WO2023079355A1 - Motorized transmission system with screw shaft and lead screw nut with recirculating balls - Google Patents

Motorized transmission system with screw shaft and lead screw nut with recirculating balls Download PDF

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Publication number
WO2023079355A1
WO2023079355A1 PCT/IB2021/061000 IB2021061000W WO2023079355A1 WO 2023079355 A1 WO2023079355 A1 WO 2023079355A1 IB 2021061000 W IB2021061000 W IB 2021061000W WO 2023079355 A1 WO2023079355 A1 WO 2023079355A1
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WO
WIPO (PCT)
Prior art keywords
screw shaft
lead screw
screw nut
carriage
longitudinal axis
Prior art date
Application number
PCT/IB2021/061000
Other languages
French (fr)
Inventor
Nicola SIMIONATO
Original Assignee
Promac Srl
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 Promac Srl filed Critical Promac Srl
Publication of WO2023079355A1 publication Critical patent/WO2023079355A1/en

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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
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • 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
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/2062—Arrangements for driving the actuator
    • F16H2025/2075—Coaxial drive motors
    • 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
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/24—Elements essential to such mechanisms, e.g. screws, nuts
    • F16H2025/2436—Intermediate screw supports for reducing unsupported length of screw shaft

Definitions

  • the present patent concerns motorized transmission systems with screw shaft and lead screw nut with recirculating balls, and more specifically it concerns an improved transmission system for transmitting the translational motion to a translating carriage.
  • the screw shaft is rotated axially so that the lead screw nut mounted on it translates along the screw shaft.
  • the carriage is integrally constrained to the lead screw nut and thus translates together with it.
  • the lead screw nut is integrally constrained to the fixed frame of the system, while the rotary screw shaft is constrained to the translating carriage.
  • the screw shaft is rotated axially and, while rotating within the fixed lead screw nut, it translates in the axial direction and consequently causes also the translation of said translating carriage.
  • the screw shaft remains fixed and rigidly constrained to the frame.
  • the lead screw nut instead, is connected to the translating carriage. When the lead screw nut is set rotating, it translates along the fixed screw shaft, consequently making also said translating carriage translate.
  • the screw shaft does not rotate and is integrally constrained to the translating carriage, while the lead screw nut is connected to the fixed frame.
  • the lead screw nut When the lead screw nut is set rotating, it causes the translation of the screw shaft, which consequently makes also said translating carriage translate.
  • a numerical control system that controls the motor by means of a specific servo control. More specifically, it controls both the speed and the position through a first rotary encoder positioned on the motor and through a second linear encoder. The position is controlled both during the movement and when the desired position is reached.
  • All the known transmission systems have, between the motor and the mechanical transmission part, that is, the screw shaft or the lead screw nut, at least one adapter joint or belts with related pulleys, which are inevitably subject to several problems listed below, thus negatively affecting the duration of the system and the positioning precision, both during the movement and when the desired position is reached.
  • the joint and the driving belt cannot be considered completely rigid, in fact their elasticity is not negligible, which inevitably delays the movement of the controlled screw shaft, thus consequently causing a delay between the expected position and the actual position.
  • a new type of motion transmission system for transmitting motion to a translating carriage which comprises a fixed frame, at least one screw shaft, at least one lead screw nut with recirculating balls mounted on said screw shaft, at least one carriage connected to said screw shaft or to said lead screw nut with recirculating balls, and at least one motor suited to set said screw shaft or said lead screw nut with recirculating balls rotating, and wherein said motor is a torque motor and is directly coupled with said screw shaft or said lead screw nut.
  • the main object of the present invention is to guarantee maximum precision in the positioning of the translating carriage.
  • Another important object is to reduce the mechanical parts subject to wear, thus also reducing the noise.
  • the torque motor is directly connected to said screw shaft, which is thus set rotating around its own axis, causing the translation of the lead screw nut and the carriage.
