinal direction can either lie in surfaces that run obliquely to the longitudinal direction, which can be flat or curved, or preferably lie in planes that run perpendicular to the longitudinal direction.
  • strip-shaped poles When strip-shaped poles are provided, there is also the possibility, particularly in the case of an oblique course thereof, of arranging the strip-shaped poles of one primary part structure and the strip-shaped poles of the other primary part structure in such a way that their longitudinal directions form an angle which is less than 180 °.
  • This angle is preferably greater than approximately 30 ° and less than approximately 150 °.
  • this angle is greater than approximately 60 ° and smaller than approximately 120 °.
  • the effects of such primary part structures can be used particularly ideally if a mirror plane is provided, to which the longitudinal directions of the strip-shaped poles of one primary part structure and the longitudinal directions of the strip-shaped poles of the other primary part structure are mirror-symmetrical.
  • the primary part structure has primary part elements arranged in a two-dimensional surface pattern, each of which comprises poles that can be magnetized by a coil, of which several are arranged in succession both in the longitudinal direction and in the azimuthal direction and can be used both rotationally and translationally.
  • a primary part structure designed in this way creates the possibility both of being able to be used as rotationally effective and of being translationally effective.
  • Such a primary part structure can be constructed particularly advantageously if the poles have an extension in the longitudinal direction as well as in the azimuthal direction which is of the same order of magnitude, that is to say that the extension in one direction is not a multiple of the extension in the other Direction is, i.e. the poles are not strip-shaped.
  • a favorable design of such poles provides that the extension of the poles in the longitudinal direction and in the azimuthal direction is approximately the same. It is particularly expedient here if the primary part elements in the longitudinal direction and the azimuthal direction extend only over a fraction of less than one tenth of the extent of the primary part structures in the respective directions.
  • either the secondary part structure or the primary part structure is to be designed with a greater extension in the longitudinal direction, so that the area with which both overlap with one another is always of the same size.
  • the secondary part structure has an extension in the longitudinal direction that is at least larger than the extension of the primary part structure interacting with it by a maximum feed path of the actuator. This ensures in a simple and in particular cost-effective manner that the force that can be generated for displacement in the longitudinal direction can always be the same.
  • the primary part structures in the case of a separation of the primary part structures into a primary part structure which can be used in a rotationally effective manner and an at least linearly translationally effective use, it is preferably provided that their mutually facing ends are arranged at a distance from one another which corresponds at least to the maximum feed path of the actuator in the longitudinal direction.
  • This solution is particularly advantageous if the at least rotationally effective primary part structure and the at least linearly translationally effective primary part structure are assigned an at least rotationally effective or at least linearly translationally applicable secondary part structure.
  • the secondary part structure which can be used at least in a rotational manner and the secondary part structure which can be used in an at least linearly translatory manner essentially adjoin one another in the longitudinal direction.
  • the secondary part structure is designed in such a way that it can be used both rotationally and linearly translationally, it is preferably provided that the primary part structure that can be used at least in a rotational manner and the primary part structure that can be used at least in a linearly translatory manner are arranged immediately adjacent to one another.
  • a distance between a side of a primary part structure facing a bearing and the respective bearing corresponds at least to the maximum feed path of the actuator in the longitudinal direction.
  • the actuator has rotationally symmetrical lateral surfaces with respect to the longitudinal axis.
  • the lateral surfaces are in particular also lateral surfaces in the region of the secondary part structures.
  • the actuator has bearing surfaces that are rotationally symmetrical to the longitudinal axis and that are guided in bearing receptacles of the bearings.
  • the outer surface in the area of the secondary part structure can have a different radius than in the area of the bearing surface. It is particularly favorable if the lateral surface in the area of the secondary part structure has a radius identical to at least one bearing surface.
  • the lateral surfaces have the same radius as the bearing surfaces.
  • bearing surfaces are advantageously arranged such that they follow the secondary part structure in the longitudinal direction.
  • the bearing surfaces at least partially overlap the secondary part structure, so that it is not necessary to provide a distance between the primary part structure and the bearings, since the secondary part structure when the Actuator in the longitudinal direction is also movable into the bearing.
  • the drive unit has a control for positioning the actuator in the longitudinal direction and the azimuthal direction.
  • This control is preferably designed so that it includes a position detection device.
  • the position detection device can work in a wide variety of ways.
  • the position detection device comprises a position detection unit and a position detection structure that can be scanned by the position detection unit.
  • Such a position detection unit and a position detection structure can be arranged in a wide variety of ways. For example, it would be conceivable to arrange the position detection unit on the actuator and to determine its position with respect to the position detection structure from the actuator.
