CN101231530B

CN101231530B - Linear Feedback for Actuators

Info

Publication number: CN101231530B
Application number: CN200710007760A
Authority: CN
Inventors: 江新安
Original assignee: Hiwin Mikrosystem Corp
Current assignee: Hiwin Mikrosystem Corp
Priority date: 2007-01-25
Filing date: 2007-01-25
Publication date: 2010-05-19
Anticipated expiration: 2027-01-25
Also published as: CN101231530A

Abstract

The invention relates to a linear feedback device of an actuator, which comprises a winding belt, a reset gear, a driven piece and a sensing feedback device, wherein the sensing feedback device feeds back the movement data of the driven piece; therefore, the invention can regulate and control the operating distance of the linear feedback device of the actuator by the gear ratio, can be simply arranged in an externally hung body with smaller volume, can provide absolute position measurement to avoid the conventional error accumulation problem, and is really a very practical invention design.

Description

The linear feedback device of actuator

Technical field

The present invention is a kind of displacement data feedback device, be meant a kind of linear feedback device of actuator especially, it can be with the running distance of gear than the linear feedback device of regulation and control actuator, and can simple and easy apply mechanically into plug-in device, more can provide Absolute position measurement and the error accumulation problem avoiding commonly using.

Background technology

Linear actuators now is more and more many in the application of industrial aspect, and main device kind mostly is high precision running mechanically, owing to linear actuators must have more accurate, position data back coupling accurately, can allow high precision machinery control exactly; Therefore, the displacement data feedback device of installing on linear actuators now is also self-evident for the importance of various commercial Application facility now.

The present linear actuators that is useful in the high-precision equipment is combined with three kinds of displacement data feedback devices mostly, is respectively linear potential feedback device, Magnetic Induction feedback device and rotary feedback device, below states the various technology of commonly using product respectively clearly:

The linear potential feedback device is a kind of technology that changes output back calculating location with variable resistance that linear position is changed, when having during along with the linear actuators displacement, the linear potential feedback device moves the variable-resistance reed of inner contact, and then the change resistance value changes the voltage signal of output, reach the effect of calculating linear potential feedback device displacement, see also Fig. 1; The linear potential feedback device of commonly using includes rod body 10, passive bar 11 and a driving belt 12, this body 10 is positioned on the linear actuators 13 along the running direction of this linear actuators 13, and this body 10 is provided with a passive bar 11, this passive bar 11 utilizes this driving belt 12 to be connected with movable component 131 ends of this linear actuators 13, and can drive these passive bar 11 relative body 10 displacements with driving belt 12 during movable component 131 activities of this linear actuators 13, and change resistance, the reed position that is positioned at this body 10 by this; Though previous designs has been obtained practicality, still can exist by defectiveness after the practicality:

One and since the length of this passive bar 11 and body 10 must be mutually should linear actuators 13 the stroke of movable component 131, therefore, linear potential feedback device in the past all can have the body 10 of length, causes the occupation problem in space;

Its two since the length of passive bar 11 and body 10 must be mutually should linear actuators 13 the stroke of movable component 131, therefore, the resistance that dealing once causes, reed wear extent are also bigger;

They are three years old, commonly use be subject to whole length must be mutually should linear actuators 13 the stroke of movable component 131, so the linear potential feedback device size of each linear actuators 13 collocation all oneself warp is fixing, the exchange of linear potential feedback device on the different size linear actuators 13 can not be used, also cause the modularization production in a large number of linear potential feedback device, can't be applicable to that more various size linear actuators 13 is as the plug-in freely annex of collocation.

In order effectively to solve aforementioned issues associated, in addition Magnetic Induction feedback device and rotary feedback device have appearred in the market again, and the two technology and problem are as follows:

This Magnetic Induction feedback device is that the motor round end in linear actuators is installed a rotating disk, this rotating disk outer ring is arranged with some magnetic parts, allow another inductor rotate the different magnetic poles of each magnetic part that passes through along with the motor rotary inductive, this commonly uses has the advantage of exempting to contact, and really can improve the problem of the limited stroke of mechanism; But, this problem of commonly using existence is that its feedback signal can only be feedback relative position, cause the complicated and control trouble of software programming, in addition, because the magnetic part of ring shooting still has between induction zone and produces, not only have the problem that can't carefully count displacement in the interval, and along with rotation accumulation calculation process, the error of each ring shooting magnetic part also can be accumulated thereupon, causes producing than mistake of result.

