WO2008141613A2 - Entraînement linéaire - Google Patents

Entraînement linéaire Download PDF

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Publication number
WO2008141613A2
WO2008141613A2 PCT/DE2008/000812 DE2008000812W WO2008141613A2 WO 2008141613 A2 WO2008141613 A2 WO 2008141613A2 DE 2008000812 W DE2008000812 W DE 2008000812W WO 2008141613 A2 WO2008141613 A2 WO 2008141613A2
Authority
WO
WIPO (PCT)
Prior art keywords
linear drive
belt
drive according
spreader
band
Prior art date
Application number
PCT/DE2008/000812
Other languages
German (de)
English (en)
Other versions
WO2008141613A3 (fr
Inventor
Harald Grab
Dietmar Rudy
Original Assignee
Schaeffler Kg
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Schaeffler Kg filed Critical Schaeffler Kg
Publication of WO2008141613A2 publication Critical patent/WO2008141613A2/fr
Publication of WO2008141613A3 publication Critical patent/WO2008141613A3/fr

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
    • F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
    • F16H19/064—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member the flexible push member uses a bended profile to generate stiffness, e.g. spreading belts

Definitions

  • the invention relates to a linear drive with at least one spreader, which is connected at a first end with a drive means in the form of a motor-driven winding spool and a second end with a driven means, wherein the spreader in the wound state on the winding spool flat and unwound Condition for transmitting tensile and compressive forces from the reel spool to the driven means is curved, wherein an upper side of the spreader a convex and a bottom of the spreader has a concave curvature, as well as with a position detecting means for detecting the position of travel of the spreader.
  • a linear drive in the form of a traction mechanism drive in which a spreading band is used to exert tensile and compressive forces.
  • a spreading band is understood to mean a belt cambered in the transverse direction which, when left to itself, bulges or curls around an axis parallel to its longitudinal axis, so that the top of the spreading band is convex and the underside of the spreading band is concave.
  • Such bands made of metal or plastic, for example have due to their curvature on a considerable compressive and bending stiffness, as they are other than a flat band and shear stiff, the latter can only be charged to train.
  • the operating principle of expansion bands has long been known from the field of roll-up tape measures and it has already been proposed to use this principle for linear drives and for belt drives.
  • DE 10 2005 052 059 A1 discloses a linear drive for opening and closing a garage door, in which a spreading belt exerts tensile or compressive forces on a garage door via a transmission of relatively complicated design.
  • a position detection device for detecting the path position of the spreading belt is not provided in this linear drive.
  • a Linearrange- is module with a linearly mounted on a guide rail guide carriage described, which is in driving connection with a drive motor by a connecting element in the form of a spreader.
  • a position detection device for detecting the path position of the spreading belt is not provided in this linear guide module, so there is room for improvement in this regard.
  • DE 10 2005 048 263 A1 a generic linear drive is finally known, in which the spreading belt exerts pressure or tensile forces on an actuator in the form of a pneumatic cylinder.
  • a position detection device in the form of an electrical incremental encoder detects the rotation of the reel spool and transmits a position and / or speed signal to a controller.
  • the position detection device is integrated in the winding spool and arranged for example above the drive motor or forms part of the motor.
  • a disadvantage of the known position detection devices for linear drives with Sp Drursb Sn is that the accuracy of stationary mounted sensors, such as inductive sensors, the distance to the measuring point on the moving spread band as well as the environmental conditions, such as space, interference fields or other factors.
  • stationary mounted sensors such as inductive sensors
  • the distance to the measuring point on the moving spread band as well as the environmental conditions, such as space, interference fields or other factors.
  • environmental conditions such as space, interference fields or other factors.
  • the invention has for its object to provide a linear drive, which eliminates the disadvantages.
  • Another object of the invention is to improve a known from DE 10 2006 059 187 linear drive with respect to the detection of the position of a defined point on the spread of the linear drive.
  • the invention is based on the finding that the stated object can be achieved by providing the expansion band itself with a signaling device which cooperates with a measuring sensor.
  • the invention is therefore according to the features of the main claim of a linear drive with at least one spreader, which is connected to a first end with a drive means in the form of a motor-driven winding spool and with a second end with a driven means, wherein the spreader wound in the Condition on the winding spool is flat and unwound for transmitting tensile and compressive forces from the reel spool to the driven means, wherein an upper side of the spreader has a convex and a bottom of the spreader a concave curvature, as well as with a position detection device for detecting the path position of the spreading band.
  • the surface of the spreader belt is provided with at least one signaling device of the position detection device.
  • the position of the spreader can be detected directly and very accurately.
  • a direct position or distance detection of the spread band or its surface offers the advantage that negative influences and measurement errors can be eliminated as far as possible.
  • the inventive design can be realized in the simplest way and it can already be existing generic linear drive devices also retrofit with the system according to the invention. In this case, a wide variety of types of signaling devices and the corresponding position detection devices can be realized. It is particularly advantageous to equip a linear guide module known from DE 10 2006 059 187 with the expanding strap designed according to the invention, since the travel position determination of the guide carriage connected to the second end of the expanding strap designed according to the invention, which constitutes the driven element, can be made even more precisely than heretofore.
  • the signaling device as a harmonic or disharmonious sequence of introduced into the spread and its topography wave-like dents in the form of recesses, holes or notches, each with a circular, oval or square basic shape, which in accordance with an example of optical Sensor to be detected.
  • the holes are each made in the zenith of the top of the arched expansion band.
  • the notches are each formed in the lateral edge of the spreader.
  • the signal-generating device is designed as a harmonic or disharmonic sequence of scale markings applied to the spread band, which have a brightness deviating from the surface of the spread band.
  • the scale marks for electromagnetic waves have a different reflectivity than their immediate surroundings.
  • the signal-generating device is formed by a magnetizable coating in the form of a magnetic strip applied to the surface of the spreading belt.
  • a magnetic strip may for example consist of a flexible plastic material, which has a magnetizable coating and is glued or deposited on the surface of the spreader strip.
  • the signaling device of the spreading belt is formed by a strip-shaped sensor element applied on the surface of the spreading belt, which cooperates with a position magnet at the second end of the spreading belt and with a magnetorestrictive sensor integrated in the winding coil, which sensor Runtime detected a signal of the position magnet at the second end of the spread band.
  • the position detection device is an optical sensor.
  • This embodiment can be supplemented by the fact that a light source in the region of the underside of the spreader and the optical sensor in the region of the top of the spreader is arranged. In reversal of these arrangement conditions, however, it can also be provided that a light source in the region of the upper side of the spreading band and the optical sensor in the region of the underside of the spreading band are arranged.
  • these refinements of the invention can be supplemented by the fact that the optical sensor is designed as a scanner laser.
