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WO2016000719A1 - Actionneur linéaire compact - Google Patents

Actionneur linéaire compact Download PDF

Info

Publication number
WO2016000719A1
WO2016000719A1 PCT/DK2015/050195 DK2015050195W WO2016000719A1 WO 2016000719 A1 WO2016000719 A1 WO 2016000719A1 DK 2015050195 W DK2015050195 W DK 2015050195W WO 2016000719 A1 WO2016000719 A1 WO 2016000719A1
Authority
WO
WIPO (PCT)
Prior art keywords
piston
planetary
actuator
thread
planetary wheels
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/DK2015/050195
Other languages
English (en)
Inventor
Ole Madsbøll
Jens Kugle
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
3PART AS
Original Assignee
3PART AS
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 3PART AS filed Critical 3PART AS
Publication of WO2016000719A1 publication Critical patent/WO2016000719A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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
    • 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
    • F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
    • F16H25/2247—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with rollers
    • 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
    • F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
    • F16H25/2247—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with rollers
    • F16H2025/228—Screw mechanisms having rollers being supported by the screw shaft and engaging the nut

Definitions

  • the present invention relates to an actuator of the type referred to in the preamble of claim 1.
  • An actuator of this kind is known from WO 2014/079593.
  • Linear actuators are used in machine tools and industrial machinery, in computer equipment such as disk drives and printers, for valves and mufflers - and many other places where linear movement is desired.
  • actuators of this type are often part of a construction in which one or more parts of the construction are movable, there are of- ten exact requirements for power, velocity and the length of the movement.
  • the problem with known actuators is that their size and especially length are big compared to the movement, power and velocity they are able to provide.
  • This invention overcomes these problems by being extremely compact compared to its capacity. It will therefore be considerably easier to dimension the entire construction.
  • the most im- portant mechanical, functional parameters characterizing an actuator are:
  • actuators are available with standard strokes, e.g. 50 mm, 100 mm, 150 mm, etc., but they can most often be ordered with a specific, special stroke. Here, it is im- portant to have a large margin of delivery options.
  • the built-in dimensions are most often a combination of a minimum length + the stroke.
  • the minimum length is as small as possible as this is regarded as a "dead" length.
  • the push and pull forces describe the force that the actuator is able to exercise.
  • the efficiency characterized by the relation between the supplied energy relative to the energy that the actuator can release.
  • the purpose of the actuator is to transform a rapidly rotating movement into a slow, linear movement.
  • the known principles for this transformation of movement are:
  • Threaded spindle and nut This principle is by far the most widespread and is most often organized in such a manner that the motor drives the threaded spindle - most often with some kind of reduction gear inbetween which reduces the rotation speed.
  • On the threaded spindle there is mounted a nut which is fixedly connected to the piston.
  • the motor rotates the threaded spindle, the nut is displaced and with it the piston.
  • the advantage of this principle is that it is simple, inexpensive and robust.
  • the disadvantage is that there is a relatively large loss in the mechanism due to the friction between the spindle and the nut.
  • This principle is a variant of the threaded spindle and the nut.
  • the spindle is constructed with a special thread with circular threaded recesses, and the nut is provided with a large number of balls rolling in a threaded spiral pattern.
  • the advantage of this principle is that it is almost friction-free and thus lossless.
  • the disadvantage is that it is more complex, vulnerable and expensive.
  • Roller screw actuator Reminds somewhat of both the threaded spindle-nut and the ball circuit types.
  • a roller is inserted with either external thread or simple smooth grooves between an interior threaded spindle and an external pipe thread.
  • this principle works as a threaded spindle and a nut, but the friction between the two elements has been eliminated as an almost clean roll is established by the threaded rollers instead of sliding.
  • the advantage of this system is that there are almost no losses in the system, and that is it robust and able to transmit large forces.
  • the disadvantage is that it is relatively complex and expensive.
  • Toothed wheel and rack Especially used for more stationary installations. Is not suited for closed, compact all-round actuators for general use.
  • Cam belt or chain-driven actuators Like toothed wheel and rack, this type is best suited for stationary installations such as production and process equipment.
  • the purpose of the invention is to improve one or more of these parameters for tuator as described above.
  • the invention consists in a linear actuator comprising a linear tubular movable piston, a stationary part with a smaller diameter than the piston and constituting a motor housing in which an electric motor is arranged, as well as a rotor part forming the connection between the piston and the motor housing in which the piston is influenced axially by a number of smaller cylindrical planetary wheels which are provided with external grooves or threads attached to a rotor housing which, via the rotor part, is driven by the electric motor, the peripheral geometry of said planetary wheels with either radial grooves or threads engaging with the interior thread of the piston, and in which these planetary wheels are attached to the rotor part so that they can rotate about their own rotational symmetry axis.
