WO2008106951A1 - Mécanisme à bande expansible avec un guidage forcé par patins de guidage - Google Patents

Mécanisme à bande expansible avec un guidage forcé par patins de guidage Download PDF

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Publication number
WO2008106951A1
WO2008106951A1 PCT/DE2008/000384 DE2008000384W WO2008106951A1 WO 2008106951 A1 WO2008106951 A1 WO 2008106951A1 DE 2008000384 W DE2008000384 W DE 2008000384W WO 2008106951 A1 WO2008106951 A1 WO 2008106951A1
Authority
WO
WIPO (PCT)
Prior art keywords
spreader
take
belt
spreading
spreizbandmechanik
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/DE2008/000384
Other languages
German (de)
English (en)
Inventor
Andreas Dätig
Nikolai Kashaev
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.)
IHO Holding GmbH and Co KG
Original Assignee
Schaeffler KG
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 Schaeffler KG filed Critical Schaeffler KG
Publication of WO2008106951A1 publication Critical patent/WO2008106951A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
    • F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
    • F16H19/064—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member the flexible push member uses a bended profile to generate stiffness, e.g. spreading belts

Definitions

  • the invention relates to a Sp Schwarzbandmechanik with improved guidance of the spreader.
  • Spreader belt mechanisms are used as a machine element in drive technology.
  • a Sp Dr Dretzbandmechanik allows a transmission of tensile and compressive forces and bending moments to a limited extent by profiled metal bands.
  • the stiffness property of a curved transversely to the winding direction metal strip is exploited, so that thus both tensile and compressive forces can be transmitted in the longitudinal direction of the belt, in contrast to the known Buchstoffgetrieben with metal bands.
  • the property of width variation of a curved band is used, which assumes its entire width in the wound state, while it is narrower in the developed and then curved in cross-section state. This change in width is used to clamp the band between the side windows (ribs) of the drive roller, whereby a positive and possibly positive connection is made.
  • a Sp Drettifmodul In its basic structure, a Sp Drettifmodul consists of a role and a band and has a rotationally mounted, driven roller over two degrees of freedom in one plane. Forces can be transmitted via this basic structure only in the longitudinal direction of the strip, moments exclusively perpendicular to the longitudinal direction of the strip and to the axial direction of the roll.
  • Sp Dreckbandmodule that unite as a joint-member combination drive and guide member to parallel kinematics very compact robot can be built. These are characterized by a very good ratio of working space to space and a comparatively simple mechanical structure.
  • a disadvantage of spreading band mechanisms is the high stress which the metal band is subjected to during the transition from the wound to the unwound stretched state. This is given in particular by the necessary clamping of the expansion band between the two side windows of the drive roller.
  • Sp Dr.ferential direction have a profiling and are selectively biased.
  • the loads of the spreader are to be reduced and the power transmission can be made more efficient and accurate.
  • the loads of the spreader are very high.
  • the wear behavior of such a solution is not yet known.
  • Another disadvantage of this solution is that a very accurate production of the side surfaces of the spreader is required to allow for improved power transmission. An increased positioning accuracy can only be achieved by complex control technology.
  • the object of the present invention is thus to provide an improved spreading band mechanism in which the stress of the expanding band is significantly reduced, in particular during the transition from the wound to the unwound stretched state, and at the same time a more efficient and precise force transmission is made possible.
  • the improved spread-band mechanism should be distinguished by a high reliability, a long service life and a reduced production and maintenance costs.
  • the expansion band mechanism according to the invention initially comprises a spreading band, which can be reversibly converted from a stretched state into a winding state.
  • the spreader In the extended state, the spreader has a profile in cross section.
  • the spreader is suitable for receiving bending moments.
  • this part of the spreading belt has been transferred to the winding state, this part of the spreading belt has essentially lost its profile.
  • This part of the spreading band is therefore flat in cross section. This transfer can take place continuously, so that the spreader can be transferred continuously in relation to its longitudinal direction in the winding state.
  • the spreading band mechanism furthermore has a winding roll known per se for rolling up and unwinding the spreading band. That portion of the spreader, which is located between the take-up roller and the stretched portion of the spreader, undergoes a bending moment, by which the spreader is transferred at this position from the extended state to the winding state. As a result, it loses its profile and is flat in cross section.
