EP2823550A2 - Anordnung aus einem aktor und einem aktorhalter - Google Patents
Anordnung aus einem aktor und einem aktorhalterInfo
- Publication number
- EP2823550A2 EP2823550A2 EP13714544.7A EP13714544A EP2823550A2 EP 2823550 A2 EP2823550 A2 EP 2823550A2 EP 13714544 A EP13714544 A EP 13714544A EP 2823550 A2 EP2823550 A2 EP 2823550A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- actuator
- arrangement according
- holder
- energy
- drive device
- 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.)
- Withdrawn
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/40—Circuit arrangements or systems for wireless supply or distribution of electric power using two or more transmitting or receiving devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/80—Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0063—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with circuits adapted for supplying loads from the battery
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/19—Drive system for arm
- Y10S901/23—Electric motor
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20311—Robotic arm including power cable or connector
Definitions
- the invention relates to an arrangement of an actuator and a AkiorhaSfer, wherein the actuator is movably connected to the actuator holder and means are provided for supplying the actuator with operating energy.
- the actuator which is movably coupled to an oscillator and to be supplied with operating energy, it can be used, for example. to handle a robot arm, which is pivotally connected to another Roboferarm forming the actuator holder.
- the actuator is constituted by an assembly of a wheel and a rotary drive means for the wheel, the assembly being e.g. about an axis perpendicular to the wheel axis pivotable and connected to a holder in the form of Fahrgesteiis.
- the present invention provides a novel arrangement of the above type which is characterized in that the means for supplying the actuator with frictional energy comprise an energy accumulator integrated in the actuator.
- the integrated energy storage allows operation of the actuator with high electrical power whose transmission is made difficult by means of electrical line connections between the Aktorhaiter and the actuator because of the movable coupling of the actuator to the actuator holder.
- the actuator is freely movable in at least one dimension against the actuator holder and the actuator can be pivoted against the actuator holder, for example, by an arbitrary angle of rotation.
- the energy Transmission by means of electrical cable connections require consuming Schleifkontak- fusions.
- the actuator which can be pivoted about an arbitrary angle of rotation could, for example, only comprise a rotor of an electrical machine provided with power windings and the actuator holder be formed by its stator.
- devices for contactless transmission of frictional energy to the energy store are provided in the device according to the invention, in particular for transmitting the operating energy from the actuator holder to the actuator.
- the possible transmission power only needs to correspond to the operating energy required by the actuator in the time average.
- a drive device is provided for moving the actuator against the Aktorhaiter.
- Drive device like the other drive devices, receive frictional energy from the energy store.
- said drive means comprises a component connected only to the actuator and one connected only to the actuator holder
- Component ie the drive device is formed by both the actuator and the actuator holder.
- the component connected only to the actuator may be a rotor and, in the case of the component connected only to the actuator holder, it may be a stator of a drive motor forming the drive device, by means of which the actuator, if necessary, can be pivoted by any desired angle of rotation.
- the rotor Poiwickionne and the stator means for generating the exciter field of the drive motor on.
- the current flowing through the pole windings is supplied by the integrated energy store, which is co-rotated with the rotor.
- the devices for transmission of operating energy can be replaced by parts de?
- the actuator moving drive means may be formed, wherein the stator of the drive motor is optionally provided with an operating power to the energy storage transmitting winding.
- This winding is also usable for generating the magnetic field of the drive motor.
- Aitemotiv the winding can also be provided in addition to permanent magnets of the stator, wherein the Feider the permanent magnets and the winding overlap Sassen, so that in particular results in a varying d-Anteii. Even with a large amplitude of the d-component, a desired q-arrow can be adjusted. Since the d component can also be influenced on the actuator side, an energy and / or information transmission is possible in principle in both directions,
- the actuator comprises a wheel and a rotary drive means for the wheel.
- the wheel axle is perpendicular to the axis to make the actuator move against the actuator holder. e.g. a chassis holding the wheel assembly, is pivotable.
- the transfer of energy may also be in the opposite direction from the actuator to the applicator, e.g. in the generator mode of the drive motor of the wheel.
- the ErflndungsgemaSe arrangement can be cascaded, the Akforhalter each form itself again part of another actuator.
- Fig. 1 a erfindungsgemäSe arrangement with a driven wheel comprehensive Aktorbauhim which is connected to a vertical axis to the wheel axis rotatably connected to a chassis and
- FIG. 2 is a schematic circuit diagram for explaining the function of the arrangement of FIG. 1.
- FIG. 2 is a schematic circuit diagram for explaining the function of the arrangement of FIG. 1.
- FIG. 1 An arrangement shown in Fig. 1 comprises an actuator assembly 1 ; in the embodiment shown has a wheel 2, a Radhalfer 3 and a Speicher- bafterie 4.
- the indicated by dashed lines storage battery 4 is housed in the Radhalfer 3.