  • a particularly favorable solution provides that the position detection structure is connected to the actuator and the position detection unit is arranged on the bearing housing. No details have so far been given with regard to the formation of the situation detection structure.
  • An advantageous exemplary embodiment provides that the position detection structure extends in the azimuthal direction, in particular in order to detect the angular positions of the actuator. This is possible particularly advantageously if the position detection structure is designed as a structure which is closed in the azimuthal direction.
  • the position detection structure extends in the longitudinal direction.
  • the position detection structure can be implemented particularly expediently if it is arranged on a surface running around the longitudinal axis of the actuator.
  • the position detection structure is arranged on a surface that extends cylindrically to the longitudinal axis of the actuator, since both linear displacements and rotational displacements are then possible in a simple manner by detecting the position detection structure in the cylindrical surface.
  • the cylinder surface for the position detection structure could be arranged on a separate part.
  • the position detection structure is arranged on a cylinder surface of the actuator.
  • the position detection structure is arranged on a surface of the actuator which runs transversely to the longitudinal axis.
  • the position detection structure is arranged on an outside of the actuator. This has the advantage that the position detection structure for detecting the position is easily accessible.
  • the position detection structure is arranged on a lateral surface of the actuator.
  • the position detection structure can be arranged next to the secondary part structure.
  • Another advantageous embodiment which in particular enables a compact design of the drive unit, provides that the position detection structure extends at least partially over the secondary part structure.
  • a particularly favorable solution provides for the position detection structure to be arranged approximately in a central region of the secondary part structure.
  • the position detection structure extends both over the at least rotationally effective use as well as over the at least linearly translationally effective secondary part structure.
  • the position detection structure comprises structural bodies arranged in a regular pattern.
  • the structural bodies are preferably all identical.
  • the structural bodies are expediently arranged with interspaces between them in the position detection structure.
  • the position detection structure has a stochastic surface pattern, in which case the position detection unit is preferably a camera.
  • the scanning of the position detection structure it is preferably provided that it can be scanned by at least one sensor of the position detection unit, with which a rotation angle of the actuator about the longitudinal axis can be detected.
  • the position detection structure can be scanned by at least one sensor of the position detection unit, with which a linear translational movement in the longitudinal direction can be detected.
  • An advantageous solution provides that the primary part structure, which can be used at least in terms of rotation, can be controlled by the control with respect to the rotational position of the actuator relative to the bearing housing by means of a position control.
  • the provision of such a position control has the advantage that a very exact positioning of the actuator in the rotational position is possible.
  • an advantageous embodiment of the solution according to the invention provides that the primary part structure, which can be used at least in a linearly translatory manner, can be controlled by the control with regard to the linear position of the actuator in the longitudinal direction relative to the bearing housing by means of a position control.
  • Figure 1 is a schematic plan view of a possible embodiment of a lathe with drive units according to the invention.
  • Fig. 2 shows a first embodiment of an inventive
  • Fig. 3 is a section along line 3-3 in Fig. 2;
  • FIG. 4 shows a schematic illustration similar to FIG. 2 of a second exemplary embodiment of a drive unit according to the invention
  • FIG. 5 shows a schematic illustration similar to FIG. 2 of a third exemplary embodiment of a drive unit according to the invention
  • FIG. 6 shows a schematic view similar to FIG. 2 of a fourth exemplary embodiment of a drive unit according to the invention.
  • Fig. 7 is an illustration of a course of magnetizable poles and their
  • FIG. 8 shows a schematic illustration similar to FIG. 2 of a fifth exemplary embodiment of a drive unit according to the invention.
  • Fig. 9 is a schematic representation similar to Fig. 2 of a sixth
  • Embodiment of a drive unit according to the invention shows a schematic illustration similar to FIG. 2 of a seventh exemplary embodiment of a drive unit according to the invention
  • FIG. 12 shows a schematic illustration of a first exemplary embodiment of a position detection device
  • FIG. 13 shows a schematic illustration of a second exemplary embodiment of a position detection device according to the invention.
  • FIG. 14 shows a schematic illustration of a first form of structural elements of a position detection structure
  • FIG. 15 shows a schematic illustration of a second form of structural elements of a position detection device according to the invention.
  • FIG. 16 shows a schematic illustration of a third form of structural elements of a position detection device according to the invention.
  • Fig. 20 shows a third possibility of arranging an inventive
  • FIG. 21 shows a third exemplary embodiment of a position detection device according to the invention.