  • said torque motor is directly connected to said screw shaft which rotates axially and furthermore translates integrally with the carriage. 3) Screw shaft fixed on fixed frame and lead screw nut rotating on translating carriage.
  • said torque motor is connected to said lead screw nut which is thus set rotating around its own axis and with respect to said screw shaft and furthermore is translated together with the carriage.
  • said torque motor is connected to said lead screw nut, whose rotation causes the translation of the screw shaft and the carriage.
  • Figure 1 shows a schematic view of the first embodiment of the transmission system (1).
  • the system (1) comprises a fixed frame (10) and a screw shaft (20) mounted in a rotatable manner on one or more supports (11, 12) which are integral with said frame (10).
  • Said screw shaft (20), in particular, is mounted on said supports (11, 12) in such a way that it can only rotate around its own longitudinal axis (21).
  • Said screw shaft (20) is provided with at least one lead screw nut with recirculating balls (30) which is mounted thereon and in turn integrally constrained to a carriage (40) by means of a special support (31).
  • a torque motor (50) is directly connected to said screw shaft (20).
  • the rotary motion transmitted to said screw shaft (20) by the motor is transmitted as a linear motion to said lead screw nut (30), which translates in a direction (X) parallel to said axis (21) of the screw shaft (20), pulling along said carriage (40) in its linear motion.
  • said torque motor (50) is thus fixed and integral with the fixed frame (10).
  • Figure 2 shows a schematic view of the second embodiment of the transmission system (2).
  • the transmission system (2) comprises a fixed frame (10) on which at least one lead screw nut with recirculating balls (30) is integrally mounted by means of a special support (31).
  • Said at least one lead screw nut (30) is mounted on a screw shaft (20) which in turn is constrained in a rotatable manner to a carriage (40) by means of one or more supports (11, 12).
  • said screw shaft (20) is mounted on said supports (11, 12) in such a way that it can rotate around its own longitudinal axis (21).
  • a torque motor (50) is directly connected to said screw shaft (20).
  • the rotary motion transmitted by the motor (50) to said screw shaft (20) causes an axial translational motion of said screw shaft (20) with respect to said lead screw nut (30) in a direction (X) parallel to said axis (21) of the screw shaft (20).
  • said carriage (40) translates integrally with the screw shaft (20).
  • said torque motor (50) thus translates with respect to the fixed frame (10) integrally with said screw shaft (20).
  • Figure 3 shows a schematic view of the third embodiment of the transmission system (3).
  • the transmission system (3) comprises a fixed frame (10) and a screw shaft (20) integrally constrained to said fixed frame (10) by means of special supports (11, 12) in such a way that it can neither translate along its longitudinal axis (21) nor rotate axially.
  • Said screw shaft (20) is provided with at least one lead screw nut with recirculating balls (30) which is mounted thereon and in turn connected to a carriage (40) by means of a special support (31).
  • a torque motor (50) is connected to said lead screw nut (30) by means of a special support (51) in such a way as to transmit a rotary motion around the longitudinal axis (21) of the screw shaft (20) to said lead screw nut (30).
  • the rotary motion transmitted to the lead screw nut (30) causes its translation along said screw shaft (20) and consequently causes the translation of said carriage (40) in the direction (X) parallel to the longitudinal axis (21) of the screw shaft (20).
  • the torque motor (50) translates integrally with the lead screw nut (30) and the carriage (40) with respect to the fixed frame (10).
  • Figure 4 shows a schematic view of the fourth embodiment of the transmission system (4).
  • the transmission system (4) comprises a fixed frame (10) with at least one torque motor (50) and at least one lead screw nut with recirculating balls (30) constrained thereto, the latter by means of special supports (31).
  • Said lead screw nut (30) is mounted on a screw shaft (20) which in turn is fixed to a carriage (40) through supports (11, 12).
  • Said torque motor (50) is connected to said lead screw nut (30) by means of a special support (51) in such a way as to transmit to said lead screw nut (30) a rotary motion around the longitudinal axis (21) of the screw shaft (20).
  • the rotary motion transmitted to the lead screw nut (30) causes the translation of said screw shaft (20) along its longitudinal axis (21) and consequently the translation of said carriage (40) along a direction (X) parallel to said longitudinal axis (21) of the screw shaft (20).