  • the flat expansion band is now elastic enough to be rolled up on the take-up roll. This transfer takes place in the reverse direction, when the spreader is unrolled from the take-up roll.
  • the expanding band mechanism has at least one sliding shoe for restraint guidance of the spreading belt, which is arranged at least in sections circumferentially around the spreading belt wound on the take-up reel.
  • sliding shoes enables defined up and down procedures. During the unwinding process, the spreader belt is prevented from slipping due to the sliding shoe guide, thus allowing movement in the direction of thrust Strain on the spreader and thus less wear, which is reflected not least in significantly reduced maintenance costs.
  • Sp Dr Drettiband- this has a plurality of sliding shoes.
  • the sliding shoes surround the expansion belt rolled up on the take-up roll circumferentially in several sections, but overall in an angular range of more than 180 °, but at least one threading opening remains kept free. Due to the sliding shoes, the guidance of the spreader belt is set in the entire area of the take-up roll. The spreader ribbon is passed through the threading hole and can be wound on the take-up roll and unwound from the take-up roll.
  • the shoes are arranged substantially circular, since they enclose the take-up roll circumferentially. The use of multiple sliding shoes instead of a single shoe can prove to be cheaper for manufacturing reasons.
  • grooves are provided in the sliding surfaces of the sliding shoes facing the wound-up spreading band, which grooves extend transversely or longitudinally to the circumferential direction.
  • the sliding blocks have a low-friction coating on their surface facing the wound-up spreader belt. In this way, the sliding friction between shoe and spreader can be further reduced. It should not be limited to the aforementioned possibilities for reducing the sliding friction. An application of other methods to minimize friction is quite conceivable and should not be ruled out. For example, it may be advantageous if, in use, a plurality of sliding shoes can be selectively brought into contact with the surface of the expansion band. Depending on the speed of unwinding and unwinding and possibly on the current diameter of the take-up reel filled with spreading belt, several or possibly only one of the sliding shoes may be brought into contact with the spreading belt in order to adapt the resulting friction values to the operating situation.
  • the sliding shoes are preferably urged by force on the spreader roll wound on the winding roller. Consequently, the sliding shoes can adjust in terms of their distance from the take-up of the amount of rolled up on the take-up reel spreader.
  • the sliding shoes can be urged by springs or actuators on the rolled-up on the take-up reel spreader, for example.
  • There is a larger amount of spreader on the take-up reel so the radius of a spreader roll formed by the wound spreader is significantly larger than the radius of the take-up roll. If, on the other hand, there is only little spread on the reel, the radius of the spreader roll is barely greater than the radius of the take-up reel.
  • the arrangement of the sliding shoes is adapted to the ever-changing radius of the spreader roll formed by the wound spreader ribbon.
  • the inventive spreading band mechanism it is ensured that the expansion band is guided in a defined manner in the area between the sliding shoes and the already wound spreader belt. Otherwise it could come in this area to an uncontrolled transfer from the stretched state to the winding state, whereby the spreader would be unnecessarily stressed.
  • the take-up roll is preferably drivable.
  • the driving torque of the take-up roll is transferred during unwinding of the spreader due to the leadership of the shoes loss and precise as a thrust on the stretched portion of the spreader.
  • the take-up reel can also be braked or operated free-running.
  • the profile of the spreader is preferably formed by a simple curvature of the spreader. This profile shape of a spreader has proven to be the most suitable form for most applications.
  • the spreading band mechanism according to the invention is in principle also suitable for other profiles of the spreader belt. For example, wavy or triangular profiles are usable.
  • the expansion band may also have a profile in longitudinal section, for example in the form of holes or prongs.
  • the expansion band is preferably made of an elastic metal or an elastic plastic. Due to the elasticity of the spreader, this can be reversibly transferred from the stretched state to the winding state. Due to internal forces, the expansion band strives to take the profile and thus assume the stretched state.
  • the expansion band can initially withstand the bending moment due to the transverse profile. However, if the bending moment is greater than a transfer bending moment, then the expansion strip abruptly buckles at the point of action of the bending moment and loses its profile there. However, the profileless sections of the spreader belt can be deformed with lower bending moments so that the spreader belt can be wound up. If the bending moment acting on the spreading band becomes smaller than a return bending moment, the expanding band resumes its profile and jumps into the stretched state.