This rotary feedback device adopts the contact rotating potentiometer once again, and rotating potentiometer is installed in the motor round end, this kind commonly use do not have between above-mentioned induction zone, the problem of cumulative errors, do not have the problem of the limited stroke of mechanism yet; But, this kind commonly used and still had wear problems, and it is subject to and must be connected with motor, not only must give overall consideration to during indoor design and connect and the locus, and the producer must pack it among actuator assembly process, and remove difficulty, and cause the user can't select to install or do not install at all, more allow the rotary feedback device of this kind can't produce the external hanging type addition product.

Under the guiding of foregoing problems, research and development technology and experience that creator of the present invention was accumulated in the linear actuators field based on the past, add research and development again from the angle that can simplify member, additional plug-in effect, develop the linear feedback device that a kind of brand-new actuator finally.

Summary of the invention

Technical matters to be solved by this invention provides a kind of linear feedback device that is fit to plug-in additional, actuator that can not limited stroke.

In order to solve the problems of the technologies described above, the linear feedback device of actuator of the present invention is characterized in that: include a body, a reseting gear, a winding, by drivening piece and sensing back coupling device, wherein:

This body has accommodation space in it, be equiped with a track in addition in this accommodation space;

This reseting gear cooperates a pivot this winding of reeling, reseting gear and winding all are assembled in the accommodation space of this body, this reseting gear is corresponding to the track in this accommodation space, this winding one end then connects the movable end of this actuator, this reseting gear and winding are moving together in addition, and reset with return spring power;

This is by drivening piece, system is limited on the track of this body slidably, this is offered some drive teeth of this reseting gear of engagement by the drivening piece surface, and protrudes out in this side by drivening piece and to be manufactured with a probe, and this is subjected to the drive of this reseting gear and shift reciprocately by drivening piece; And

This sensing back coupling device, system is assembled in the accommodation space of this body, and it is corresponding to the installing of track of this body, this sensing feedback utensil have a sensitive surface for this by the contact of the probe of drivening piece, and change this sensing along with by the probe displacement of drivening piece the time and feedback the output valve of device.

This sensing feedback device back coupling this by the mobile data of drivening piece, should then on preset path, be operated by drivening piece, and this reseting gear is coaxial with winding, and this winding is flexible and drive this reseting gear and rotate with actuator action with reseting gear engagement back;

By this, the present invention can make the contact adjustable resistance of product of the present invention need not to cooperate stroke, and can reduce the volume of product with the running distance of gear than the linear feedback device of regulation and control actuator.

Aforementioned reseting gear and winding be with the actuator displacement activity, and reset with the return spring power of winding; In like manner this return spring power also can be to be produced by the back-moving spring on this reseting gear or the axle; The technological means of aforementioned several return spring power all belongs to the embodiment of the scope of protection of the invention.

Because the present invention removably is installed in outside this linear actuators, and the running of winding has nothing to do with this linear actuators internals, so the present invention can be used in outside the actuator of different size, different shape by simple and easy cover, and becomes a kind of plug-in device that can select for use.

In addition, each assembly of the present invention can cooperate a hollow shell part body to adopt attached to be installed in outside the linear actuators, also can directly go to be installed on the linear actuators separate type hollow shell part itself.

At last, be that the advantage that the present invention can produce is as follows in this mandatory declaration:

One, owing to be limited in slidably on the track of this body by drivening piece, and should be offered some drive teeth of this reseting gear of engagement by the drivening piece surface, so the present invention can utilize the measurement reciprocal distance of the gear of this reseting gear and this drives tooth than the change probe, and need not that limited this winding is stretched out along with this movable part displacement or several circles of backrush (the feed distance length of linear actuators is not limit, size do not limit);

Its two, each member of the present invention can be controlled within the body of a smaller size smaller of assembling, so the present invention is can applicable scope bigger, and meets attached extensionization, modular basic demand;

They are three years old, because driving of the present invention is the design by this winding, utilize the other end of winding to be positioned at the movable part end of this linear actuators with a connection piece, so the present invention need not complexity and is assembled in the linear actuators, and can be installed in outside the linear actuators by attached, not only tear prescription open just, and can allow the user select arbitrarily to install or remove.