  • FIG. 1 An embodiment of a machine tool according to the invention shown in FIG. 1, in this case a lathe, comprises a machine frame 10, on which a drive unit 12 for a spindle 14 is held, which has a chuck 18 for receiving a workpiece 16, the spindle 14 passing through the drive unit 12 is rotatable about a spindle axis 20 and is drivable and supported in the direction of the spindle axis 20, that is to say a Z direction, by the drive unit 12.
  • the machine tool comprises a drive unit 22 for moving a tool carrier 24, which comprises, for example, two turret heads 26 and 28, which are seated on a common turret carrier 30, and can be rotated relative to the turret carrier 30 about a switching axis 32, the switching axis 32, for example, parallel to the Z Direction.
  • a tool carrier 24 comprises, for example, two turret heads 26 and 28, which are seated on a common turret carrier 30, and can be rotated relative to the turret carrier 30 about a switching axis 32, the switching axis 32, for example, parallel to the Z Direction.
  • the entire turret carrier 30 can be rotated by the drive unit 22 about an axis 32, for example a B axis, and can be displaced in the direction of the axis 32, that is to say for example an X direction.
  • the X direction is transverse, preferably perpendicular to the spindle axis 20, so that by moving the tool carrier 24 tools 36 of the turret heads 26, 28 in the X direction to the spindle axis 20 are displaceable and positionable to machine the workpiece 16, the Movement of the workpiece 16 in the Z direction can be done by moving the spindle 14.
  • Both the movements of the tool carrier 24 and the movements of the spindle 14 are controlled by a controller 40 which cooperates with the drive units 12 and 22 to position both the spindle 14 and the tool carrier 24 relative to one another such that each of the tools 36 is used in a manner suitable for machining the workpiece 16.
  • the drive unit 12 for the spindle 14 and the drive unit 22 for the tool carrier 24 can in principle be constructed in the same way, with each of these drive units 12, 22 comprising an actuator 50 in a first exemplary embodiment shown in FIGS. 2 and 3 relative to a bearing housing 52 is both rotatable about a longitudinal axis 54 and slidably supported in the direction of the longitudinal axis 54.
  • the actuator 50 forms part of the spindle 14, which carries the chuck 18, and in the case of the tool carrier 24 forms part of the tool carrier 24, which carries the bearing head 30.
  • the actuator 50 is supported on the bearing housing 52 by two bearings 56 and 58 which are arranged at a distance from one another and which are designed, for example, as hydrostatic or aerostatic bearings. Furthermore, the actuator 50 is preferably designed as a cylindrical body with circumferential surfaces 60 to the longitudinal axis 54, which has bearing surfaces 62 for forming the bearing 56, which are rotatable about the longitudinal axis 54 as well as displaceable in the direction of the latter in a bearing receptacle 64 arranged fixedly on the bearing housing 52 , In addition, to form the bearing 58, the actuator 50 has bearing surfaces 66 which are rotatable about the longitudinal axis 54 relative to a bearing receptacle 68 arranged on the bearing housing 52 and are displaceable in the direction thereof.
  • first secondary part structure 70R which has first secondary part elements 72R, which each form magnetic poles 74R.
  • the magnetic poles 74R are arranged such that in an azimuthal direction 76 to the longitudinal axis 54 successive magnetic poles 74R have alternating polarities 74RN, 74RS and which are elongated, for example, in a longitudinal direction 78 running parallel to the longitudinal axis 54.
  • the actuator 50 is provided with a second secondary part structure 70L, which has second secondary part elements 72L, which in turn form magnetic poles 74L.
  • the magnetic poles 74L are arranged such that successive magnetic poles 74L in the direction 78 have alternating polarities 74LN, 74LS and are formed, for example, in the azimuthal direction 76 around the longitudinal axis 54.
  • the secondary part structures 70R and 70L can be formed by secondary part elements 72R and 72L, which either comprise permanent magnets or short-circuit windings that are not actively supplied with current.
  • the first secondary part structure 70R is assigned a first primary part structure 80R, which has first primary part elements 82R, which has magnetizable poles 84R successively arranged in the azimuthal direction 76, wherein successive poles 84R have alternating polarities 84RN, 84RS in the azimuthal direction 76.
  • the magnetic poles 84R are preferably elongated in the longitudinal direction 78.
  • Each of the poles 84R is also assigned a coil 86R for magnetizing the respective pole 84R.
  • a primary part structure 80L which has individual primary part elements 82L which form magnetizable poles 84L, wherein successive poles 84L in the longitudinal direction 78 have alternating polarities 84LN, 84LS and preferably in the azimuthal direction 76 around the second secondary part structure 70L stretch around.
