CN101415953A

CN101415953A - Linear driving mechanism

Info

Publication number: CN101415953A
Application number: CNA2007800122312A
Authority: CN
Inventors: S·克劳斯; C·-P·卡尔卡
Original assignee: Festo SE and Co KG
Current assignee: Festo SE and Co KG
Priority date: 2006-04-12
Filing date: 2007-02-23
Publication date: 2009-04-22
Also published as: DE502007001307D1; EP2005008A2; EP2005008B1; WO2007118546A2; DE202006005952U1; WO2007118546A3

Abstract

Disclosed is a linear driving mechanism comprising a linear drive unit (2) that is provided with an output part (5) which can be driven so as to perform a linear output movement (4). The output part (5) is or can be drivingly coupled to a guiding part (26) via a coupling device (24), said guiding part (26) being guided so as to be movable on a linear guide (25) in a direction that runs parallel to the direction of the output movement (4). The coupling device (24) is provided with at least one coupling member (36) which is or can be connected to the output part (5) and the guiding part (26), is embodied in a tension-proof, compression-proof, and rigid manner, and is or can be connected to the output part (5) and the guiding part (26) via one respective ball-and-socket joint device (37).

Description

Linear actuating device

The present invention relates to a kind of linear actuating device, it has Linear actuator, this Linear actuator has the drivable driven member that is used for linear driven motion, this driven member by coupling and the guide element that on the moving direction that is being parallel to driven moving direction on the linear guide, can be offset guiding with the mode coupling connection that drives or like this coupling join, wherein coupling have at least one tension and measuring body a, end the other end be connected with guide element with driven member or attachable coupling conjuncted.

The driven member of the Linear actuator of fluid control and the mode motion coupling connection of the guide element that on guide rod, can be offset guiding in this linear actuating device known to drive by EP0744554B1.Make guide element can participate in the straight line motion of driven member directly in this way.Have coupling in order to connect two parts, it have tension and measuring body, but simultaneously the coupling of flexible bending elasticity is conjuncted, it rotatablely moves ground one end bearing on the driver part and the other end is bearing on the guide element.Because being in coupling, conjuncted this supporting of coupling and bending elasticity seamlessly compensate the position of the possible malalignment on the moving direction of driven member and guide element.But the processing charges of coupling is quite high.

Provide a kind of coniform gernel by DE21007002U1, it can realize the hinged of two structure members by the hinge spheroid that can be rotated to support on sphere supports face the inside.

DE9218883U1 discloses a kind of clutch release slave cylinder, and one of them balladeur train joins by unique spherical hinge and stroke sensor coupling, is used to avoid stuck between balladeur train and the stroke sensor.

The objective of the invention is a kind of measure of suggestion, it realizes playing the coupling connection that meets driving of alignment error compensating action between the guide element of the driven member of linear actuating device and subordinate in simple mode.

In order to achieve this end, the conjuncted tension of coupling, resistance to compression and bending resistance ground is constituted and to be connected with guide element or can to connect like this with driven member by the spherical linkage device.

Two spherical linkage devices form driven member and guide element based on the conjuncted separate relative movement of coupling, guarantee the no gap coupling between the guide element of driven member and subordinate on the driven moving direction simultaneously.This coupling be suitable for simultaneously compensating possible in and angular error, they may the driver part of Linear actuator be in operation be connected with the load of wanting passive movement usually or attachable guide element between generation or existence.Prevent that thus reaction force is because super rules cause wearing and tearing in advance.Simultaneously by absolute gapless coupling connection on driven moving direction guarantee guide element with the accurate location of its load that may be connected.Therefore this coupling especially also is applicable to servo pneumatic field, and wherein Location accuracy is a particular importance.Can realize very favorable processing cost by simple structure.

Favourable improvement project of the present invention is provided by dependent claims.

Described Linear actuator advantageously fluid control Linear actuator and especially with pressure air Linear actuator that drive, pneumatic.

Described Linear actuator advantageously has self the linear guide spare that is used for driven member, and it for example is arranged on the outer surface that drives shell, and wherein this shell is applicable to the driven member that guiding balladeur train shape constitutes.Driven member is important for the structural type of the Linear actuator of piston-rodless at first, and wherein driven member only moves and is no more than its end face and roll away from along driving shell.Especially can consult to example so-called slit cylinder for the Linear actuator of fluid control here, still also can consult contactlessly, the electromagnetism soil fertility is delivered to the Linear actuator on the driven member.