- the actuator assembly 1 has a rotor 6 which adjoins the rod holder 3 and which is part of it a drive motor 5 about a pivot axis 7 against a stator 8 is rotatable.
- the pivot axis 7 is perpendicular to the axis of rotation of the wheel. 2
- the stator 8 of the drive motor 5, which forms a pivot drive for the Aktorbau- unit 1, is rigidly connected to a holder 9 shown in fragmentary form, which is in the illustrated embodiment, a Fahrgesteii a (not shown otherwise) mobile device.
- the rotor 6 has the pole windings through which the operating current flows, while the stator 8 drives the field of excitation of the driving motor 5, e.g. generated by means of permanent magnets.
- the pole windings and permanent magnets are not shown in FIG. 1.
- the Aktorbautician i further comprises a wheel 2 rotating about the wheel axis, housed in the wheel driving motor 10 with a stator 1] and a wheel rotating outer rotor 1 2.
- the drive motor 10 can be connected via a circuit 13 to the storage battery 4, wherein the motor operation by the circuit 1 3 is controllable.
- the controllable via a circuit 1 4 drive motor 5 for the rotary actuator of the ⁇ ktorbauaji 1 operating energy from the Speicherbai ferie 4th
- winding 1 5 is provided on the stator 8 and forms with the other parts of the stator 8 in Fig. 2 by Sfrichiinien indicated, connected to the holder 9 assembly 1 6.
- the winding 1 5 can be provided on the stator 8 instead of or in addition to permanent magnets., In the Ersferen case, it can be used to generate the excitation field of the drive motor 5.
- the ⁇ ktorbautician 1 is pivoted by the drive motor 5 to any rotation angle. If the sector module 1 were not provided with the storage battery 4, the rotational drive motor 10 and the swivel drive motor 5 were required to have operating power disadvantageously, e.g. be fed via sliding contacts.
- the storage battery 4 can in particular short term high power requirements of the rotary drive motor 1 0 meet.
- the drive-on energy required in the time average can be superimposed on the contactor with the aid of the winding 15.
- the transformer coupling between the actuator] and the Akforhalter 9 on the winding 1 S allows not only the energy transfer and the transmission of information. Modulations of flowing currents always make themselves felt on the other side as well by this coupling.
- Such information transfer from the actuator holder ⁇ to the holder Akfor 9 could be carried out in particular in the context of operation of the pivot drive motor 5 by Pululsweftenmoduiation (PWM).
- PWM Pululsweftenmoduiation
- Binary code can be accommodated in the P ' WM cycles.
- a shift of secondary half-time points in successive PWM samples could be used for sarcoding, where, for example, no shift in two consecutive cycles encodes the value "ö", while one positive shift in one cycle and one negative shift in the following cycle encode the value Represents "1".
- no shift in two consecutive cycles encodes the value "ö”
- one positive shift in one cycle and one negative shift in the following cycle encode the value Represents "1”.
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Permanent Magnet Type Synchronous Machine (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
- Actuator (AREA)
- Fluid-Damping Devices (AREA)
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102012101873 | 2012-03-06 | ||
DE102012102971A DE102012102971A1 (de) | 2012-03-06 | 2012-04-05 | Anordnung aus einem Aktor und einem Aktorhalter |
PCT/DE2013/100082 WO2013131515A2 (de) | 2012-03-06 | 2013-03-05 | Anordnung aus einem aktor und einem aktorhalter |
Publications (1)
Publication Number | Publication Date |
---|---|
EP2823550A2 true EP2823550A2 (de) | 2015-01-14 |
Family
ID=49029520
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP13714544.7A Withdrawn EP2823550A2 (de) | 2012-03-06 | 2013-03-05 | Anordnung aus einem aktor und einem aktorhalter |
Country Status (5)
Country | Link |
---|---|
US (1) | US20150032255A1 (de) |
EP (1) | EP2823550A2 (de) |
CN (1) | CN104160591A (de) |
DE (1) | DE102012102971A1 (de) |
WO (1) | WO2013131515A2 (de) |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3402351A1 (de) * | 1984-01-24 | 1985-07-25 | Siemens AG, 1000 Berlin und 8000 München | Einrichtung zur kontaktlosen uebertragung von wechselspannungen zwischen zwei relativ zueinander um eine achse drehbaren maschinenteilen |
JP2001077733A (ja) * | 1999-09-03 | 2001-03-23 | Japan Science & Technology Corp | 交流電力および情報信号の送信装置および受信装置 |
DE102004028595A1 (de) * | 2004-06-12 | 2005-12-29 | Daimlerchrysler Ag | Vorrichtung zum berührungslosen induktiven Übertragen von Energie und Daten und ein damit ausgestattetes Kraftfahrzeugmodul |