  • the primary part elements 82L also include coils 86L for magnetizing the poles 84L.
  • the first primary part structure 80R thus forms, together with the first secondary part structure 70R, a rotary direct drive 90R for generating a rotary movement of the actuator 50 about the longitudinal axis 54
  • the second primary part structure 80L forms, together with the second secondary part structure 70L, a second direct linear drive effective in the longitudinal direction 78 for the movement of the actuator 50 relative to the bearing housing 52.
  • the rotary direct drive 90R is designed such that the torque that can be generated by it is independent of the position of the actuator 50 with respect to the direction 78 and, on the other hand, is preferred the linear direct drive 90L is designed in such a way that its force acting on the actuator 50 in the longitudinal direction 78 is independent of the rotational position of the actuator 50 relative to the bearing housing 52.
  • the force effect generated by each of the two direct drives 90R and 90L is independent of the movement generated by the other direct drive 90L or 90R.
  • the first secondary part structure 70R has an extension AR in the longitudinal direction 78 that is greater than an extension ER of the first primary part structure 80R in the longitudinal direction 78 by at least a maximum feed path V of the actuator 50 relative to the length housing 52.
  • an extension AL of the second secondary part structure 70L in the longitudinal direction 78 by the maximum feed path V is also greater than an extension EL of the second primary part structure 80L in the direction 78.
  • the secondary part structures 70R and 70L are to be arranged in such a way that there is no collision when the actuator 50 moves with the maximum feed path V. occurs with the bearings 56, 58 or these supporting wall areas 57, 59 of the bearing housing 52, so that when the actuator 50 is positioned centrally between a maximally retracted position and a maximally advanced position, the distance 71 from the ends 71 facing the respective bearings 56, 58 the bearings 56 or 58 or these bearing wall areas 57, 59 corresponds to at least half the feed path.
  • the primary part structures 80R, 80L with their ends 81 facing the bearings 56, 58 must be arranged such that they are at least a distance from the bearings 56 or 58 corresponding to the maximum feed path V. or the wall areas 57, 59 of the bearing housing 52 which support them.
  • the actuator 50 is mounted in a bearing housing 52 'by two bearings 56 and 58, which, however, are arranged such that between the bearing 56 and the bearing 58 both the first secondary part structure 70R and the second secondary part structure 70L and the first primary part structure 80R as well as the second primary part structure 80L are seated and thus the actuator 50 is mounted on both sides of the direct drives 90R and 90L. Consequently, a very stable guidance for the actuator 50 is possible, which has a positive effect on the stable positioning of the tool carrier 24 or the spindle 14.
  • the direct drives 90L and 90R are configured in the same way as in the first exemplary embodiment.
  • the same reference numerals are used as in the first exemplary embodiment, and with regard to the description thereof, reference is made in full to the explanations for the first exemplary embodiment.
  • the primary part structures 80R and 80L are arranged in the second exemplary embodiment in such a way that their mutually facing ends 79 are at a distance from one another which corresponds at least to the maximum feed path.
  • the primary part structures 80R and 80L are arranged such that their ends 81 facing the bearings 56, 58 or the wall regions 57, 59 supporting the bearings are at a distance which corresponds at least to the maximum feed path.
  • the actuator 50 carries a secondary part structure 70 ', which is no longer divided into a first and second secondary part structure as in the previous exemplary embodiments, but is constructed in such a way that it Azimuthal direction 76 around the longitudinal axis 54 and in the longitudinal direction 78 is effective.
  • the secondary part structure 70 ' is constructed, for example, in such a way that it has magnetic poles 74'N and 74'S which alternate both in the azimuthal direction 76 and in the longitudinal direction 78, in which case the regions forming the magnetic poles 74'N enclose the areas forming the magnetic poles 74'S, so that the areas forming the magnetic poles 74'N form a kind of coherent grid, between which the areas forming the magnetic poles 74'S are arranged in the form of isolated islands.
  • a rotational and a linear translatory drive of the actuator 50 is possible in that both a first primary part structure 80R and a second primary part structure 80L are provided, both of which are arranged in succession in the longitudinal direction 78 in the same way as in the preceding two exemplary embodiments and are constructed in the same way as described in connection with the first exemplary embodiment, but in this case directly adjoin one another in the longitudinal direction 78.
