WO2020208537A1 - Actionneur rotatif - Google Patents

Actionneur rotatif Download PDF

Info

Publication number
WO2020208537A1
WO2020208537A1 PCT/IB2020/053339 IB2020053339W WO2020208537A1 WO 2020208537 A1 WO2020208537 A1 WO 2020208537A1 IB 2020053339 W IB2020053339 W IB 2020053339W WO 2020208537 A1 WO2020208537 A1 WO 2020208537A1
Authority
WO
WIPO (PCT)
Prior art keywords
gear
annular
gears
rotary actuator
housing
Prior art date
Application number
PCT/IB2020/053339
Other languages
English (en)
Inventor
Raymond J HICKS
Original Assignee
Involution Technologies Limited
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 Involution Technologies Limited filed Critical Involution Technologies Limited
Priority to GB2114243.5A priority Critical patent/GB2596710A/en
Publication of WO2020208537A1 publication Critical patent/WO2020208537A1/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
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/36—Toothed gearings for conveying rotary motion with gears having orbital motion with two central gears coupled by intermeshing orbital gears
    • 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
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/46—Systems consisting of a plurality of gear trains each with orbital gears, i.e. systems having three or more central gears
    • 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
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H2001/2881—Toothed gearings for conveying rotary motion with gears having orbital motion comprising two axially spaced central gears, i.e. ring or sun gear, engaged by at least one common orbital gear wherein one of the central gears is forming the output

Definitions

  • This invention relates to a rotary actuator.
  • a rotary actuator comprising:
  • a first gear arrangement comprising:
  • this provides for a compact rotary actuator that can be used in high ratio, high torque situations.
  • the loads on the common planet wheels are balanced by the use of the two annular gears. This reduces the loads on the planet gears such that, rather than requiring a planet carrier and bearings supporting the planet gears on the planet carrier, all that is required is a pair of simple rolling rings.
  • This actuator can provide a rotary torque actuator with up to 330 degrees of operation, typically driven by a high-speed electric motor with position feedback, via this gearbox arrangement, embodied in a compact structural body that allows significant torque, moments and vertical loads to be imposed on the actuator.
  • the rotary actuator will further comprise a second gear arrangement comprising an epicyclic gear comprising a sun gear coupled to the input, an annular gear fixed relative to the reaction member and a plurality of planet gears, the planet gears being carried on a planet carrier coupled to the sun gear of the first gear arrangement.
  • a second gear arrangement comprising an epicyclic gear comprising a sun gear coupled to the input, an annular gear fixed relative to the reaction member and a plurality of planet gears, the planet gears being carried on a planet carrier coupled to the sun gear of the first gear arrangement.
  • the first gear arrangement can act as a high torque stage of the gear mechanism, and the second gear arrangement as a low torque stage.
  • the pair of second annular gears, and also potentially the first annular gear may be symmetrical about a plane perpendicular to the axis.
  • the pair of annular gears will typically have internal teeth; the teeth of one of the pair of annular second gears will typically be aligned circumferentially about the axis with the teeth of the other of the pair of second annular gears.
  • the load on the planet gears can be symmetric, as the pair of second annular gears can be arranged symmetrically about the first annular gear.
  • the first annular gear and each second annular gear will be parallel to each other.
  • a notable feature of the split annular gears is they can be reacted elastically and symmetrically to maintain planet tooth alignment under high torque applications.
  • Each of the first and second annular gears may have teeth by means of which they engage the planet gears.
  • the first annular gear may have a different number of teeth to each second annular gear, even if the first and second annular gears have the same internal meshing radius. This can be achieved by the teeth of the first annular gear having a different correction factor to the teeth of each second annular gear.
  • the difference in number of teeth may be equal to the number of planet gears.
  • the input may comprise an input for a motor, such an electric motor; the actuator may comprise a motor coupled to the input.
  • the output may comprise a moving part which moves relative to the housing.
  • the housing will comprise a flange (which may be fixed relative to the reaction member), and the moving part will comprise a flange, with the flange of the output being drive for movement relative to the flange of the housing by rotation of the input.
  • the actuator can be controlled by measuring the housing position relative to the reaction housing and driving the motor appropriately.
  • Figure 1 shows a schematic view of a gear mechanism for use in a rotary actuator in accordance with a first embodiment of the invention
  • Figure 2 shows a cross section through the gear mechanism of Figure 1 ;
  • Figure 3 shows a perspective view of a rotary actuator using the gear mechanism of Figure 1 ;
  • Figures 4 to 6 show plan views of the rotary actuator of Figure 3 in different positions.
  • FIGS 1 and 2 of the accompanying drawings show a gear mechanism 2 for use in a rotary actuator 1 as shown in Figures 3 to 6 of the accompanying drawings, all in accordance with a first embodiment of the invention.
  • the gear mechanism comprises an input 3 , coupled to an electric motor 50.
  • the gear mechanism is mounted within housing forming a reaction member 6, which is coupled to a first flange 5 1.
  • the output 4 of the gear mechanism is coupled to a second flange 52, so as to drive the first 5 1 and second 52 flanges for relative rotational motion as shown in Figures 4 to 6.
  • the gear mechanism comprises a first, low torque stage 61 and a second, high torque stage 62.
  • the low torque stage 61 comprises an epicyclic gear arrangement, comprising an annular gear 10 fixed relative to housing 6 but coaxial with axis 16. Inside the annular gear 10, there is provided a planet carrier 1 1 , carrying a set of planet gears 12 which mesh with the internal gearing of the annular gear 10, the planet carrier 1 1 being rotatable about axis 16 in the housing 6. Inside the planet carrier 11 is provided a sun gear 13 that is coupled to the input 3.
  • the high torque stage 62 comprises a first annular gear 7 coupled to the output 4.
  • the annular gear 7 is rotatable in the housing 6 about axis 16.
  • the high torque stage 62 also comprises a pair of second annular gears 8, mounted either side of the first annular gear 7 coaxially with the axis 16, but which are fixed relative to the housing
  • each of the planet gears 9 can rotate about an axis parallel to axis 16, the axes (and so the planet gears 9) being equally spaced around the axis 16.
  • the planet gears 9 are supported in the housing 6 by a pair of rolling rings 19. Because the second annular gears 8 are symmetrical, the loads on those planet gears 9 are sufficiently low that they can be reacted by the rolling rings 19 rather than requiring a planet carrier or planet bearings supporting the planet gears on a planet carrier.
  • a sun gear 18 which meshes with the planet gears 9 and is coupled to the planet carrier 11 of the low torque stage 61.
  • this embodiment can take a low torque, high speed input and provide a high torque low speed output.
  • the various gears have the following numbers of teeth per gear:
  • Second annular gears 8 137 teeth
  • the electric motor 50 provides the input 3 with 0.330 Newton metres (Nm) of torque at 2752.15 revolutions per minute (rpm)
  • the output 4 (and so the first 51 and second 52 flanges relative to each other) will rotate at 1.36rpm but with 667.3Nm of torque. This gives the gear arrangement a ratio of 2022.
  • the high torque stage 62 is symmetrical about a plane perpendicular to the axis through the centre of the first annular gear 7.
  • This rotary actuator can achieve up to 330 degrees of operation, driven by a high speed electric motor with position feedback, embodied in a compact structural body that allows significant torque, moments and vertical loads to be imposed on the actuator.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