Described coupling can be designed for making that its coupling is conjuncted directly is fixed on driven member and/or the guide element.But obtain easy operating by a kind of like this structural type, promptly, wherein coupling has base element, be used for preferably removably being fixed on the driven member and also being fixed on guide element, be connected with a spherical linkage device in two spherical linkage devices in the middle of wherein between each base element and coupling are conjuncted.

Described spherical linkage device preferably includes and is arranged on the ball of coupling on conjuncted and holds body and hold in the body on all directions around the rotatable bearing ball of its centre of sphere at ball, wherein is provided for fixedly using mechanism with driven member or guide element directly or indirectly are connected on bearing ball.These fixing with mechanism for example can by radially protrude in bearing ball, especially be furnished with and fixingly constitute with bar with fixing of screw thread.

Make preferably that described coupling is conjuncted to be held the body place and preferably integrally have even shape at its ball at least.This ball holds body and here can be made of the conjuncted fracture of coupling, the interface of its circumference be formed for bearing ball, corresponding to the supporting surface of the spill of ball collar song.The spherical region that this supporting surface especially is similar to the equator constitutes.

Made by plastic materials if described coupling is conjuncted, the ball that can make ball bearing advance subordinate by roof pressure very simply holds body and installs.This point especially also help one, especially be the conjuncted structure of coupling of die castings.

Can make according to use condition and to be arranged on fixing on the bearing ball and to point to identical side or opposite side with mechanism.

Describe the present invention in detail by means of accompanying drawing below.In the accompanying drawing:

Fig. 1 illustrates preferred first structural type according to linear actuating device of the present invention with front view,

Fig. 2 illustrates the linear actuating device of Fig. 1 with rear view,

Fig. 3 to be going out the linear actuating device of Fig. 1 according to the cross-sectional illustration of cutting off line III-III,

Fig. 4 illustrates the linear actuating device of Fig. 1 with the longitudinal cross-section according to the coupling place of cutting off line IV-IV,

Fig. 5 is illustrated in the details V that Fig. 4 center goes out with the view that amplifies.

Comprise Linear actuator 2 and driven member 5 with the linear actuating device of label symbol 1 expression generally at it, it can drive the driven motion 4 of the reciprocating linearity of representing by double-head arrow in that Linear actuator 2 is in service.The direction of driven motion 4 is given by the first linear guide spare 3 that belongs to Linear actuator 2, and it is for example by constituting at the upwardly extending guide rail 3a of driven motion 4 sides.Preferably make guide rail be arranged on microscler, be called on Linear actuator 2 shells that drive shell 6.Guide rail can drive shell 6 with this and constitute integratedly as shown in the figure, realizes although also can be used as independent parts.

Driving shell 6 portion within it completely or partially holds the driving mechanism 7 that is used to drive driven member 5.They Linear actuator 2 be fluid control and the embodiment of Linear actuator 2 especially pneumatic control in comprise driven plunger 8, it is bearing in movably along driving accommodating chamber 12 the insides that shell 6 extends.This driven plunger is furnished with sealing mechanism 13, cooperates by the wall body of sealing mechanism driven plunger with accommodating chamber 12, makes accommodating chamber 12 axially be divided into two 14a of working room, 14b thus.The working room controllably loads with pressure medium by fluid passage unshowned, that pass driving shell 6 wall bodies, is used to make driven plunger 8 axial dipole field on a direction or other direction.

Make driven plunger 8 and driven member 5 such motion coupling connection by force transfering device 15, make driven member under the condition of finishing driven motion 4, synchronously participate in the straight line motion of driven plunger 8.

Linear actuator 2 can be a clutch release slave cylinder, and wherein force transfering device 15 constitutes by passing the piston rod that drives shell 6 end face closure wall, and it is rabbeted on driven member 5 in driving shell 6 outsides or forms this driven member itself.But the present invention preferably uses in so-called piston-rodless Linear actuator 2, as by the accompanying drawing example shown.Drive shell 6 here and vertically crack on the circumferential position of accommodating chamber 12, wherein penetratingly engage the driving lever 17 that belongs to force transfering device 15 by longitudinal seam 16, it makes driven plunger 8 be connected in the mode that drives with driven member 5.Driving lever can cover by the capping 18 that is placed on the driven member 5.