  • the actuator provided in accordance with the invention has the same or better values than the known actuators.
  • the stroke may be adapted to any desirable value, the built-in dimensions are undisputedly the shortest and thus the best on the market, the push/pull forces like the best competitor, the efficiency is better than the best on the market.
  • no reduction gear is required. It is the same threaded planetary gear that takes care of the transformation of rotation into linear movement and the reduction of the velocity.
  • a system is used that reminds most of category c (see above), but is different in many ways.
  • actuators use electric motors to supply the energy to the desired linear power and displacement.
  • the problem is that electric motors of the desired size and price rotate very rapidly, e.g. 4 - 8,000 RPM, whereas the desired linear movement is often slow, e.g. 5-50 mm/second.
  • a large reduction of the velocity must take place at the same time as the movement must be transformed from rotating to linear.
  • this is solved by inserting a reduction gear after the motor.
  • the reduction gear reduces the rotation speed of the motor typically by a factor of 5-100, but the movement is still rotation.
  • the rotation of the planetary wheels is guided so that they rotate with the same speed.
  • the rotation of the planetary wheels is guided so that they rotate with the same mutual speed, and the rotation speed is guided so that there is preferably rolling between the planetary wheels and the interior thread of the piston in the engagement region.
  • the rotation of the planetary wheels is guided so that they rotate with the same mutual speed and the motor is fixedly connected with the sun gear.
  • the rotation speed of the planetary wheels is reduced as the synchronizing gear wheels function as a classical planetary gear.
  • Fig. 1 a shows a schematic diagram of a known actuator
  • Fig. 1 b shows a schematic diagram of an actuator according to the invention
  • Fig. 2 shows the position of the planetary wheels while the planetary thread drive carries out a rotation
  • Fig. 3 shows the actuator according to the invention in its shortest and longest position, respectively
  • Fig. 4 shows an exploded view of an embodiment of the invention in which the
  • Fig. 5 shows a variant of the actuator of fig. 4,
  • Fig. 6 shows a detailed view of the synchronizing mechanism in an actuator according to the invention.
  • Fig. 7 shows a vertical section of the assembled actuator.
  • an actuator of the prior art is much longer than the actuator according to the invention as motor 1 , reduction gear 1 a and the piston as well as the thread spindle 3a are positioned in continuation of one another.
  • the piston 3 is positioned on the outside of the motor 1 and the gear in the rotor part 2 and thus does not give rise to an additional length.
  • Fig. 2 shows the position of the planetary wheels while the planetary thread drive car- ries out a rotation.
  • the function of this planetary thread drive may be described as follows: Fig. 2 shows a cross section of the actuator, and in fig. 2A the planetary wheel (4) marked with a black dot is facing upwards. On the planetary wheel there is drawn a circle pointing away from the centre line of the actuator. In fig. 2B, the planetary thread drive (2) has rotated until this latter circle marking again points directly away from the centre line of the actuator.
  • the planetary thread drive has now turned one revolution + the angle e.
  • the resulting displacement of the piston is (3 x p) - 3 x p + (3e/360 x p).
  • it is the thread diameter of the planetary wheel relative to the thread diameter of the piston that determines the gearing and thus the piston speed. If the thread diameter of the planetary wheel is exactly 1/3 of the thread diameter of the pis- ton, the piston is standing still no matter how fast the motor is spinning and no matter how big the thread pitch is as long as the piston has the same number of pipe threads as the number of rollers (here 3).
  • Fig. 3 shows the actuator in its shortest and longest position, respectively.
  • the built-in length L is defined as the sum of the constants END1 , END2, DL and the variable S.
  • the smallest value of L appears by setting DL+S to be equal to MD.
  • the associated value of S represents the minimum stroke.
  • a longer stroke than this minimum stroke is always used, thus leaving a free unused space behind the motor.
  • This free space may e.g. be used for a longer and thus more powerful motor which would give the actuator a larger push/pull force and this without an extra built-in length.
  • an extra long motor will entail an extra long built-in length.
  • Fig. 4 shows the simplest embodiment in which the planetary wheels are rotating freely. This requires a good contact between planetary wheels and the thread of the piston.
  • Fig. 5 shows the same construction as fig. 4, but with synchronization of the planetary wheels by means of the planet gears (10) which are fixedly connected with the plane- tary rollers (4) via the shafts (5).
  • the sun gear (11 ) sees to it that all planet gears (10) and thus the planetary rollers (4) will follow the same rotation speed.
  • Fig. 6 shows a close-up of the synchronizing mechanism described above.
  • Fig. 7 shows a vertical section of the assembled actuator as described above.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Transmission Devices (AREA)