  • the spreading band is wider in the winding state than in the stretched state. Due to the loss of the profile in the winding state, the spreader is flat and therefore wider. This property can be exploited, for example, for additional guidance in the take-up roll.
  • Fig. 1 is a perspective view of a preferred embodiment of a spread tape mechanism according to the invention
  • Fig. 2 is a schematic diagram of a preferred embodiment of the invention Sp Dretzbandmechanik
  • Fig. 3 is a schematic diagram for illustrating the forces acting during winding forces
  • Fig. 4 is a schematic diagram for illustrating the forces acting during the Ab-- ekeleln forces.
  • Fig. 1 shows a perspective view of a preferred embodiment of a spreadable band mechanism according to the invention.
  • the spreading band mechanism comprises a spreading band 01, which can serve as an actuator for positioning, for example. About the spreading 01 tensile and compressive forces, but also bending moments are transferable to a limited extent.
  • the spreading belt 01 is wound on a take-up roll 02.
  • a tool may be attached, which is to be positioned by the spreader.
  • the spreading band 01 is shown in two states.
  • the portion of the spreading belt 01 which is wound on the take-up reel 02 is in a winding state.
  • the other portion of the spreader belt 01 shown is in an extended condition.
  • the expansion band 01 is stretched in a straight line substantially rectilinear and has a curved profile in cross section.
  • the spreading belt 01 In the winding state, the spreading belt 01 is flat in cross-section and thus slightly wider than in the extended state. If necessary, it only has a bulge.
  • the spreading belt 01 located in the winding state changes its shape in the longitudinal direction when bending moments occur, so that it can be wound onto the winding roller 02.
  • the transition from the extended state to the winding state or vice versa takes place continuously during the winding or unwinding in the longitudinal direction of the spreading belt 01. 2
  • two sliding shoes 04 are arranged on the circumference of a spreading belt roll 03 formed by the rolled-up spreading belt 01.
  • the spreader roller 03 is enclosed by the sliding shoes 04 almost over its entire circumference.
  • the spreader roller 03 is not enclosed in a region of a threading opening 06 by the sliding shoes 04.
  • the threading opening 06 serves to carry out the spreading belt 01, so that this can be wound or unwound onto the take-up reel 02.
  • Each of the two sliding shoes 04 is rotatably mounted in a pivot point 08, so that the sliding shoes 04 can be pivoted in the direction of the take-up roll 02.
  • Furthermore acts on each of the two sliding blocks 04 each have a spring 09, which urges the sliding shoes 04 in the direction of the take-up roll 02. This ensures that even then a large portion of the Gleitschu- 04 is in contact with the surface of the spreader roller 03 when the Sp Schwarzbandrolle 03 is largely unwound and consequently has a reduced radius.
  • the spring 09 is preferably designed as a compression spring.
  • the spreading belt 01 When the spreading belt 01 is moved in the direction of the winding roller 02, it is pushed into the circular path formed by the sliding shoes 04, so that a bending moment acts on the transition region between the stretched section and the section in the winding state. By the bending moment the spreading belt 01 is continuously transferred to the winding state, whereby the bending moment is simultaneously reduced. This transfer is continuous and continuous. Due to the circular guide, the expansion belt 01 winds on the take-up roll 02, regardless of whether the take-up roll 02 is driven and thereby exerts a tensile force on the spreading belt 01, or whether the take-up roll 02 is free-running.
  • Fig. 3 shows a schematic diagram for illustrating the forces acting during winding forces. This schematic representation is based on the expansion band mechanism shown in FIGS. 1 and 2, wherein for reasons of clarity It was not necessary to present individual features.
  • a torque Mi acts, so that the spreading belt 01 is moved in a direction 11 (winding).
  • the torque Mi acts counter to a tensile force Fz on the expansion belt 01.
  • individual forces FR X are produced , which result from the tendency of the expansion belt to take the curved state in cross section.
  • M 1 F z ⁇ r + ( ⁇ ⁇ F N ), wherein the first addend corresponds to the drive torque and the second addend corresponds to the friction torque of the sliding shoes 04.
  • Fig. 4 shows a schematic diagram for illustrating the forces acting during unwinding forces. This principle illustration is again based on the expanding band mechanism shown in FIGS. 1 and 2, wherein the illustration of individual features has been omitted for reasons of clarity.
  • On the winding roller 02 now acts a torque Mi with respect to the illustration in Fig. 3 opposite sense of direction, so that the spreading belt 01 is moved in a direction 12 (unwinding).
  • the torque M 1 counteracts a thrust force Fs on the expansion belt 01.
  • From the Sp Dahlbandrolle 03 act individual forces F Ry on the shoes 04.
  • From the shoes 04 act on individual forces F 0x on the surface of the Sp Dahlbandrolle 03.
  • the friction of the shoes 04 against the spreader 01 has a friction coefficient ⁇ .
  • the spreader roller 03 has a radius. Consequently:

