WO2015144348A1 - Dispositif actionneur, utilisation du dispositif actionneur et système comprenant un tel dispositif actionneur - Google Patents

Dispositif actionneur, utilisation du dispositif actionneur et système comprenant un tel dispositif actionneur Download PDF

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Publication number
WO2015144348A1
WO2015144348A1 PCT/EP2015/052193 EP2015052193W WO2015144348A1 WO 2015144348 A1 WO2015144348 A1 WO 2015144348A1 EP 2015052193 W EP2015052193 W EP 2015052193W WO 2015144348 A1 WO2015144348 A1 WO 2015144348A1
Authority
WO
WIPO (PCT)
Prior art keywords
expansion
force
expansion unit
spring means
spring
Prior art date
Application number
PCT/EP2015/052193
Other languages
German (de)
English (en)
Inventor
Thomas Schiepp
Original Assignee
Eto Magnetic Gmbh
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 Eto Magnetic Gmbh filed Critical Eto Magnetic Gmbh
Priority to EP15707046.7A priority Critical patent/EP3123535A1/fr
Publication of WO2015144348A1 publication Critical patent/WO2015144348A1/fr

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
    • H—ELECTRICITY
    • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N—ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10N35/00—Magnetostrictive devices

Definitions

  • the present invention relates to an actuator device according to the preamble of patent claim 1. Furthermore, the present invention relates to a use of such an actuator device and a system comprising such an actuator device in conjunction with a control partner, this arrangement being associated with return means for the expansion unit.
  • MSM Magnetic Shape Memory
  • FGL shape memory alloy
  • an MSM (FGL) crystal body usually made on the basis of a NiMnGa alloy, is controlled by a magnetic field generated by an energized coil.
  • magnetic flux of the MSM crystal body as expansion unit performs an expansion movement whose stroke is usually in a direction perpendicular to the direction of flow with the magnetic flux.
  • MSM-based actuators have fast switching times and high switching cycles (so-called switching cycle number, which for a crystal can include more than 400 million expansion processes).
  • MSM expansion units allow a typical expansion stroke in the order of about 4% to 6% based on a direction of extension of the crystal body along the direction of expansion (in the unexpanded state), which usually in In this direction, elongated crystal bodies are supported or fixed at their end opposite the working portion (front side) for maximum lifting utilization;
  • a stationary, stationary housing portion of the actuator device can serve.
  • a direct constructive-mechanical relationship with the described positioning functionality of the expansion unit is the possible use of generic actuator devices that are used for gripping or touching carry a gripping object or the like body.
  • a generic actuator device typically realized as a plurality of cooperating actuator devices of the generic type, traditionally known electromotive or pneumatic actuators for Greifment. Mit Spotifyfunktionalität to replace, again with the discussed advantages of short switching times and high, low-wear switching cycles.
  • the gripping object to be touched and taken along would then fill the role of the superordinate positioning partner and be mechanically contacted by the (at least one) actuator device for gripping or entrainment purpose.
  • MSM crystal bodies expandable in the generic manner by a magnetic flux have the property of not performing any automatic (mechanical) contraction back to the non-expanded (contracted) state after completion of the magnetic flux; rather, the expansion unit initially remains in its expanded state without further mechanical interference.
  • a further problem of the generic actuator technology in particular in the case of a restoring unit cooperating with the expansion unit and returning it after completion of the magnetic flux, lies in the fact that especially at high switching speeds and correspondingly fast or strongly force-loaded return parts of the expansion unit disadvantageous bouncing or swinging (overshoot) of the expansion unit and restoring unit formed (about return spring) system.
  • a possible disadvantageous consequence is that the expansion unit briefly releases from its (rear) abutment and is then pushed by the return means against this abutment, with possible adverse consequences for the (usually brittle) crystal material of the MSM expansion unit and accordingly for life and service life ,
  • the object of the present invention is therefore to improve the actuator device according to the preamble of the main claim with regard to its operating characteristics, on the one hand to ensure a potentially permanent, continuous application of force to the control partner (realized as a gripping object, for example), even if there is no magnetic flux with the magnetic flux (more) takes place, which alike according to the object, the dynamic properties of the generic actuator device, in particular in cooperation with a provision of the expansion unit in the contracted initial condition causing return means can be improved without it to disadvantageous peel, impact and / or Vibration effects of the expansion unit relative to an abutment opposite the control partner comes.
  • the object is achieved by the actuator device having the features of the main claim; advantageous developments of the invention are described in the subclaims.
  • the biasing unit, the active section for the control partner opposite end, biasing and / or spring means are assigned so that in an unbiased by the magnetic flux operating state of the expansion unit, this can exert a force on the control partner.
  • a pushing or holding force will continue to act on the gripping object, even if (with magnetic flux deactivated) no (further) expansion of the crystal takes place and accordingly from the crystal itself no further force can act on the control partner.
  • This function is then taken over by the other end acting biasing or spring means, which provide the invention for a continued push or holding force.