In sum, the linear feedback device of actuator of the present invention includes a winding, a reseting gear, by drivening piece and sensing back coupling device, this sensing feedback device back coupling this by the mobile data of drivening piece, should then on preset path, be operated by drivening piece with reseting gear engagement back, and this reseting gear is coaxial with winding, and this winding is flexible and drive this reseting gear rotation with actuator action; Use the running distance of linear feedback device of gear, and can simple and easy apply mechanically into plug-in device, more can provide Absolute position measurement and the error accumulation problem avoiding commonly using than the regulation and control actuator; So " practicality " of the present invention should be unquestionable, in addition, the technical characterictic of being exposed at this case embodiment has novelty and effect that can not be indiscreet and negligent, hereat, " novelty " of the present invention and " creativeness " have all met patent statute, so propose the application of patent of invention in accordance with the law, to request and give examination and grant quasi patent early, the true feeling moral is just.

Description of drawings

The present invention is further detailed explanation below in conjunction with drawings and Examples:

Fig. 1 is a synoptic diagram of commonly using enforcement.

Fig. 2 is an embodiment of the invention combination schematic appearance.

Fig. 3 is the inner schematic perspective view of the embodiment of the invention.

Fig. 4 is an embodiment of the invention private side view.

Fig. 5 is the another embodiment of the present invention synoptic diagram.

Reference numeral is among the figure: the 10-body; The passive bar of 11-; The 12-driving belt; The 13-linear actuators; The 131-movable component; The 20-linear feedback device; The 21-body; The 211-accommodation space; The 212-opening; The 213-track; The 22-reseting gear; The 221-pivot; 222-ushers to seat; The 23-winding; The 231-web member; 24-is by drivening piece; 241-drives tooth; The 242-probe; 25-sensing back coupling device; The 251-sensitive surface; 24A-is by drivening piece; 241A-drives tooth; The W-pivot; The round track of 213A-; The 30-linear actuators; The 31-movable part.

Embodiment

First embodiment of the invention sees also Fig. 2, Fig. 3 and Fig. 4, the linear feedback device 20 of actuator of the present invention is that collocation is installed on linear actuators 30, it includes a body 21, a reseting gear 22, a winding 23, one and is feedback device 25 by drivening piece 24 and a sensing, wherein:

This body 21 is that an attached is installed in the hollow shell part outside the linear actuators 30, has accommodation space 211 and at least one opening 212 in it, is equiped with a rectilinear orbit 213 in addition in this accommodation space 211;

This reseting gear 22, system cooperates a pivot 221 to be assembled in the accommodation space 211 of this body 21, this reseting gear 22 is corresponding to the track 213 in this accommodation space 211, and these pivot 221 1 sides are equiped with one and usher to seat 222, and this reseting gear 22 is and this ushers to seat 222 with moving;

This winding 23, cording has the snail wind spring spare of automatic rewinding reset capability, and what these winding 23 1 ends were positioned at this reseting gear 22 ushers to seat 222, and winding 23 mat return spring power are wound on ushers to seat outside 222, the other end of this winding 23 then is extended through outside the opening 212 of this body 21, the other end of this winding 23 is positioned at movable part 31 ends of this linear actuators 30 with a connection piece 231, and the return spring power of this winding 23 of mat can allow reseting gear 22 spinning reduction thereupon;

This is by drivening piece 24, system is assembled in the plate in the accommodation space 211 of this body 21, and it is limited on the track 213 of this body 21 slidably, this is offered some drive teeth 241 of this reseting gear 22 of engagement by drivening piece 24 surfaces, and protrude out in this side by drivening piece 24 and to be manufactured with a probe 242, this is subjected to the drive of this reseting gear 22 and shift reciprocately by drivening piece 24; And

This sensing back coupling device 25, system is assembled in the accommodation space 211 of this body 21, and it is other corresponding to the track 213 that is installed in this body 21 by drivening piece 24, this sensing back coupling device 25 has a sensitive surface 251 and contacts for this probe 242 by drivening piece 24, and adjust and reform the power transformation resistance along with by probe 242 displacements of drivening piece 24 time, utilize the resistance value that changes to change the voltage signal of exporting, reach the purpose of displacement calculating amount;

Aforementioned structure, configuration content promptly are the gordian techniquies of this creation, more contain the mutual relationship position and the general introduction thereof of each associated component of the present invention.

