CN117813174A - 弹簧支撑的直线驱动器 - Google Patents
弹簧支撑的直线驱动器 Download PDFInfo
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- CN117813174A CN117813174A CN202180101220.1A CN202180101220A CN117813174A CN 117813174 A CN117813174 A CN 117813174A CN 202180101220 A CN202180101220 A CN 202180101220A CN 117813174 A CN117813174 A CN 117813174A
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- 238000000034 method Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 2
- 238000003466 welding Methods 0.000 description 6
- 230000001419 dependent effect Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1423—Component parts; Constructional details
- F15B15/1476—Special return means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/30—Features relating to electrodes
- B23K11/3072—Devices for exchanging or removing electrodes or electrode tips
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B15/204—Control means for piston speed or actuating force without external control, e.g. control valve inside the piston
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B15/22—Other details, e.g. assembly with regulating devices for accelerating or decelerating the stroke
- F15B15/226—Other details, e.g. assembly with regulating devices for accelerating or decelerating the stroke having elastic elements, e.g. springs, rubber pads
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1423—Component parts; Constructional details
- F15B15/1428—Cylinders
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1423—Component parts; Constructional details
- F15B15/1457—Piston rods
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7051—Linear output members
- F15B2211/7053—Double-acting output members
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/76—Control of force or torque of the output member
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/885—Control specific to the type of fluid, e.g. specific to magnetorheological fluid
- F15B2211/8855—Compressible fluids, e.g. specific to pneumatics
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Actuator (AREA)
- Resistance Welding (AREA)
Abstract
本发明涉及一种双作用式的直线驱动器,其由直线驱动器(机械的/气动的/液压的)与弹簧的组合构成,弹簧的目的在于从一侧使直线驱动器的力增强,超过单纯直线驱动器的标称力。
Description
技术领域
本发明涉及一种直线驱动器,其应用在所有技术领域中,但特别是为换帽***开发。
背景技术
这种换帽***主要包括用于将电极帽从焊接电极轴,特别是用于自动化设备中焊钳的焊接电极轴上拔下的机构。
为此,将换帽***布置成,使得焊接机器人可以利用换帽***触及分配给它的焊钳并且使得电极帽与相应安装的换帽***咬合。
这些换帽***通常由工具架和用于换头工具的驱动器构成,该工具架具有至少一个在其中绕工具转动轴线可转动地被支承的换头工具。
由于使用这种机构,对于这种机构存在复杂的要求,即直线驱动器的结构尺寸和质量要尽可能小。