Abstract

Cette invention se rapporte à un nouveau principe pour un actionneur linéaire. Le principe de construction est nouveau et la transformation de l'énergie issue d'un mouvement rotatif très rapide en un mouvement linéaire lent est nouvelle. L'actionneur est constitué de deux parties principales, une partie mobile linéaire appelée le piston (3) et une partie fixe appelée le carter (7) de moteur. Contrairement à tous les autres actionneurs sur le marché, le piston de l'actionneur est conçu sous la forme d'un tube entourant le carter de moteur. Cette construction rend l'actionneur plus court que tous les autres actionneurs. En plus d'un principe de construction différent, l'actionneur présente également une forme de démultiplication nouvelle et jusqu'à présent inédite du mouvement rotatif rapide du moteur jusqu'au mouvement linéaire lent du piston. Cette démultiplication est réalisée à l'aide d'un principe similaire à un satellite dans lequel les rouleaux satellites (4) sont dotés de filetages.
PCT/DK2015/050195 2014-07-01 2015-07-01 Actionneur linéaire compact Ceased WO2016000719A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DKPA201400351 2014-07-01
DKPA201400351 2014-07-01

Publications (1)

Publication Number Publication Date
WO2016000719A1 true WO2016000719A1 (fr) 2016-01-07

Family

ID=53776267

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DK2015/050195 Ceased WO2016000719A1 (fr) 2014-07-01 2015-07-01 Actionneur linéaire compact

Country Status (1)

Country Link
WO (1) WO2016000719A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107023620A (zh) * 2017-05-16 2017-08-08 哈尔滨工业大学 一种基于滚柱螺纹中径修型的高刚度行星滚柱丝杠
GB2616333A (en) * 2022-01-13 2023-09-06 Ewellix AB Linear actuator and manufacturing method

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3128634A (en) * 1962-02-21 1964-04-14 Bendix Corp Screw actuator
GB2091375A (en) * 1981-01-15 1982-07-28 Granbom Bo A device for converting rotary motion into linear motion
DE3629281A1 (de) * 1986-08-28 1988-03-24 Josef Pradler Umsetzungstrieb zur umsetzung einer rotationsbewegung in eine linearbewegung
US6245075B1 (en) * 1997-01-07 2001-06-12 Wittenstein Motion Control Gmbh Distraction device for moving apart two bone sections

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3128634A (en) * 1962-02-21 1964-04-14 Bendix Corp Screw actuator
GB2091375A (en) * 1981-01-15 1982-07-28 Granbom Bo A device for converting rotary motion into linear motion
DE3629281A1 (de) * 1986-08-28 1988-03-24 Josef Pradler Umsetzungstrieb zur umsetzung einer rotationsbewegung in eine linearbewegung
US6245075B1 (en) * 1997-01-07 2001-06-12 Wittenstein Motion Control Gmbh Distraction device for moving apart two bone sections

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107023620A (zh) * 2017-05-16 2017-08-08 哈尔滨工业大学 一种基于滚柱螺纹中径修型的高刚度行星滚柱丝杠
GB2616333A (en) * 2022-01-13 2023-09-06 Ewellix AB Linear actuator and manufacturing method
US12044295B2 (en) 2022-01-13 2024-07-23 Ewellix AB Linear actuator and manufacturing method

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