  • the first primary part structure 80R with the alternating poles 74'N and 74'S in succession in the azimuthal direction 76, enables the actuator 50 to be driven in rotation, while the second primary part structure 80L enables the actuator 50 to be linearly displaced in the longitudinal direction 78 on account of the alternating ones in the longitudinal direction 78 Magnetic poles 74'N and 74'S enables
  • the uniform and continuous secondary part structure 70 'thus makes it possible to arrange the primary parts 80R and 80L immediately adjacent to one another and thus to avoid a distance between the primary part structures 80R and 80L which corresponds at least to the feed path V in the direction of the longitudinal axis 54, so that the third exemplary embodiment of the invention Drive unit is still shorter by the feed path V of the actuator 50 in the direction 78 than the first and second exemplary embodiments, but opens up the possibility of using the primary part structures 80R and 80L provided in the first and second exemplary embodiments.
  • a secondary part structure 70 ′′ is provided which has magnetic poles 74 ′′ N and 74 ′′ S arranged next to one another in the manner of a checkerboard, each of the magnetic poles 74 ′′ being formed by a secondary part element 72 ′′.
  • the actuator 50 is thus provided with successively arranged magnetic poles 74 ′′ both in the azimuthal direction 76 and in the direction 78 parallel to the longitudinal axis 54, which overall form the secondary part structure 70 ′′.
  • the secondary part structure 70 does not necessarily have to have rectangular magnetic poles 74", but can also be designed with differently shaped magnetic poles, each symmetrical to intersection points M of a network structure which is uniform both in the azimuthal direction 76 and in the direction 78, so that the intersection points M have the same distance dimensions from one another both in the azimuthal direction 76 and in the longitudinal direction 78.
  • Two primary part structures 801 and 8011 are provided for driving such a secondary part structure 70 ′′ both with respect to a rotation about the longitudinal axis 54 and a displacement in the longitudinal direction 78.
  • Each of these primary part structures 801 and 8011 comprises magnetizable poles 841 and 8411, respectively, which run on a circular cylindrical surface coaxial with the longitudinal axis 54 such that, as shown in FIG. 7, the magnetizable poles 841 of the primary part structure 801 are parallel to one another and obliquely in the development to the longitudinal direction 78 and obliquely to the azimuth direction 76, for example along a connecting line between the center points M of the network structure in a direction 881 which forms an acute angle with the longitudinal direction 78 and the azimuth direction 76 in the development.
  • the poles 841 are further arranged in a direction 891 successively with alternating polarity.
  • the poles 84 thus act on the magnetic poles 74 ′′ opposite them in such a way that one pole 841 of the primary part structure 801 interacts with a number of successive magnetic poles 7411 of the secondary part structure 70 ′′ in the direction 881, as a result of which a force F in the direction acts on the actuator 50 891 acts, which can be broken down into a force FL, which is parallel to the longitudinal direction 78 and a force FA, which acts parallel to the azimuthal direction 76.
  • the secondary part structure 8011 is mirror-symmetrical to a mirror plane S running perpendicular to the longitudinal axis 78 like the secondary part structure 801, but with the difference that the directions 8811 and 8911 run transversely to the directions 881 and 891 and thus the resulting force FII acts transversely to the force FI and thus the forces FL I and FL II as well as FA I and FA II are directed parallel to one another and can therefore act in opposite or in the same direction.
  • the described solution according to FIGS. 6 and 7 allows the actuator 50 to be operated in such a way that it can be rotated or displaced linearly in one direction. It is even more advantageous to provide a total of four primary substructures corresponding to the primary substructures 801 and 8011, so that a total of forces FPI, -FPI, FPII, -FPII can be generated, with which a stationary actuator, which is also controlled by the direct drive, can be implemented in a favorable manner can be held fixed in this position by the direct drive.
  • a fifth exemplary embodiment shown in FIG.
  • the secondary part structure 70 is designed in the same way as in the fourth exemplary embodiment, but in addition the primary part structure 80" is also designed accordingly, that is to say that primary part elements 82 "arranged next to one another in a checkerboard pattern are developed. are provided, which each form individual magnetizable poles 84 ", which then form successive rows with alternating magnetization 84" N and 84 "S both in the direction 78 and in the direction 76.
  • the individual primary part elements 82 ′′ can thus be controlled individually in a suitable manner in order to move the actuator 50 in the direction 76, that is to say in the form of a rotation about the longitudinal axis 54 and / or a linear movement in the direction 78, that is to say parallel to the longitudinal axis 54 move.
  • the illustrated solution according to FIG. 8 functions even better if the pole pitch of the primary part structure 80 "in the azimuthal direction 76 and the longitudinal direction 78 is smaller than the pole pitch of the secondary part structure 70".