根据现有技术使用直线驱动器(机械的/气动的/液压的)是充分已知的。
对于直线驱动器和弹簧的组合同样是这种情况,该组合用于从一侧加载的***,以便达到预定的位置或者以阻尼***的形式。
例如,在诸如液压***的气动***中,在活塞杆上最大能实现的力与能被加载的活塞面的直径和可用的介质压力相关。
在实践中,技术上的应用经常要求在活塞杆上在一侧上有更高的力。通过选择配置,即在活塞底部侧安装还是在活塞杆侧安装,就这一点实现了技术上受限制的优化。
作用在活塞杆上的力的进一步提高仅通过适配设计尺寸(活塞直径以及因此直线驱动器的结构尺寸)或通过供给单元中的更高的***压力才是可能的。
由DE 198 25 770C2已知一种用于安装电极帽的装置,其中,推移机构布置在电极帽仓与出口对置的侧上并且由气动或液压地驱动的缸活塞单元组成。该解决方案的一种变型方案借助于弹簧力仅使活塞复位。
在由现有技术已知的解决方案中不利的是,更大的力只有通过增大活塞直径并且由此增大直线驱动器的结构尺寸或通过供给单元中有更高的***压力才有可能实现。
发明内容
本发明的目的在于,提出一种解决方案,其能够在直线驱动器的结构尺寸几乎相同的情况下实现更大的作用力。
该目的通过直线驱动器(机械的/气动的/液压的)与弹簧的组合来实现,弹簧的目的在于从一侧使该组合的力增强,超过单纯直线驱动器的标称力。
在此,根据本发明,通过定位在外部的弹簧***与双作用式的(在两个方向上)直线驱动器的组合,从一侧特定于使用者地实现使力增强超过直线驱动器的标称力,而不改变直线驱动器尺寸或供给单元中的***压力。
附图说明
下面将借助于换帽器以及借助于图1至图5将根据本发明的解决方案作为实施例详细地阐述。
在此,图1示出了这种示例性的气动的换帽器,
图2在弹簧支撑的直线驱动器的部件分解图中示出了气动的换帽器,
图3在向着弹簧支撑的直线驱动器观察的剖视图中示出了气动的换帽器,
图4示出了处于静止位置的气动的换帽器,换帽器具有处于松弛状态的弹簧蓄能器,
图5示出了具有处于负载状态的弹簧蓄能器和敞开的换头工具的气动的换帽器。
具体实施方式
不过,在任何其它的应用中使用弹簧支撑的直线驱动器5的根据本发明的解决方案也属于本发明的构思。
为此,直线驱动器5的与作为力传递元件的齿条6连接的活塞杆7配备有活塞杆延长部2,活塞杆延长部的尺寸被定为使得活塞杆延长部容纳附加的弹簧4和其相应的弹簧行程。
在此,弹簧4以其一端顶在直线驱动器5上,以其另一端顶在容纳垫圈3上,容纳垫圈与活塞杆延长部2固定地连接。
图4示出处于静止位置中的气动的换帽器的初始位置。
作为直线驱动器5的气动缸位于其探出的端部位置中,起辅助作用的弹簧4松弛并且换头工具8闭合。
为了开始盖更换过程,要使换头工具8敞开。这通过以下方式实现,即作为直线驱动器5的气动缸在活塞杆侧7被加载压缩空气。通过内置的齿条6和连接的齿轮使换头工具8敞开。在定义的位置上与活塞杆延长部2连接的容纳垫圈3引起弹簧4张紧。利用作为直线驱动器5的气动缸从活塞杆侧产生的力必须大于弹簧标称力,以便能够将弹簧完全张紧。
弹簧支撑的直线驱动器的尺寸选定与作用工具上所需的力有关,在该应用示例中与换头工具上所需的扭矩有关,以便能够使电极帽从焊钳的锥体上松脱。
所需的***力【F***】简化地如下计算,***力必须施加在气动的换帽器的齿条6上,以便能够通过正齿轮传动机构在换头工具8上产生必要的扭矩:
F***(s)=F气缸+F弹簧(s)。
作为直线驱动器5的气动缸的尺寸设计通常根据可供使用的空气压力、活塞直径和所需的冲程长度进行。
要考虑到的是,弹簧力引起的支撑与弹簧的弹簧常数线性对应地与弹簧预紧的张紧行程(s)有关。在弹簧的未张紧状态L0(s=0mm)下,支撑等于0。
F弹簧(sL0)=0,F***(sL0)=F气缸+0。
在弹簧最大允许的张紧状态中,在Ln(弹簧的最小长度)或者说在最大的张紧行程sn处,弹簧4所引起的支撑是最大的。
F弹簧(sn)=最大,F***(sn)=F气缸+F弹簧(sn)=最大。
在换头工具8敞开的情况下,将气动的换帽器定位在待松脱的电极帽上,使得电极帽同轴地处于换头工具8中。
随着作为直线驱动器5的气动缸的活塞侧被加载压缩空气,齿条上的直线运动以最大的***力(F***(sn)=F气缸+F弹簧(sn)=最大)开始。
张紧的弹簧4压靠容纳垫圈3,在作为直线驱动器5的气动缸的力之外,容纳垫圈通过其与活塞杆延长部2的固定还将弹簧4蓄积的力导入齿条中。换头工具闭合并且夹住待松脱的盖。除了弹簧力之外,在换头工具8于闭合期间撞击到仍牢固地处于锥体上的盖时,增大的质量冲量也辅助松脱效果。
齿条6上实际起作用的***力/换头工具8上的扭矩与弹簧预紧的张紧行程的长度线性地相关。
在具体的应用示例中,在***压力p=6bar并且弹簧的最大张紧行程sn=49.31mm的情况下,相对于作为直线驱动器的、活塞直径为63mm的气动缸的标称力,测定出***力提高了78%。
F弹簧(sn=49.31mm)=1454.42N
F气缸=1870N
F***(sn=49.31mm)=3324.42N
在s=42mm,换头工具8撞击到待松脱的盖上时,相对于在p=6bar时的作为直线驱动器5的气动缸的标称力,测定出***力提高了59%。
F弹簧(s=42mm)=1110.648N
F气缸=1870N
F***(s=42mm)=2980.648N
可以将所有已知的实现同样地辅助直线驱动器的等效作用的***视为弹簧。
Claims (2)
1.双作用式直线驱动器,由所述直线驱动器(机械的/气动的/液压的)与弹簧的组合构成,所述弹簧的目的在于从一侧使所述直线驱动器的力增强,超过单纯直线驱动器的标称力。