At two 14a of working room, director 14b stitches 16 by leaning sealing strip 22 coverings on its seam side internally.Sealing strip is in two positions between the sealing mechanism 13 in driven plunger 8 and inwardly lifts from slit, is used to make driving lever 17 can pass slit 16.

Different with present embodiment, Linear actuator 2 also can be a Linear actuator for example electricity or electric liquid.

Driven member 5 especially can constitute on balladeur train shape ground.Make driven member clamp type ground surround the guide rail 3a (see figure 3) that engages first guide body 3 in an advantageous manner.The gear mechanism 23 that is arranged on the driven member 5 plays the effect that contacts with 3 guiding of first guide body.Gear mechanism 23 can be sliding bearing and/or rolling bearing.

Totally with the coupling 24 of the linear actuating device 1 of label symbol 24 expressions can the direction of driven motion 4, below also abbreviate " axially " as and go up realization and be connected synchronously with no gap on another second linear guide spare 25 at the guide element 26 of its vertical removable guiding.

The motion of guide element 26 is called guided-moving 27.The second linear guide spare 25 constitutes like this, that is, the moving direction of guided-moving 27 and the moving direction of driven motion 4 are extended abreast.This point is essential when realizing whole device at least.But in practice because processing and assembly error can not be got rid of the minimum deviation in the parallelism between driven motion 4 and guided-moving 27 at least fully.This can be called in and the deviation of angular error may cause increasing wearing and tearing for the coupling connection of the driven member 5 of rigidity generally and guide element 26 and cause simultaneously reducing working life.Coupling 24 reduces or gets rid of this problem, although coupling is in the effect of axially playing the synchronous coupling connection in no gap between driven member 5 and the guide element 26, but also allow the relative movement between the above-mentioned parts, be used for automatically compensating possible to and angular error.

The second linear guide spare 25 is guide rod in the present embodiment.It comprises at least one and best at least two guide rod 25a that extend side by side with parallel position, 25b, guide element guiding in the vertical movably thereon on long limit.But can realize other structural type of the second linear guide spare 25 equally.For example it can be made of one or more guide rails.

Second straight line guiding 25 comprises that also the guide element 26 that is attached to it for example can be the constituent element of machinery or equipment, and Linear actuator 2 can join with the mode coupling that drives with equipment under by means of the condition of coupling 24, is used to provide driving force.Can be independent of the second linear guide spare 25 and assemble at this Linear actuator 2.Schematically represent fixed structure 28 with 28, the second linear guide spare 25 is fixing independently and for example be made of equipment rack with Linear actuator 2 thereon, also can assemble Linear actuator 2 and its driving shell 6 thereon.

Although but also there is this possibility in foregoing, whole device is realized with element of construction by Linear actuator 2, coupling 24, guide element 26 and the second linear guide spare 25.At this even may abandon the first linear guide spare 3.

Guide element 26 is preferably formed as and is load carriers 32, and promptly such parts utilize it, the various forms of loads of passive movement always can be connected with support.This support comprises and is suitable for wanting the fixing with mechanism 33 of passive movement load, for example can be many tapped holes.But according to the dot and dash line figure of representing with 32a in Fig. 2, load carriers also can be that it always is fixed on the guide element 26 in every way with respect to guide element 26 parts independently.

The second linear guide spare 25 separates a determining deviation ground along long limit and extends on Linear actuator 2 next doors.Space on transversal line 34 directions that driven member 5 and guide element 26 are represented by dot and dash line in Fig. 3.Transversal line is by the principal plane 35 of the moving direction tensioning linear actuating device 1 that is parallel to each other of driven member and guide element 26.

Coupling 24 comprises that coupling that tension, resistance to compression and bending resistance constitute is conjuncted 36, and it not only is connected or can connects like this with driven member 5 but also with guide element 26 by spherical linkage device 37.Make driving force be delivered to guide element 26 by this device from driven member 5.It is conjuncted 36 preferably to constitute coupling like this, that is, the straight connecting line 38 that connects two spherical linkage devices 37 is basically parallel to the direction orientation of driven motion 4.But can realize oblique position at least slightly equally easily.Advantageously, if connecting line 38 and driven motion 4 axially between the angle that forms be acute angle---present and be in tilted layout.