  • the bearing surfaces 62 'of the bearing 56 provided on the actuator 50 and the bearing surfaces 66' of the bearing 58 have a diameter which corresponds to that of the outer surface 60 "of the secondary part structure 70", so that there is also the possibility of using to drive the area of the actuator having the secondary part structure 70 "into the bearing receptacles 64 in order to realize the maximum possible feed path V of the actuator 50.
  • This also eliminates the need for a distance between the ends 81 of the primary part structure 80 facing the bearings 56, 58," see above that the bearing receptacles 64, 68 can directly adjoin the primary part structure 80 ".
  • two secondary part structures 70 I and 70 II are provided, which are constructed from secondary part elements 72 I and 72 II, the secondary part elements 72 I and 72 II being strip-shaped poles 74 I and 74 II have, which, as shown in particular in Figure 11, extend in the development in longitudinal directions 77 I and 77 II, which extend obliquely both to the longitudinal direction 78 and obliquely to the azimuthal direction 76.
  • the longitudinal directions 77 I and 77 II of the secondary part structures 70 I and 70 II are preferably arranged such that the longitudinal directions 77 I and 77 II are mirror-symmetrical to the mirror plane S and form an angle W1 with one another which is between 0 and 180 °, preferably in a range between about 30 ° and about 150 °, more preferably in a range between about 60 ° and about 120 °.
  • Both the poles 741 and the poles 7411 are arranged in succession in the secondary part in such a way that successive poles 741 or 7411 each have a different magnetization or can be magnetized differently, so that a pole 74IN or 74IIN is followed by a pole 74IS or 74IIS.
  • secondary part structures 701 and 7011 from adjacent poles 741 and 7411 with alternating magnetization or alternating magnetizability is known from the construction of linear motors.
  • secondary part structures 701 and 7011 to primary part structures 801 and 8011, which are also composed of primary part elements 821 and 8211 with strip-shaped poles 841, 8411, which are parallel to longitudinal directions 881 and 8811 extend, wherein the longitudinal directions 881 and 8811 are mirror-symmetrical to the mirror plane S and extend at an angle W2 to each other, which is also between 0 and 180 °, preferably of the same order of magnitude as the angle W1, but can differ from the angle W1 by to reduce the torque ripple.
  • the longitudinal directions 881 and 8811 run obliquely to the longitudinal direction 78 and obliquely to the azimuthal direction 76.
  • Each of the longitudinal directions 881 and 8811 is preferably inclined by approximately the same angle with respect to the longitudinal direction 78, but in a different direction.
  • Each of the primary substructures 801 and 8011 now interacts with the corresponding secondary substructure 701 or 7011 in such a way that, through the sole interaction of the respective primary substructure 801 or 8011 with the corresponding secondary substructure 701 or 7011, both a rotationally driving effect and a translationally displacing effect arises.
  • the force effects between the primary part structure 801 and the secondary part structure 701 as well as the primary part structure 8011 and the secondary part structure 7011 can be combined with one another by means of opposing control, so that either rotationally acting forces or translationally acting forces can be at least partially compensated for or completely eliminated , so that the actuator 50 can thus be moved both rotationally and linearly translationally, as already described in connection with the fourth exemplary embodiment according to FIGS. 6 and 7.
  • poles 841, 8411 of the primary part structures 801 and 8011 attract and fix corresponding poles 741 and 7411.
  • a first position detection unit 110 is provided, which preferably detects, coaxially to the longitudinal axis 54, a position of a central region 112 of an end face 114 of the actuator 50, which is for example the end face that corresponds to Chuck 18 or the turret carrier 30 is arranged opposite.
  • the first position detection unit 110 is designed such that it interferometrically detects the distance to the area 112.
  • At least one second position detection unit 120 is provided, which detects a position detection structure 122 on the front side 114 of the actuator 50.
  • the second position detection unit 120 is preferably designed such that it is able to detect the position detection structure 122 in different positions of the actuator 50 in the longitudinal direction 78 and independently of these positions of the actuator 50, so that by scanning the position detection structure 122, for example of structural elements 124 with different reflectivity by optical means the second position detection unit 120, the rotational position of the actuator 50 can be detected continuously and independently of the displacement of the actuator 50 in the longitudinal direction 78.
  • both a movement in the azimuthal direction 76 and a movement in the longitudinal direction 78 can be detected in that one in the azimuthal direction 76 and the longitudinal direction 78 and coaxial to the longitudinal axis 54 of the cylindrical surface 130, the position detection structure 122 'is provided with structural elements 132, which differ in their detectability from intermediate regions 134 lying between the structural elements 132 and delimited by a transition region 136, in the simplest case an edge with respect to the regions 134 surrounding them are.