  • the position detection device comprises an inductively measuring sensor. It is also within the scope of the invention to provide that the position detection device comprises a capacitive measuring device. Furthermore, it can be provided that the spreader belt is connected to an ultrasound probe as a signaling device.
  • an embodiment of the invention is particularly advantageous, which is characterized in that the output element of the linear drive is a carriage according to DE 102006059 187.
  • Figure 1 is a schematic view of a first embodiment of a linear drive according to the invention from the side;
  • FIG. 2 shows the linear drive according to FIG. 1 seen from above
  • FIG. 3 shows the expansion band of the linear drive according to FIGS. 1 and 2 in cross section and with two position detection devices
  • Figure 4 is a schematic view of a second embodiment of a linear drive according to the invention from above;
  • FIG. 5 shows the spreading band of the linear drive according to FIG. 4 in cross-section and with a position detection device
  • FIG. 6 is a schematic view of a third embodiment of a linear drive according to the invention from above;
  • FIG. 7 shows the expansion band of the linear drive according to FIG. 6 in cross section and with a position detection device;
  • Figure 8 is a schematic view of a fourth embodiment of a linear drive according to the invention seen from the side;
  • FIG. 9 shows the linear drive according to FIG. 8 from above
  • FIG. 10 shows the expansion band of the linear drive of FIGS. 8 and 9 in FIG.
  • FIGS. 1 to 10 a partial view of a linear drive 1 according to the invention is shown schematically in each case from the side, from above or in cross section, the same reference numerals being used for the same components.
  • the linear drive 1 consists essentially of a spreader belt 2, which can be wound with a first end 3 onto a drive means in the form of a motor-driven winding spool 4 and unwound therefrom, and which is connected to a second end 5 with a drive means, not shown , which can be loaded and actuated by the spreader 2 on train or on pressure, for example, on guide rails can be moved.
  • the first end 3 of the spreader 2 is rotatably connected to the reel spool 4, for which purpose this first end 3 of the spreader belt 2 is inserted into a slot 6 in the reel spool 4 and is non-positively connected thereto.
  • the spreader 2 is flat in the wound state and curved in the developed state for transmitting tensile and compressive forces from the reel spool 4 to the driven means, wherein a top 7 of the spreader 2 has a convex and a bottom 8 of the spreader 2 a concave curvature ,
  • the surface 9 of the expanding belt 2 is provided with at least one signaling device 10.
  • the signaling device 10 cooperates in each case with a respectively only indicated position detection device 11, which detects the signals of the signal detection device 10 and a control device, such as an electronic control and computer unit, supplies. From the signals of the spreading band 2 detected by the position detection device 11, the linear path position of the spreading belt 2 or the end provided with the output means and thus of the output means is detected and determined so that the control device acts in a corrective manner if necessary by the winding coil 4 passing through a motor, not shown, is rotated.
  • the direct detection of the position of the spreader 2 by the applied on the surface 9 of the spreader 2 signaling device 10 can be the simplest and most accurate way to calculate the respective position of the second end 5 of the spreader 2, so that disturbing factors, such as angle changes, expansions and the like off can be.
  • FIGS. 1 to 3 show a first exemplary embodiment of a linear drive 1 according to the invention.
  • the surface 9 of the spreader belt 2 has a sequence of dents 12 which are introduced into the spreader belt 2 and whose topography has a wave-like change in the form of holes 13 and notches 14 which form the signal-generating device 10.
  • the holes 13 are each introduced into the zenith of the domed top 7 and break through the spreader 2 respectively.
  • the notches 14, of which only three notches 14 are shown in FIG. 1, are formed in the lateral edge 15 of the spreader belt 2, wherein the notches are formed over the entire length of the spreader belt 2 in the edge 15.
  • the sequence of notches 14 forms a wave-like pattern.
  • the dents 12 are each introduced as a harmonic sequence in the expansion band 2. However, it is within the scope of the invention to arrange the dents 12 in a disharmonic sequence. It is also possible to introduce either only holes 13 or notches 14 in the expansion band 2. Their basic form may differ from the configuration shown. Instead of circular holes, those with an oval or angular basic shape can also be shaped into the expansion band 2.
  • the dents 12 and their position are respectively detected by the position detection device 11.
  • this is an optical sensor 16, which detects light / dark changes in the spread band 2 traveling along the sensor 16.
  • an only indicated light source 17 is arranged in the region of the bottom 8 of the spreader 2, wherein the light source 17 can radiate light through the holes 13 toward the optical sensor 16.
  • FIGS. 4 and 5 show a second exemplary embodiment of a linear drive 1 according to the invention from above and in cross-section, in which the signal-generating device 10 of the expanding belt 2 is designed as an axial sequence of scale markings 18 applied to the expanding belt 2, each of which has a surface 9 of the spread band 2 have different brightness.
  • These scale markings 18 are dark lines 19, which act similarly to a bar code and can be designed accordingly, ie by a sequence of different widths or equal widths lines 19, which provide the optical sensor 16 also a corresponding signal.
  • the different bar widths of the lines 19 also offer the possibility of determining the current direction of movement of the spread belt 2. It is also possible to design the scale marks 18 as dots or as other symbols.
  • the optical sensor 16 may be a commercially available scanner laser.
  • FIGS. 6 and 7 show a third exemplary embodiment of a linear drive 1 according to the invention from above and in cross-section, in which the signal-generating device 10 of the expanding belt 2 is formed by a magnetizable coating in the form of a glued-on magnetic strip 20 applied to the surface 9 of the spreading belt 2.
  • the information contained in the magnetizable magnetic strip 20 can be detected by various types of position detection devices 11.
  • a position detection device 11 in the form of a magnetic strip reader 21 which is known per se and only indicated is indicated.
  • FIGS. 8 to 10 show a fourth exemplary embodiment of a linear drive 1 according to the invention from the side, from above or in cross-section, in which the signaling device 10 of the expanding belt 2 is formed by a strip-shaped sensor element 22 applied to the surface 9 of the spreading belt 2 is, which cooperates with a position magnet 23 at the second end 5 of the spreader 2 and with a magnetorestrictive sensor 24 integrated in the reel 4.
  • This magneto-restrictive sensor 24 detects the propagation time of a signal of the position magnet 23 at the second end 5 of the expanding belt 2.
  • the sensor element 22 which may also be formed as a magnetic coating, serves to guide magnetic waves from the position magnet 23 to the magnetorestrictive sensor 24 in the winding bobbin 4th
  • the surface structure of the dimples 12 is scanned from Figures 1 to 3 by a corresponding, inductively measuring sensor. The resulting signal is converted into a position specification.
  • a capacitive measurement is also possible.
  • a conductive coating on the surface 9 of the spreader strip 2 serves as a capacitor surface, which is applied in an insulating manner to the spreader strip 2.
  • the ambient air is the Dielekrikum.
  • an ultrasound probe is attached to the expansion band 2 or brought into contact with it, whose position is monitored by a position measuring system of a control unit.
  • the principle of resistance measurement can be used.
  • the measure for the extended spread-band length L is derived via the electrical resistance between the second end 5 of the spreading band 2 and the conductive winding coil 4.
  • the spread band 2 has a specific electrical resistance.
  • the spreader strip 2 preferably consists of a band of spring steel, which returns to its curved shape after unwinding.
  • a spreading belt 2 which consists of plastic.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Linear Motors (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Abstract