Each spherical linkage device 37 all is included in the ball that is provided with on the coupling conjuncted 36 or constitutes and holds body 42 and the bearing ball 43 that is bearing in wherein, and its middle (center) bearing can realize that ball bearing 43 holds body 42 rotation around its centre of sphere 44 on all directions with respect to ball.In other words, coupling conjuncted 37 can be at random around the centre of sphere 44 rotations or swing in the position of each spherical linkage device 37.

Each bearing ball 43 all is furnished with fixing with mechanism 45, is used for especially removably being connected with the driven member 5 or the guide element 26 of subordinate.These are fixing to advantageously comprise the bearing ball 43 that radially protrudes in subordinate and fixing usefulness bar 46 that especially constitute with bearing ball 43 one with mechanism 45.This is fixing to be to be furnished with fixing threaded stem with screw thread with bar in the present embodiment, therefore can realize being connected with the driven member 5 of subordinate or dismountable bolt of guide element 26.

Coupling conjuncted 36 holds body region and is preferably in two balls at a ball at least and holds and all have even shape in the body region.It is best that conjuncted 36 shapes of smooth on the whole coupling are considered to, but plate member in fact also can have any external frame.The end segments that for example has circular contour at the position that two balls hold body 42 is extended narrower galianconism section betwixt.

It is conjuncted 36 advantageously to constitute coupling like this, makes its main expanding noodles 47 that dot and dash line is represented in Fig. 3 be basically parallel to principal plane 35 defined above and extends.But because the alignment error that exists between two linear guide spares 3,25 also can realize other orientation.

The thickness of coupling conjuncted 36 holds body 32 places advantageously less than the diameter of the ball bearing 43 of subordinate at ball at least.Therefore this ball bearing also protrudes in coupling conjuncted 36 according to Figure 4 and 5 in both sides.Fixing with main expanding noodles 47 orientations of mechanism 45 perpendicular to coupling conjuncted 36.

The fixing in the present embodiment mechanism 35 that uses points to identical side from main expanding noodles 47.But they also can be aimed at mutually on the contrary.This layout is especially at the situation that disposes between driven member 5 and the guide element 26.

Ball holds body 42 and is made of the fracture of coupling conjuncted 36 in the present embodiment, and the interface of its circumference forms or have the supporting surface 48 of the rotatable bearing ball that holds 43.In order not make bearing ball 43 hang, supporting surface 48 spills ground is shaped corresponding to ball collar is bent.It has on the mathematical meaning and ball district equatorial plane symmetry shape in the present embodiment.

Bearing ball 43 needn't have ball shape generally at it.Ball shape can be confined on certain intercept, and it always is retained in ball and holds body 42 inside under the condition of considering possible rotation and deflection angle.Bearing ball 43 is scabbled on fixing side opposite on mechanism's 45 diameters.

By making coupling conjuncted 36 hold body 42 places and advantageously made by plastic materials generally at ball at least, it has certain elastic deformation, and ball bearing 43 can be realized especially simply in the assembling that its ball holds in the body 42.One of passing in two openings that ball holds body 42 by roof pressure simply of bearing ball 43 is just enough, need not special fixing means thus.This point can realize economic especially processing.Especially coupling conjuncted 36 can at first be processed with this structural type integratedly.

With mechanism 45 each bearing ball 43 directly is fixed on the corresponding body with its adaptive driven member 5 and/or coupling conjuncted 36 by fixing.But coupling 24 advantageously makes each spherical linkage device 37 comprise base element 52, and it plays the effect that is used to make the intersection location parts that bearing ball 43 is connected with driven member 5 or guide element 26.

Each bearing ball 43 is fixed by it and is fixed on the base element 52 with mechanism 45.Each base element 52 is fixed by another that is fit to and is placed on driven member 5 or the guide element 26, especially removably with mechanism 53.Other is fixing especially can be fixed-use bolt with mechanism 53, and it can pass base element 52 and guide, and is used for then being connected with bolt with driven member 5 or guide element 26.

Claims

1. linear actuating device, it has Linear actuator (2), this Linear actuator (2) has the drivable driven member (5) that is used for linear driven motion (4), and this driven member (5) by coupling (24) be parallel to the moving direction of driven motion (4) direction in linear guide (25) upper edge on can be offset guiding guide element (26) with the mode coupling connection that drives or like this coupling join, wherein said coupling (24) has at least one tension and measuring body, the other end is connected with described guide element (26) one end with described driven member (5) or attachable coupling conjuncted (36), it is characterized in that, described coupling conjuncted (36) tension, resistance to compression and bending resistance ground constitute, and are connected or can connect like this with described guide element (26) with described driven member (5) by spherical linkage device (37).