  • the structural elements 132 can be distinguished in a variety of ways from the regions 134 surrounding them. In the simplest case, the structural elements 132 are elevations or depressions with respect to the areas 134 surrounding them, which can be detected optically or inductively or capacitively, for example.
  • a position detection structure 122 'formed by the structural elements 132 and the areas 134 surrounding them is scanned, for example by the position detection unit 120' by simultaneously scanning three touch points TP1, TP2, TP3, wherein the tactile points TP1 to TP3 are to be created in such a pattern relative to one another that when the tactile point TP1 lies on one of the structural elements 132, the tactile points TP2 and TP3 into the structural elements 132 surrounding areas 134 are such that the tactile point TP2 is shifted in the longitudinal direction 78 with respect to the tactile point TP2 and the tactile point TP3 in the azimuthal direction 76 is shifted with respect to the tactile point TP1, as shown in FIG. 13.
  • the tactile point TP3 moves between the structural elements 132 without the position detection unit 120 'making changes, in particular to transition areas 136, detects, while the touch points TP1 and TP2 each pass from the area 134 surrounding a structural element 132 to the structural elements 132 and in turn continuously pass from this to an area 134 surrounding the structural element 132 and thus the transition areas 136 and consequently continuously at the touch points TP1 and TP2 Changes corresponding to the distance between the structural elements 132 and the movement of the actuator 50 in the direction 78 can be determined.
  • a position detection unit 120' of the position detection device 100 ' can be changed by the changes at the touch points TP1 to TP3 recognize that actuator 50 is moving in direction 78.
  • Structural elements 132 of this type can be designed in the most varied of ways. As shown in FIG. 14, it is possible to design the structural elements 132 as cubes or cuboids, which stand out from the regions 134 surrounding them, the structural elements designed as cubes or cuboids having a surface 138 whose edge lengths are A and B and the areas extending between the structural elements have a distance a in the direction of the edge length A and a distance b in the direction of the edge length B, the distance a preferably being equal to the edge length A and the distance b being equal to the edge length B.
  • the structural elements 132 ' are designed as pyramid bodies, which for example can also adjoin one another with their base areas, so that the regions 134 surrounding the pyramid bodies 132' ultimately only have a linear extension.
  • the structural elements 132 "are depressions which, starting from a surface area 134" surrounding them, extend into the material forming the surface 130.
  • the position detection structure 122 or 122 ' can be arranged on the actuator 50 in a wide variety of ways. For example, as shown in FIG. 18, it is conceivable to provide the position detection structure 122 'in a central region of the actuator 50, for example in a region in which the position detection structure 122' both partly the first secondary part structure 70A and partly the second secondary part structure 70L overlaps, the position detection unit 120 'being arranged such that it is arranged on the stator housing 52' between the first primary part structure 80R and the second primary part structure 80L and is therefore able to position the position detection structure 122 'in a manner between the primary part structures 80R and 80L area to be detected for detection.
  • the position detection structure 122 Since the position detection structure 122 'has only deviations of less than 1 mm from the surface 130, the position detection structure can be arranged such that it overlaps the secondary part structures 70R and 70L without negatively affecting their effectiveness. It is thus also possible to arrange the position detection structure 122 'in such a way that parts of it - depending on the position of the actuator 50 - are either surrounded by the primary part structure 80R or the primary part structure 80L, without the interaction between the respective primary part structure 80R, 80L and the corresponding secondary part structure 70R or 70L or to negatively influence an air gap between the respective primary part structure 80R, 80L and the corresponding secondary part structure 70R or 70L.
  • FIG. 19 which corresponds to the fifth exemplary embodiment according to FIG.
  • the position detection structure 122 ' is arranged in a region of the secondary part structure 70 "which is completely enclosed by the primary part structure 80" and which The primary part structure 80 "only has a recess in order to be able to arrange the position detection unit 120 'in such a way that it is able to detect the position detection structure 122' in all positions of the actuator 50, in particular in all positions of the actuator 50 in the longitudinal direction 78 ,
  • the fact that the actuator 50 has an appreciably large diameter is used to the effect that the actuator 50 is provided with a recess 150 which extends from the end face 114 and surrounds an interior 148, whose cylindrical wall surface 152, which is coaxial with the central axis 54, forms the cylinder surface 130 on which the position detection structure 122 'is arranged.