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)

Abstract

The invention is a motorized transmission system (1, 2, 3, 4) for transmitting a translational motion to a carriage (40) along a first direction (X), said system (1, 2, 3, 4) comprising a fixed frame (10), a screw shaft (20), a lead screw nut with recirculating balls (30) mounted on said screw shaft (20), a carriage (40) connected to said screw shaft (20) or to said lead screw nut with recirculating balls (30), and a motor (50) suited to set said screw shaft (20) rotating around its longitudinal axis (21) or to set said lead screw nut with recirculating balls (30) rotating around said longitudinal axis (21), and wherein said longitudinal axis (21) is parallel to said first direction (X). Said motor (50) is a torque motor and is directly coupled with said screw shaft (20) or said lead screw nut (30).

Description

MOTORIZED TRANSMISSION SYSTEM WITH SCREW SHAFT AND LEAD SCREW NUT WITH RECIRCULATING BALLS
DESCRIPTION
The present patent concerns motorized transmission systems with screw shaft and lead screw nut with recirculating balls, and more specifically it concerns an improved transmission system for transmitting the translational motion to a translating carriage.
Systems comprising a fixed frame provided with a carriage which is mounted thereon and is translated along at least one translation direction are known in the art. Motion transmission systems using a screw shaft on which a lead screw nut with recirculating balls is mounted are normally used for moving said carriage, wherein a motor sets the screw shaft or the lead screw nut rotating.
Four different transmission systems of this type are essentially known:
1) Screw shaft rotating on fixed frame and lead screw nut fixed on translating carriage.
In this solution the screw shaft is rotated axially so that the lead screw nut mounted on it translates along the screw shaft. The carriage is integrally constrained to the lead screw nut and thus translates together with it.
2) Screw shaft rotating on translating carriage and lead screw nut fixed on fixed frame.
In this solution, the lead screw nut is integrally constrained to the fixed frame of the system, while the rotary screw shaft is constrained to the translating carriage. The screw shaft is rotated axially and, while rotating within the fixed lead screw nut, it translates in the axial direction and consequently causes also the translation of said translating carriage.
3) Screw shaft fixed on fixed frame and lead screw nut rotating on translating carriage.
In this solution, the screw shaft remains fixed and rigidly constrained to the frame. The lead screw nut, instead, is connected to the translating carriage. When the lead screw nut is set rotating, it translates along the fixed screw shaft, consequently making also said translating carriage translate.
4) Screw shaft fixed on translating carriage and lead screw nut rotating on fixed frame.
In this solution, the screw shaft does not rotate and is integrally constrained to the translating carriage, while the lead screw nut is connected to the fixed frame. When the lead screw nut is set rotating, it causes the translation of the screw shaft, which consequently makes also said translating carriage translate.
All the types of systems described above are usually managed by a numerical control system that controls the motor by means of a specific servo control. More specifically, it controls both the speed and the position through a first rotary encoder positioned on the motor and through a second linear encoder. The position is controlled both during the movement and when the desired position is reached.
All the known transmission systems have, between the motor and the mechanical transmission part, that is, the screw shaft or the lead screw nut, at least one adapter joint or belts with related pulleys, which are inevitably subject to several problems listed below, thus negatively affecting the duration of the system and the positioning precision, both during the movement and when the desired position is reached.
The joint and the driving belt cannot be considered completely rigid, in fact their elasticity is not negligible, which inevitably delays the movement of the controlled screw shaft, thus consequently causing a delay between the expected position and the actual position.
Furthermore, positioning errors take place due to eccentricity errors in the rotation of the pulleys.
Further errors are also caused by the meshing of the belt teeth with the grooves in the pulleys.
In addition to the above, the rotation of the belt generates a high noise, and its inevitable heating causes it to be stretched, which makes its precise positioning on the screw shaft uncertain.
Finally, the wear of the belt makes it necessary to carry out periodic maintenance and replacement activities.
In order to overcome all the drawbacks mentioned above, a new type of motion transmission system for transmitting motion to a translating carriage has been designed and constructed, which comprises a fixed frame, at least one screw shaft, at least one lead screw nut with recirculating balls mounted on said screw shaft, at least one carriage connected to said screw shaft or to said lead screw nut with recirculating balls, and at least one motor suited to set said screw shaft or said lead screw nut with recirculating balls rotating, and wherein said motor is a torque motor and is directly coupled with said screw shaft or said lead screw nut.
The main object of the present invention is to guarantee maximum precision in the positioning of the translating carriage.
Another important object is to reduce the mechanical parts subject to wear, thus also reducing the noise.
These and other direct and complementary objects are achieved by the new transmission system which can be carried out according to four possible embodiments summed up here below.