  • biasing or spring means further effect that in the case of dynamic expansion and contraction (by further education and advantageous associated return means, such as a return spring) resulting vibrations or bounce effects can be effectively damped (cushioned): namely, occurs in Case of recovery by restoring means after expansion, a (typically short and thus strongly kraftbeetzte) contraction, this does not lead, as disadvantageous in the prior art, to a potentially materially harmful impact of MSM crystal body on the active section opposite abutment, but rather take the here
  • biasing or spring means such a return and impact pulse, so that a soft striking or reset takes place (especially if the biasing or spring means so used have only a limited stroke n and at the other end in turn stationary or stationary supported by a suitable housing bottom or the like. Abutment section).
  • the biasing or spring means may also be realized as a potentially solid body of elastomeric material such as rubber, silicone, or other plastic material; a concrete setting of priorities within the scope of the invention, for example for impact damping and / or continued application of force to the expansion unit, then decides on a respective suitable mechanical-structural implementation of the prestressing or spring means according to the invention.
  • this biasing or spring means according to the invention in the form of a plurality of (single) spring or damping elements, which then according to a respective application necessary effective strokes and the like. Rand technically also a layered arrangement of these Single elements may be advantageous.
  • biasing or spring means means to a stroke limitation of the spring or Dämpfungshub counter to the expansion movement.
  • pretensioning or spring means which are advantageously set up in the form of a mechanical length limitation or length device to a predetermined length and compression dimension of the pretensioning or spring means.
  • pretensioning or spring action also: damping effect
  • an actuator device which is improved with regard to both its damping and dynamic properties as well as with regard to continued application of force to / from an actuator is suitable for a large number of positioning, gripping and / or driving applications and in the manner according to the invention either isolated or, as a system in combination with an adjusting partner, can be converted into improved devices or systems.
  • FIG. 1 is a schematic longitudinal sectional view through an actuator device according to a first preferred embodiment, as it can be advantageously used as an assembly in the context of a gripping and / or driving device, and
  • FIG. 2 shows a schematic longitudinal sectional view through an actuator device according to a second embodiment of the invention, in which case the expansion unit is associated with resetting means designed as a spring.
  • Fig. 1 illustrates in the schematic longitudinal sectional view of the actuator device according to a first preferred embodiment of the invention.
  • An MSM elongated body 10 (in the plane of the figure in the upward direction) as an expansion unit acts in otherwise known manner Way together with a radially symmetrical enclosing coil unit 12, so that when they are energized a (in the plane of the figure horizontally extending) magnetic flux penetrates the expansion unit 10.
  • the expansion unit 10 acts together with a plunger unit 16, which with a front engagement end 18 for cooperation with an external control partner (not shown), such as a gripping object to be touched mechanically and thus gripping from an upper housing portion 20 of the device can be moved out.
  • an external control partner not shown
  • the crystal body (expansion unit) 10 engages a disc-shaped damping element 22 made of a polymeric material. This in turn is supported by a spiral compression spring 24 from an underlying housing bottom 26 of a lower housing portion 28 as an abutment.
  • the polymer body 22 is widened with respect to a radial diameter of the expansion unit 10 and is biased by an action of the compression spring 24 against a formed by a lower end face of the coil unit 12 annular shoulder 30 as a stop.
  • the gripping object even then by the application of force can be kept safe, even if the magnetic current is no longer present;
  • force such as holding power
  • the prerequisite for a very energy-efficient robotics can thus be created, namely by energizing the arrangement only for the actual purposes of movement (and not for a subsequent holding).
  • a further advantage of the device shown in Fig. 1 results from the fact that the bottom side, i. the expansion unit axially opposite, the (self-damping) polymer body 22 meets a bottom annular shoulder 32 as an opposite stop; In that regard, there is an effective stroke limitation of the biasing or spring means unit 22, 24 against the direction of expansion, ie in the plane of the figure of FIG. 1 downwards.
  • the spring force (by appropriate dimensioning of the spring constant) of the return spring 40 is set up so that the amount of this (resetting) spring force is greater than a Vorwoods- or spring force amount of (in the direction of expansion, ie directed upward in the plane) acting Biasing means 22, 24.
  • expansion unit 10 is now expanded along its direction of expansion in response to an energization of coil unit 12, the desired interaction with an actuating partner (external, not shown) can take place at the engagement-side end 18 of plunger unit 16. After completion of the energization then leads the (compressed by the expansion) return spring 40 via the plunger unit 16, the expansion unit 10 back into its contracted starting position. Even if such a process is highly dynamic, ie consists of a very rapid expansion and an equally rapid contraction, it nevertheless does not advantageously result in a potentially damaging or rebounding of the expansion unit 10 on the bottom-side abutment 26, since the intermediary bias or spring means 22, 24 provide for effective damping and cushioning of a (in the plane of the figure downwardly) impact pulse.
  • the actuator device claimed according to the invention is suitable for a multiplicity of possible application and use environments, wherein improved dynamical properties cooperate synergistically in the ergindungshunt advantageous manner with permanently enabled application of force to a cooperating control partner.