Entraînement linéaire (1) comportant au moins une bande d'écartement (2) connectée avec une première extrémité (3) à un élément d'entrée sous forme de bobine d'enroulement (4) entraînée par moteur, et avec une deuxième extrémité (5) à un élément de sortie. A l'état enroulé, la bande d'écartement (2) est disposée à plat sur la bobine d'enroulement (4), et à l'état déroulé, la bande d'écartement (2) est courbée pour la transmission de forces de traction et de compression de la bobine d'enroulement (4) vers l'élément de sortie. Un côté supérieur (7) de la bande d'écartement (2) présente une courbure convexe et un côté inférieur (8) de la bande d'écartement (2) présente une courbure concave. L'entraînement linéaire comporte également un dispositif de détection de position (11) destiné à détecter la position de trajectoire de la bande d'écartement (2). Pour simplifier et améliorer la détermination de la position de trajectoire de la bande d'écartement, la surface (9) de la bande d'écartement (2) est pourvue d'au moins un dispositif d'émission de signal (10) du dispositif de détection de position (11).
PCT/DE2008/000812 2007-05-23 2008-05-09 Entraînement linéaire WO2008141613A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200710024033 DE102007024033A1 (de) 2007-05-23 2007-05-23 Linearantrieb
DE102007024033.5 2007-05-23