DE102007035310A1 (de) * | 2007-07-27 | 2009-01-29 | Conti Temic Microelectronic Gmbh | Verfahren und Vorrichtung zur Daten-und/oder Energieübertragung |
WO2010102987A1 (de) * | 2009-03-11 | 2010-09-16 | Alstom Technology Ltd. | Rotierender transformator zur versorgung der feldwicklung in einer dynamoelektrischen maschine |
DE202011107803U1 (de) * | 2011-11-14 | 2011-12-19 | Igus Gmbh | Induktiver Drehübertrager |
DE102010025376A1 (de) * | 2010-06-28 | 2011-12-29 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Vorrichtung zur berührungslosen Energie- und Datenübertragung und Roboter |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5149230A (en) * | 1991-03-04 | 1992-09-22 | Nett Daniel R | Rotating dual attachment receptacle apparatus tool |
EP0601213A1 (de) * | 1992-10-29 | 1994-06-15 | Hamilton Bonaduz AG | Vorrichtung zum Transportieren von Waren |
DE102007025822A1 (de) * | 2007-06-02 | 2008-12-18 | Lars Bergmann | Kombinierbares Flächenelement mit einer Vielzahl von ansteuerbaren Wandlerelementen |
DE102010028769A1 (de) * | 2010-05-07 | 2011-11-10 | Pvt Probenverteiltechnik Gmbh | System zum Transportieren von Behältern zwischen unterschiedlichen Stationen und Behälterträger |
CN101913144B (zh) * | 2010-08-27 | 2011-09-28 | 上海交通大学 | 移动机械臂 |
CN201863703U (zh) * | 2010-09-06 | 2011-06-15 | 罗秋香 | 电动车的整体式电动车轮 |
CN202146430U (zh) * | 2011-04-09 | 2012-02-22 | 南宁市中新森泰科技有限公司 | 一种按摩治疗仪 |
-
2012
- 2012-04-05 DE DE102012102971A patent/DE102012102971A1/de not_active Withdrawn
-
2013
- 2013-03-05 US US14/382,685 patent/US20150032255A1/en not_active Abandoned
- 2013-03-05 CN CN201380012693.XA patent/CN104160591A/zh active Pending
- 2013-03-05 EP EP13714544.7A patent/EP2823550A2/de not_active Withdrawn
- 2013-03-05 WO PCT/DE2013/100082 patent/WO2013131515A2/de active Application Filing
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3402351A1 (de) * | 1984-01-24 | 1985-07-25 | Siemens AG, 1000 Berlin und 8000 München | Einrichtung zur kontaktlosen uebertragung von wechselspannungen zwischen zwei relativ zueinander um eine achse drehbaren maschinenteilen |
JP2001077733A (ja) * | 1999-09-03 | 2001-03-23 | Japan Science & Technology Corp | 交流電力および情報信号の送信装置および受信装置 |
DE102004028595A1 (de) * | 2004-06-12 | 2005-12-29 | Daimlerchrysler Ag | Vorrichtung zum berührungslosen induktiven Übertragen von Energie und Daten und ein damit ausgestattetes Kraftfahrzeugmodul |
DE102007035310A1 (de) * | 2007-07-27 | 2009-01-29 | Conti Temic Microelectronic Gmbh | Verfahren und Vorrichtung zur Daten-und/oder Energieübertragung |
WO2010102987A1 (de) * | 2009-03-11 | 2010-09-16 | Alstom Technology Ltd. | Rotierender transformator zur versorgung der feldwicklung in einer dynamoelektrischen maschine |
DE102010025376A1 (de) * | 2010-06-28 | 2011-12-29 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Vorrichtung zur berührungslosen Energie- und Datenübertragung und Roboter |
DE202011107803U1 (de) * | 2011-11-14 | 2011-12-19 | Igus Gmbh | Induktiver Drehübertrager |
Also Published As
Publication number | Publication date |
---|---|
CN104160591A (zh) | 2014-11-19 |
DE102012102971A1 (de) | 2013-09-12 |
WO2013131515A3 (de) | 2013-10-31 |
US20150032255A1 (en) | 2015-01-29 |
WO2013131515A2 (de) | 2013-09-12 |
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Legal Events
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PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
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17P | Request for examination filed |
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AK | Designated contracting states |
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AX | Request for extension of the european patent |
Extension state: BA ME |
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DAX | Request for extension of the european patent (deleted) | ||
17Q | First examination report despatched |
Effective date: 20181018 |
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RIC1 | Information provided on ipc code assigned before grant |
Ipc: H02J 7/00 20060101ALI20200729BHEP Ipc: H02J 50/10 20160101AFI20200729BHEP |
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GRAP | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOSNIGR1 |
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STAA | Information on the status of an ep patent application or granted ep patent |
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Effective date: 20200925 |
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STAA | Information on the status of an ep patent application or granted ep patent |
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18D | Application deemed to be withdrawn |
Effective date: 20201001 |