2. linear actuating device as claimed in claim 1 is characterized in that, described Linear actuator (2) is a fluid Linear actuator (2) control, especially pneumatic.

3. linear actuating device as claimed in claim 2 is characterized in that, described Linear actuator (2) is the Linear actuator of piston-rodless.

4. as each described linear actuating device in the claim 1 to 3, it is characterized in that, described Linear actuator (2) is provided with that be separated with the linear guide spare (25) that is used for described guide element (26), own linear guide spare (3), and described driven member (5) is gone up linearity at this linear guide spare (3) and can be guided with being offset.

5. linear actuating device as claimed in claim 4, it is characterized in that, described Linear actuator (2) comprises the driving shell (6) that completely or partially holds its driving mechanism (7), and the outer surface of this driving shell (6) is provided with the linear guide spare (3) that is used for described driven member (5).

6. as claim 4 or 5 described linear actuating devices, it is characterized in that the linear guide spare (3) that is used for described driven member (5) constitutes guide rail (3a).

7. as each described linear actuating device in the claim 1 to 6, it is characterized in that described driven member (5) balladeur train shape ground constitutes.

8. as each described linear actuating device in the claim 1 to 7, it is characterized in that, described coupling (24) is in order to be fixed on described driven member (5) and to go up and described guide element (26) being gone up and had base element (52) respectively, and wherein said coupling conjuncted (36) is connected by spherical linkage device (37) with each base element (52).

9. as each described linear actuating device in the claim 1 to 8, it is characterized in that, each spherical linkage device (37) all has the ball that is arranged on the described coupling conjuncted (36) to be held body (42) and holds in the body (42) on all directions around the rotatably mounted bearing ball (43) of its centre of sphere (44) at ball, and this bearing ball (43) has the fixing usefulness mechanism (45) that is suitable for being connected with described driven member (5) or described guide element (26).

10. linear actuating device as claimed in claim 9 is characterized in that, described fixing with mechanism (45) comprise radially outstanding described bearing ball (43), especially have fixing fixing with screw thread with bar (46).

11. as claim 9 or 10 described linear actuating devices, it is characterized in that, described coupling conjuncted (36) has even shape at least at least one ball holds the zone of body (42), wherein said ball holds body (42) and is formed by the fracture of described coupling conjuncted (36), and the interface of this fracture forms or has a supporting surface (48) corresponding to the spill of ball collar song that is used for described bearing ball (43).

12. linear actuating device as claimed in claim 11, it is characterized in that, described coupling conjuncted (36) holds in body (42) zone at described ball at least to be made by plastic materials, and described bearing ball (43) is installed into described ball by roof pressure and holds in the body (42).

13. in conjunction with claim 9 or 10 described linear actuating devices, it is characterized in that as claim 11 or 12 the fixing of two bearing balls (43) aimed at identical side or aimed at opposite side with respect to coupling conjuncted (36) with mechanism (45).

14. as each described linear actuating device in the claim 1 to 13, it is characterized in that, described driven member (5) and described guide element (26) are provided with on the direction of the transversal line (34) of described linear actuating device adjacent to each other, and wherein said coupling conjuncted (36) is the flat structures parts and is aligned to the longitudinal axis that makes its main expanding noodles (47) be parallel to described linear actuating device (1) at least basically and transversal line (34) and extending.

15. as each described linear actuating device in the claim 1 to 14, it is characterized in that, the linear guide spare (25) that is used for described guide element (26) is a guide rod, it have in an advantageous manner two in parallel to each other, have spacing ground, the guide rod that extends adjacent to each other (25a, 25b).

16., it is characterized in that the straight connecting line (38) that connects two spherical linkage devices (37) is basically parallel to the direction orientation of driven motion (4) as each described linear actuating device in the claim 1 to 15, perhaps form acute angle with this direction.

17. as each described linear actuating device in the claim 1 to 16, it is characterized in that, described guide element (26) constitute load carriers (32,32a), perhaps be permanently connected with such load carriers.

18., it is characterized in that the structure member that described coupling conjuncted (36) is an one as each described linear actuating device in the claim 1 to 17.