1) Screw shaft rotating on fixed frame and lead screw nut fixed on translating carriage.
In this solution, the torque motor is directly connected to said screw shaft, which is thus set rotating around its own axis, causing the translation of the lead screw nut and the carriage.
2) Screw shaft rotating on translating carriage and lead screw nut fixed on fixed frame.
Also in this solution, said torque motor is directly connected to said screw shaft which rotates axially and furthermore translates integrally with the carriage. 3) Screw shaft fixed on fixed frame and lead screw nut rotating on translating carriage.
In this solution, said torque motor is connected to said lead screw nut which is thus set rotating around its own axis and with respect to said screw shaft and furthermore is translated together with the carriage.
4) Screw shaft fixed on translating carriage and lead screw nut rotating on fixed frame.
Also in this solution, said torque motor is connected to said lead screw nut, whose rotation causes the translation of the screw shaft and the carriage.
The characteristics of the new transmission system will be better clarified in the following description making reference to the drawings which are attached hereto by way of non-limiting example.
Figure 1 shows a schematic view of the first embodiment of the transmission system (1).
The system (1) comprises a fixed frame (10) and a screw shaft (20) mounted in a rotatable manner on one or more supports (11, 12) which are integral with said frame (10).
Said screw shaft (20), in particular, is mounted on said supports (11, 12) in such a way that it can only rotate around its own longitudinal axis (21).
Said screw shaft (20) is provided with at least one lead screw nut with recirculating balls (30) which is mounted thereon and in turn integrally constrained to a carriage (40) by means of a special support (31).
A torque motor (50) is directly connected to said screw shaft (20).
The rotary motion transmitted to said screw shaft (20) by the motor is transmitted as a linear motion to said lead screw nut (30), which translates in a direction (X) parallel to said axis (21) of the screw shaft (20), pulling along said carriage (40) in its linear motion.
In this solution, said torque motor (50) is thus fixed and integral with the fixed frame (10).
Figure 2 shows a schematic view of the second embodiment of the transmission system (2).
The transmission system (2) comprises a fixed frame (10) on which at least one lead screw nut with recirculating balls (30) is integrally mounted by means of a special support (31).
Said at least one lead screw nut (30) is mounted on a screw shaft (20) which in turn is constrained in a rotatable manner to a carriage (40) by means of one or more supports (11, 12).
More specifically, said screw shaft (20) is mounted on said supports (11, 12) in such a way that it can rotate around its own longitudinal axis (21).
A torque motor (50) is directly connected to said screw shaft (20).
The rotary motion transmitted by the motor (50) to said screw shaft (20) causes an axial translational motion of said screw shaft (20) with respect to said lead screw nut (30) in a direction (X) parallel to said axis (21) of the screw shaft (20).
Therefore, said carriage (40) translates integrally with the screw shaft (20).
In this solution, said torque motor (50) thus translates with respect to the fixed frame (10) integrally with said screw shaft (20).
Figure 3 shows a schematic view of the third embodiment of the transmission system (3).
The transmission system (3) comprises a fixed frame (10) and a screw shaft (20) integrally constrained to said fixed frame (10) by means of special supports (11, 12) in such a way that it can neither translate along its longitudinal axis (21) nor rotate axially.
Said screw shaft (20) is provided with at least one lead screw nut with recirculating balls (30) which is mounted thereon and in turn connected to a carriage (40) by means of a special support (31).
A torque motor (50) is connected to said lead screw nut (30) by means of a special support (51) in such a way as to transmit a rotary motion around the longitudinal axis (21) of the screw shaft (20) to said lead screw nut (30).
The rotary motion transmitted to the lead screw nut (30) causes its translation along said screw shaft (20) and consequently causes the translation of said carriage (40) in the direction (X) parallel to the longitudinal axis (21) of the screw shaft (20).
In this solution, the torque motor (50) translates integrally with the lead screw nut (30) and the carriage (40) with respect to the fixed frame (10).
Figure 4 shows a schematic view of the fourth embodiment of the transmission system (4).
The transmission system (4) comprises a fixed frame (10) with at least one torque motor (50) and at least one lead screw nut with recirculating balls (30) constrained thereto, the latter by means of special supports (31).
Said lead screw nut (30) is mounted on a screw shaft (20) which in turn is fixed to a carriage (40) through supports (11, 12).
Said torque motor (50) is connected to said lead screw nut (30) by means of a special support (51) in such a way as to transmit to said lead screw nut (30) a rotary motion around the longitudinal axis (21) of the screw shaft (20).
The rotary motion transmitted to the lead screw nut (30) causes the translation of said screw shaft (20) along its longitudinal axis (21) and consequently the translation of said carriage (40) along a direction (X) parallel to said longitudinal axis (21) of the screw shaft (20).
In this solution, the motor (50) is thus fixed with respect to the frame (10).
Therefore, with reference to the above description and the attached drawings, the following claims are expressed.