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  • Reciprocating, Oscillating Or Vibrating Motors (AREA)

Abstract

L'invention concerne un dispositif actionneur muni d'une unité d'expansion (10) présentant un matériau d'alliage magnétique à mémoire de forme (MSM), servant à coopérer avec un partenaire de réglage et exécutant, en réaction à un flux magnétique induit, un mouvement d'expansion le long d'une direction d'expansion. L'unité d'expansion est orientable sur le partenaire de réglage le long d'un axe longitudinal déterminé par la direction d'expansion et présente à une extrémité une section d'action (14, 18) destinée à exercer une force de réglage sur le partenaire de réglage, des moyens de précontrainte et/ou de contrainte élastique (22, 24) étant disposés sur l'autre extrémité de l'unité d'expansion, en particulier à l'opposé de la section d'action de sorte que l'unité d'expansion puisse exercer une force, en particulier une force de poussée, de réglage et/ou de maintien sur le partenaire de réglage et/ou puisse l'amortir, dans un état de fonctionnement non soumis au flux magnétique.
PCT/EP2015/052193 2014-03-27 2015-02-03 Dispositif actionneur, utilisation du dispositif actionneur et système comprenant un tel dispositif actionneur WO2015144348A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP15707046.7A EP3123535A1 (fr) 2014-03-27 2015-02-03 Dispositif actionneur, utilisation du dispositif actionneur et système comprenant un tel dispositif actionneur

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014104327.8 2014-03-27
DE102014104327.8A DE102014104327A1 (de) 2014-03-27 2014-03-27 Aktuatorvorrichtung, Verwendung der Aktuatorvorrichtung sowie System mit einer solchen Aktuatorvorrichtung

Publications (1)

Publication Number Publication Date
WO2015144348A1 true WO2015144348A1 (fr) 2015-10-01

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2015/052193 WO2015144348A1 (fr) 2014-03-27 2015-02-03 Dispositif actionneur, utilisation du dispositif actionneur et système comprenant un tel dispositif actionneur

Country Status (3)

Country Link
EP (1) EP3123535A1 (fr)
DE (1) DE102014104327A1 (fr)
WO (1) WO2015144348A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017105531A1 (de) 2017-03-15 2018-09-20 Eto Magnetic Gmbh Aktorvorrichtung und Verfahren zum Betrieb einer Aktorvorrichtung

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0354659A2 (fr) * 1988-08-12 1990-02-14 Ford Motor Company Limited Injecteur de carburant avec ajustage en silicone
JP2001280215A (ja) * 2000-03-30 2001-10-10 Toshiba Corp マグネティックシェープメモリー式燃料噴射弁
DE102004060532A1 (de) * 2004-12-16 2006-06-22 Robert Bosch Gmbh Vorrichtung mit Formgedächtniselement
EP1760796B1 (fr) 2005-08-31 2008-12-03 Robert Bosch Gmbh Dispositif comprenant un élément à mémoire de forme
EP2540457A2 (fr) * 2011-06-29 2013-01-02 Günther Zimmer Dispositif de manipulation pour élimination des noyaux réutilisables

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19738296A1 (de) * 1997-09-02 1999-03-04 Univ Dresden Tech Mechanismus zur Erzeugung von Stellbewegungen
JP2002119075A (ja) * 2000-10-03 2002-04-19 Matsushita Electric Ind Co Ltd アクチュエータ装置
DE112009004261B4 (de) * 2009-01-31 2017-07-06 Abb Ag Greiferfinger, Greiferwerkzeug und Verfahren zum Justieren eines Greiferwerkzeugs

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0354659A2 (fr) * 1988-08-12 1990-02-14 Ford Motor Company Limited Injecteur de carburant avec ajustage en silicone
JP2001280215A (ja) * 2000-03-30 2001-10-10 Toshiba Corp マグネティックシェープメモリー式燃料噴射弁
DE102004060532A1 (de) * 2004-12-16 2006-06-22 Robert Bosch Gmbh Vorrichtung mit Formgedächtniselement
EP1760796B1 (fr) 2005-08-31 2008-12-03 Robert Bosch Gmbh Dispositif comprenant un élément à mémoire de forme
EP2540457A2 (fr) * 2011-06-29 2013-01-02 Günther Zimmer Dispositif de manipulation pour élimination des noyaux réutilisables

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Publication number Publication date
EP3123535A1 (fr) 2017-02-01
DE102014104327A1 (de) 2015-10-01

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