See also each figure, the invention described above technology with the clear exposure of structure configuration, is below carried out the explanation of the present invention's running:

Because winding 23 of the present invention is the snail wind spring spares with automatic rewinding reset capability, and what these winding 23 1 ends were positioned at this reseting gear 22 ushers to seat 222, and then be extended through with the other end outside the opening 212 of this body 21, the other end of this winding 23 is positioned at movable part 31 ends of this linear actuators 30 with a connection piece 231, so winding of the present invention 23 can be stretched out or backrush along with the movable part 31 linear extendible displacements of this linear actuators 30;

This winding 23 this moment is stretched out along with these movable part 31 displacements or the action meeting of backrush drives this reseting gear 22 synchronously and rotates back and forth, and should be subjected to the drive of this reseting gear 22 and shift reciprocately by drivening piece 24, and make by probe 242 displacement thereupon of drivening piece 24, and the sensitive surface 251 of this sensing back coupling device 25 is subjected to by the probe 242 contact variable resistors of drivening piece 24;

The present invention utilizes by drivening piece 24 displacements and changes the voltage signal that resistance value changes output, and reaches the purpose of accurate displacement calculating amount.

See also shown in Figure 3 again, another embodiment, of the present inventionly can be changed into gear type by drivening piece 24A by drivening piece, its same system is assembled in the accommodation space 211 of this body 21, and it is limited in the round track 213A of this body 21 pivotly with pivot W, this is offered some drive tooth 241A of this reseting gear 22 of engagement by drivening piece 24A surface, and protrude out on by the pivot W of drivening piece 24A at this and to be manufactured with probe (not shown), this is subjected to the drive of this reseting gear 22 and back and forth rotation by drivening piece 24; And

This sensing back coupling device (not shown), system is assembled in the round track 213A of this body 21, and it contacts with this probe by drivening piece with a ring-like surface, and change resistance value along with by the probe swing offset of drivening piece 24A the time, utilize the resistance value that changes to change the voltage signal of exporting, reach the purpose of displacement calculating amount; The technology of this embodiment, effect are all consistent with other enforcement of the present invention, so should belong to one of protection domain of the present invention together.

Claims

1. A linear feedback device for an actuator, characterized in that it includes a body, a reset gear, a winding belt, a driven part and a sensing feedback device, wherein:

The body has an accommodating space inside, and a track is installed in the accommodating space;

The reset gear cooperates with a pivot to wind the tape, the reset gear and the tape are assembled in the accommodation space of the body, the reset gear corresponds to the track in the accommodation space, and one end of the tape is connected to the The movable end of the actuator, and the reset gear and the winding belt move together, and are reset by the reset spring force;

The driven part is slidably limited on the track of the body, the surface of the driven part is provided with a number of driving teeth meshing with the reset gear, and a probe protrudes from one side of the driven part. The driven part moves reciprocally driven by the reset gear; and

The sensing feedback device is assembled in the accommodating space of the body, and it is installed corresponding to the track of the body, the sensing feedback device has a sensing surface for the probe of the driven part to contact, and The output value of the sensing feedback device is changed with the displacement of the probe of the driven part.

2. The linear feedback device of the actuator according to claim 1, characterized in that:

A belt seat is installed on the pivot of the reset gear, and the reset gear train moves with the belt seat;

The reel is a scroll spring with automatic rewinding return spring force, and the other end of the reel is positioned on the belt seat of the reset gear, and is wound outside the belt seat by the rewinding spring force, and the reel The end of the tape is connected to the movable end of the actuator, and the reset gear can be rotated and reset by the return spring force of the tape.

3. The linear feedback device of the actuator according to claim 1, characterized in that, the body is attached to a hollow shell installed outside the actuator, and has an accommodating space and at least one opening in it , the end of the tape is passed through the opening of the body.

4. The linear feedback device of the actuator according to claim 1, wherein the body is a detachable and separable part of the shell of the actuator itself, and has an accommodating space and at least one opening therein. , the end of the tape is passed through the opening of the body.

5. The linear feedback device of an actuator according to claim 1, wherein the actuator is a linear actuator, and the track of the body is a straight line, and the driven part is a plate, And the driven part is moved linearly and reciprocally by the reset gear along with the displacement of the linear actuator.

6. The linear feedback device of the actuator according to claim 1, wherein the driven part is a gear type, and it has a pivot limited in a circular track of the body, the driven part A probe is made on the pivot of the part, and the driven part is driven by the reset gear to rotate reciprocally; another sensing feedback device is assembled in a circular track, and it is connected to the driven part with a ring-shaped surface. probe contact.

7 . The linear feedback device of an actuator according to claim 1 , wherein the return spring force is generated by a return spring installed on the return gear or the pivot, so as to rotate and reset. 8 .