  • the position detection unit 120 ' is arranged on an arm 154 which extends into the recess 150 and thus positions the position detection unit 100' in such a way that it is independent of the displacement of the actuator 50 in the longitudinal direction 78 and also independent of the rotation of the actuator 50 in the azimuthal direction 76 is still able to detect the structural elements 132 of the position detection structure 122 'and the areas 134 surrounding them and thus to detect both the position of the actuator 50 in the longitudinal direction 78 and the corresponding rotational position of the actuator 50.

Abstract

L'invention concerne une unité d'entraînement conçue pour la production industrielle, en particulier pour des machines-outils, comprenant un logement de palier et un actionneur qui s'étend en direction d'un axe longitudinal, peut se déplacer dans la direction longitudinale par rapport au logement de palier, dans deux paliers disposés à une distance l'un de l'autre dans une direction longitudinale parallèle à cet axe longitudinal et fixés sur ledit logement de palier, et qui est monté de façon à pouvoir tourner autour de l'axe longitudinal, par rapport audit logement de palier. L'objectif de cette invention est de configurer cette unité d'entraînement de la manière la plus avantageuse. A cet effet, des éléments partiels secondaires sont disposés sur l'actionneur pour l'entraîner linéairement de façon qu'il effectue un mouvement de rotation autour de l'axe longitudinal, ainsi que pour l'entraîner linéairement de façon qu'il effectue un mouvement de translation dans la direction longitudinale. Ces éléments partiels secondaires forment au moins une structure partielle secondaire pouvant servir à induire un mouvement de rotation, et au moins une structure partielle secondaire pouvant servir à induire un mouvement de translation. En outre, des éléments partiels primaires sont disposés autour de l'actionneur pour l'entraîner linéairement de façon qu'il effectue un mouvement de rotation autour de l'axe longitudinal, ainsi que pour l'entraîner linéairement de façon qu'il effectue un mouvement de translation dans la direction longitudinale. Ces éléments partiels primaires forment au moins une structure partielle primaire pouvant servir à induire un mouvement de rotation, et au moins une structure partielle primaire pouvant servir à induire un mouvement de translation.
PCT/EP2003/014503 2002-12-27 2003-12-18 Unite d'entrainement WO2004058448A2 (fr)

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AU2003290085A AU2003290085A1 (en) 2002-12-27 2003-12-18 Drive unit

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DE10261796A DE10261796A1 (de) 2002-12-27 2002-12-27 Antriebseinheit
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Cited By (4)

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WO2009109935A3 (fr) * 2008-03-06 2010-02-04 Itw Limited Actionneur électromagnétique biaxial
CN101167235B (zh) * 2005-04-25 2011-03-02 西门子公司 带有一混合式磁阻电动机的组合式驱动装置
WO2018106910A1 (fr) * 2016-12-07 2018-06-14 Mts Systems Corporation Actionneur électrique
CN110431733A (zh) * 2017-03-14 2019-11-08 Arol公司 改进的旋转-线性致动组件

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DE102005029908A1 (de) * 2005-06-28 2007-01-04 Wolfgang Kurt Drees Energieübertragung bei rundschaltenden Maschinen
EP2045036A1 (fr) * 2007-10-04 2009-04-08 Siemens Aktiengesellschaft Dispositif de changement d'outil à l'aide d'un actionneur de levage à pivot à entraînement direct
DE102014109661B4 (de) * 2014-07-10 2021-12-30 Föhrenbach GmbH Hochfrequenz-Bohrspindel
DE102022106169A1 (de) 2022-03-16 2023-09-21 Fertig Motors GmbH Dreh-Hub-Aktuator

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US3441819A (en) * 1966-04-18 1969-04-29 Superior Electric Co Reciprocating linear motor
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CN101167235B (zh) * 2005-04-25 2011-03-02 西门子公司 带有一混合式磁阻电动机的组合式驱动装置
WO2009109935A3 (fr) * 2008-03-06 2010-02-04 Itw Limited Actionneur électromagnétique biaxial
US8393225B2 (en) 2008-03-06 2013-03-12 Itw Limited Bi-axial electromagnetic actuator
WO2018106910A1 (fr) * 2016-12-07 2018-06-14 Mts Systems Corporation Actionneur électrique
US10892078B2 (en) 2016-12-07 2021-01-12 Mts Systems Corporation Electric actuator
CN110431733A (zh) * 2017-03-14 2019-11-08 Arol公司 改进的旋转-线性致动组件

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WO2004058448A3 (fr) 2004-09-16
AU2003290085A8 (en) 2004-07-22
AU2003290085A1 (en) 2004-07-22

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