La présente invention concerne un actionneur rotatif qui comprend : un boîtier et un premier agencement d'engrenage (62) comprenant : un premier engrenage annulaire (7) ayant un premier axe (16) autour duquel il peut tourner dans un élément de réaction (6) ; une paire de seconds engrenages annulaires (8), chacun étant fixé par rapport à l'élément de réaction (6) ; un ensemble d'engrenages planétaires (9) qui viennent chacun s'engrener avec le premier engrenage annulaire (7) et les seconds engrenages annulaires (8) ; et un planétaire (18) qui peut tourner autour de l'axe (16) et qui vient s'engrener avec chacun des engrenages planétaires ; une entrée (3), couplée au planétaire (18) du premier agencement d'engrenage (62) ; et une sortie (4), couplée au premier engrenage annulaire (7). Ceci est utile là où il est souhaitable de fournir un actionneur mécanique entraîné électriquement dans un espace relativement compact. Il existe une grande variété d'applications pour un tel actionneur, dont le remplacement de dispositifs actionnés de manière hydraulique.
PCT/IB2020/053339 2019-04-08 2020-04-08 Actionneur rotatif WO2020208537A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
GB2114243.5A GB2596710A (en) 2019-04-08 2020-04-08 Rotary actuator

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB1904972.5 2019-04-08
GBGB1904972.5A GB201904972D0 (en) 2019-04-08 2019-04-08 Rotary actuator

Publications (1)

Publication Number Publication Date
WO2020208537A1 true WO2020208537A1 (fr) 2020-10-15

Family

ID=66809494

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2020/053339 WO2020208537A1 (fr) 2019-04-08 2020-04-08 Actionneur rotatif

Country Status (2)

Country Link
GB (2) GB201904972D0 (fr)
WO (1) WO2020208537A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4932613A (en) * 1988-06-24 1990-06-12 Curtiss-Wright Flight Systems, Inc. Rotary hinge actuator
US5518466A (en) * 1994-11-29 1996-05-21 Curtiss Wright Flight Systems Inc. Jam-tolerant rotary actuator
EP0826902A2 (fr) * 1996-08-30 1998-03-04 Curtiss-Wright Flight Systems, Inc. Actuateur rotatif tolérant au bourrage
EP3144220A1 (fr) * 2012-08-22 2017-03-22 Moog Wolverhampton Limited Actionneur de gouverne de commande d'aéronef

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4932613A (en) * 1988-06-24 1990-06-12 Curtiss-Wright Flight Systems, Inc. Rotary hinge actuator
US5518466A (en) * 1994-11-29 1996-05-21 Curtiss Wright Flight Systems Inc. Jam-tolerant rotary actuator
EP0826902A2 (fr) * 1996-08-30 1998-03-04 Curtiss-Wright Flight Systems, Inc. Actuateur rotatif tolérant au bourrage
EP3144220A1 (fr) * 2012-08-22 2017-03-22 Moog Wolverhampton Limited Actionneur de gouverne de commande d'aéronef

Also Published As

Publication number Publication date
GB2596710A (en) 2022-01-05
GB201904972D0 (en) 2019-05-22
GB202114243D0 (en) 2021-11-17

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