Publications (2)

Publication Number Publication Date
WO2008141613A2 true WO2008141613A2 (fr) 2008-11-27
WO2008141613A3 WO2008141613A3 (fr) 2009-02-19

Family

ID=39766975

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2008/000812 WO2008141613A2 (fr) 2007-05-23 2008-05-09 Entraînement linéaire

Country Status (2)

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DE (1) DE102007024033A1 (fr)
WO (1) WO2008141613A2 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010052498A1 (de) * 2010-11-26 2012-05-31 Martin Högenauer-Lego Mechanik für ein Spreizband

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE8507512U1 (de) * 1985-03-14 1985-05-23 Knorr-Bremse GmbH, 8000 München Positionsanzeigevorrichtung für einen Kolben
JPS60150995A (ja) * 1984-01-17 1985-08-08 株式会社富士電機総合研究所 ロボツト用長尺ア−ム装置
EP0181415A1 (fr) * 1983-05-10 1986-05-21 Knorr-Bremse Ag Dispositif de positionnement pour vérin sans tige
DE102005048263A1 (de) * 2005-10-08 2007-04-12 Festo Ag & Co Aktor mit einem Spreizband

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3835064C1 (fr) 1988-10-14 1990-05-23 Hans Armin Dr. 8000 Muenchen De Schmid
DE102005052059A1 (de) 2004-11-22 2006-07-20 Kacu Systemic Gmbh Linearantrieb
DE102006059187A1 (de) 2006-12-15 2008-06-19 Schaeffler Kg Linearführungsmodul umfassend einen Führungswagen

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0181415A1 (fr) * 1983-05-10 1986-05-21 Knorr-Bremse Ag Dispositif de positionnement pour vérin sans tige
JPS60150995A (ja) * 1984-01-17 1985-08-08 株式会社富士電機総合研究所 ロボツト用長尺ア−ム装置
DE8507512U1 (de) * 1985-03-14 1985-05-23 Knorr-Bremse GmbH, 8000 München Positionsanzeigevorrichtung für einen Kolben
DE102005048263A1 (de) * 2005-10-08 2007-04-12 Festo Ag & Co Aktor mit einem Spreizband

Also Published As

Publication number Publication date
WO2008141613A3 (fr) 2009-02-19
DE102007024033A1 (de) 2008-11-27

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