Claims

1. Motorized transmission system (1, 2, 3, 4) for transmitting a translational motion to a carriage (40) along a first direction (X), said system (1, 2, 3, 4) comprising a fixed frame (10), at least one screw shaft (20), at least one lead screw nut with recirculating balls (30) mounted on said screw shaft (20), at least one carriage (40) connected to said screw shaft (20) or to said lead screw nut with recirculating balls (30), and at least one motor (50) suited to set said screw shaft (20) rotating around its longitudinal axis (21) or to set said lead screw nut with recirculating balls (30) rotating around said longitudinal axis (21), and wherein said longitudinal axis (21) is parallel to said first direction (X), characterized in that said motor (50) is a torque motor and is directly coupled with said screw shaft (20) or with said lead screw nut (30).
2. Motorized transmission system (1, 2) according to claim 1, characterized in that said screw shaft (20) is constrained to said fixed frame (10) or to said carriage (40) by means of supports (11, 12) that allow only the rotation of said screw shaft (20) around its longitudinal axis (21), and wherein said motor (50) is directly connected to said screw shaft (20) and transmits a rotary motion to said screw shaft (20) itself so that it rotates around its longitudinal axis (21).
3. Motorized transmission system (1) according to claim 2, characterized in that: said screw shaft (20) is constrained to said fixed frame (10) in such a way that it rotates around said longitudinal axis (21); said motor (50) is directly connected to said screw shaft (20) and transmits a rotary motion to said screw shaft (20) itself so that it rotates around its longitudinal axis (21); said lead screw nut (30) is constrained to said carriage (40) so that it is integral with it, and wherein the rotary motion transmitted to said screw shaft (20) causes said lead
7 screw nut (30) to translate along said longitudinal axis (21) and with respect to said frame (10), and consequently said carriage (40) to translate along said first direction (X).
4. Motorized transmission system (2) according to claim 2, characterized in that: said lead screw nut (30) is constrained to said fixed frame (10); said motor (50) is directly connected to said screw shaft (20) and transmits a rotary motion to said screw shaft (20) itself so that it rotates around its longitudinal axis (21); said screw shaft (20) is connected to said carriage (40) in such a way that it rotates around said longitudinal axis (21), and wherein the rotary motion transmitted to said screw shaft (20) causes the translation of said screw shaft (20) along said longitudinal axis (21) with respect to said lead screw nut (30) and to said fixed frame (10), and consequently the translation of said carriage (40) along said first direction (X).
5. Motorized transmission system (3, 4) according to claim 1, characterized in that said lead screw nut (30) is constrained to said fixed frame (10) or to said carriage (40), and wherein said motor (50) is directly connected to said lead screw nut (30) and transmits a rotary motion to said lead screw nut (30) itself so that it rotates around the longitudinal axis (21) of said screw shaft (20).