2.双作用式直线驱动器,其中,所述直线驱动器的活塞杆(7)配备有活塞杆延长部(2)并且其尺寸被定为使得所述活塞杆延长部接纳额外的所述弹簧(4)和其相应的弹簧行程,其中所述弹簧(4)以其一端顶在所述直线驱动器(5)上并且以其另一端顶在容纳垫圈(3)上,所述容纳垫圈与所述活塞杆延长部(2)固定地连接,其中所述弹簧(4)在活塞杆侧(7)有压力加载时通过所述活塞杆延长部(2)的位移而张紧,并且在所述直线驱动器(5)的活塞侧有压力加载时以最大的***力(F***(sn)=F气缸+F弹簧(sn)=最大)触发力传递元件上的直线运动,其中张紧的所述弹簧(4)压靠所述容纳垫圈(3),除了所述直线驱动器(5)的力之外,所述容纳垫圈通过其与所述活塞杆延长部(2)的固定还将所述弹簧(4)蓄积的力导入所述力传递元件中。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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PCT/EP2021/072258 WO2023016631A1 (de) | 2021-08-10 | 2021-08-10 | Federunterstützter linearantrieb |
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CN117813174A true CN117813174A (zh) | 2024-04-02 |
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CN202180101220.1A Pending CN117813174A (zh) | 2021-08-10 | 2021-08-10 | 弹簧支撑的直线驱动器 |
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Country | Link |
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EP (1) | EP4384341A1 (zh) |
KR (1) | KR20240036116A (zh) |
CN (1) | CN117813174A (zh) |
AR (1) | AR126169A1 (zh) |
CA (1) | CA3223240A1 (zh) |
MX (1) | MX2024000144A (zh) |
WO (1) | WO2023016631A1 (zh) |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
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CA2121988A1 (en) * | 1994-04-22 | 1995-10-23 | Laurent Voilmy | Apparatus for automatically replacing welding electrodes |
DE19825770C2 (de) | 1998-06-09 | 2000-05-04 | Bayerische Motoren Werke Ag | Vorrichtung zum Aufsetzen von Elektrodenkappen |
AT410348B (de) * | 2000-10-13 | 2003-03-25 | Hoerbiger Hydraulik | Hydraulikzylinder |
US20130186080A1 (en) * | 2012-01-25 | 2013-07-25 | Mitsubishi Heavy Industries, Ltd. | Actuator |
CN108708886A (zh) * | 2018-08-10 | 2018-10-26 | 苏州劳灵精密机械有限公司 | 单缸单活塞式倍力节能缸及作动模块 |
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2021
- 2021-08-10 KR KR1020247007262A patent/KR20240036116A/ko unknown
- 2021-08-10 CA CA3223240A patent/CA3223240A1/en active Pending
- 2021-08-10 EP EP21759064.5A patent/EP4384341A1/de active Pending
- 2021-08-10 WO PCT/EP2021/072258 patent/WO2023016631A1/de active Application Filing
- 2021-08-10 CN CN202180101220.1A patent/CN117813174A/zh active Pending
- 2021-08-10 MX MX2024000144A patent/MX2024000144A/es unknown
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KR20240036116A (ko) | 2024-03-19 |
EP4384341A1 (de) | 2024-06-19 |
MX2024000144A (es) | 2024-01-23 |
AR126169A1 (es) | 2023-09-27 |
WO2023016631A1 (de) | 2023-02-16 |
CA3223240A1 (en) | 2023-02-16 |
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