6. Motorized transmission system (3) according to claim 5, characterized in that: said screw shaft (20) is integrally constrained to said fixed frame (10) by means of special supports (11, 12) in such a way that it can neither translate along its longitudinal axis (21) nor rotate axially with respect to said fixed frame (10); said motor (50) is connected to said lead screw nut (30) by means of a special support (51) in such a way as to transmit a rotary motion to said lead screw
8 nut (30) so that it rotates around the longitudinal axis (21) of the screw shaft (20); said lead screw nut (30) is connected to said carriage (40) by means of a special support, and wherein the rotary motion transmitted to said lead screw nut (30) causes it to translate along said screw shaft (20) and consequently causes the translation of said carriage (40) along said direction (X).
7. Motorized transmission system (4) according to claim 5, characterized in that: said lead screw nut (30) is constrained to said fixed frame (10); said motor (50) is connected to said lead screw nut (30) by means of a special support (51) in such a way as to transmit a rotary motion to said lead screw nut (30) so that it rotates around the longitudinal axis (21) of the screw shaft
(20); said screw shaft (20) is fixed to said carriage (40) by means of special supports (11, 12) in such a way that it can neither translate along its longitudinal axis
(21) nor rotate axially with respect to said carriage (40), and wherein the rotary motion transmitted to said lead screw nut (30) causes said screw shaft (20) to translate along its longitudinal axis (21), and consequently said carriage (40) to translate along said direction (X).
9
PCT/IB2021/061000 2021-11-05 2021-11-26 Motorized transmission system with screw shaft and lead screw nut with recirculating balls WO2023079355A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT102021000028271 2021-11-05
IT202100028271 2021-11-05

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Publication Number Publication Date
WO2023079355A1 true WO2023079355A1 (en) 2023-05-11

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ID=79269974

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5857557A (en) * 1981-10-01 1983-04-05 Kiriyuu Kikai Kk Linear reciprocating motion device
KR20060071481A (en) * 2004-12-22 2006-06-27 두산인프라코어 주식회사 Built in motor linear motion device
DE102010034359A1 (en) * 2009-08-17 2011-02-24 Robert Bosch Gmbh Rotating and lifting motion producing device for use in e.g. broaching machine to rotate and lift workpiece, has ball screws with spindles that are connected to common axle for producing rotating and lifting motions
DE112020000272T5 (en) * 2019-01-18 2021-09-16 Makino Milling Machine Co., Ltd. Feed device for a machine tool

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5857557A (en) * 1981-10-01 1983-04-05 Kiriyuu Kikai Kk Linear reciprocating motion device
KR20060071481A (en) * 2004-12-22 2006-06-27 두산인프라코어 주식회사 Built in motor linear motion device
DE102010034359A1 (en) * 2009-08-17 2011-02-24 Robert Bosch Gmbh Rotating and lifting motion producing device for use in e.g. broaching machine to rotate and lift workpiece, has ball screws with spindles that are connected to common axle for producing rotating and lifting motions
DE112020000272T5 (en) * 2019-01-18 2021-09-16 Makino Milling Machine Co., Ltd. Feed device for a machine tool

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