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Winding Of Webs (AREA)
  • Footwear And Its Accessory, Manufacturing Method And Apparatuses (AREA)

Abstract

L'invention concerne un mécanisme à bande expansible avec un guidage amélioré de la bande expansible (1). On utilise des mécanismes à bande expansible comme élément mécanique pour la technique d'entraînement. Le mécanisme à bande expansible selon l'invention comprend un rouleau enrouleur (2) pour enrouler et dérouler la bande expansible. Le mécanisme à bande expansible comprend en outre au moins un patin de guidage (4) pour le guidage forcé de la bande expansible, qui est disposé circonférentiellement autour de la bande expansible enroulé sur le rouleau enrouleur. Le patin de guidage permet des processus définis d'enroulement et de déroulement. La sollicitation de la bande expansible et donc également l'usure sont réduites, ce qui se traduit surtout par des coûts de maintenance nettement diminués.
PCT/DE2008/000384 2007-03-08 2008-03-04 Mécanisme à bande expansible avec un guidage forcé par patins de guidage Ceased WO2008106951A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007011341.4 2007-03-08
DE200710011341 DE102007011341A1 (de) 2007-03-08 2007-03-08 Spreizbandmechanik mit einer Zwangsführung durch Gleitschuhe

Publications (1)

Publication Number Publication Date
WO2008106951A1 true WO2008106951A1 (fr) 2008-09-12

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2008/000384 Ceased WO2008106951A1 (fr) 2007-03-08 2008-03-04 Mécanisme à bande expansible avec un guidage forcé par patins de guidage

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DE (1) DE102007011341A1 (fr)
WO (1) WO2008106951A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024023810A1 (fr) * 2022-07-26 2024-02-01 Bionichive Ltd Ensemble bras mécanique extensible

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009053071A1 (de) * 2009-11-13 2011-05-19 Festool Gmbh Führungsvorrichtung für eine Hand-Werkzeugmaschine und Hand-Werkzeugmaschine

Citations (8)

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US4266440A (en) * 1978-11-30 1981-05-12 Nippon Cable System Inc. Steering unit
DE8507512U1 (de) * 1985-03-14 1985-05-23 Knorr-Bremse GmbH, 8000 München Positionsanzeigevorrichtung für einen Kolben
JPS60150995A (ja) * 1984-01-17 1985-08-08 株式会社富士電機総合研究所 ロボツト用長尺ア−ム装置
JPH0911178A (ja) * 1995-06-30 1997-01-14 Amano Corp 軽荷重用アクチュエータ及びこのアクチュエータを利用した軽荷重伝達装置
JPH11194845A (ja) * 1998-01-05 1999-07-21 Tokai Rika Co Ltd ワイヤ操作機構
WO1999053221A1 (fr) * 1998-04-08 1999-10-21 Velux Industri A/S Procede et appareil de transfert de l'effort de pressurisation et/ou de tension
JP2000065175A (ja) * 1998-08-25 2000-03-03 Denso Corp 減速装置
DE102005048263A1 (de) * 2005-10-08 2007-04-12 Festo Ag & Co Aktor mit einem Spreizband

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DE903202C (de) * 1951-11-16 1954-02-04 Moeller & Neumann Gmbh Bandeisenhaspel
US3144215A (en) * 1961-01-19 1964-08-11 Dehavilland Aircraft Canada Coilable extensible apparatus
US3243132A (en) * 1963-04-01 1966-03-29 Dehavilland Aircraft Canada Extensible retractable stem device
US3395870A (en) * 1966-06-16 1968-08-06 Ncr Co Automatic tape wind up means
US3589632A (en) * 1969-04-30 1971-06-29 Westinghouse Electric Corp Self-forming-boom storing and deploying apparatus
GB1559092A (en) * 1976-02-13 1980-01-16 Linotype Paul Ltd Take up mechanism and casette for strip material
GB8710332D0 (en) * 1987-04-30 1987-06-03 Daton Lovett A J Extensible elements
DE3838724A1 (de) * 1987-12-07 1989-06-22 Schmid Hans Armin Vorrichtung zum fuehren eines bombierten bandes
DE3835064C1 (fr) * 1988-10-14 1990-05-23 Hans Armin Dr. 8000 Muenchen De Schmid
US5275347A (en) * 1992-01-10 1994-01-04 Management Graphics, Inc. Autothread mechanism for strip material

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4266440A (en) * 1978-11-30 1981-05-12 Nippon Cable System Inc. Steering unit
JPS60150995A (ja) * 1984-01-17 1985-08-08 株式会社富士電機総合研究所 ロボツト用長尺ア−ム装置
DE8507512U1 (de) * 1985-03-14 1985-05-23 Knorr-Bremse GmbH, 8000 München Positionsanzeigevorrichtung für einen Kolben
JPH0911178A (ja) * 1995-06-30 1997-01-14 Amano Corp 軽荷重用アクチュエータ及びこのアクチュエータを利用した軽荷重伝達装置
JPH11194845A (ja) * 1998-01-05 1999-07-21 Tokai Rika Co Ltd ワイヤ操作機構
WO1999053221A1 (fr) * 1998-04-08 1999-10-21 Velux Industri A/S Procede et appareil de transfert de l'effort de pressurisation et/ou de tension
JP2000065175A (ja) * 1998-08-25 2000-03-03 Denso Corp 減速装置
DE102005048263A1 (de) * 2005-10-08 2007-04-12 Festo Ag & Co Aktor mit einem Spreizband

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024023810A1 (fr) * 2022-07-26 2024-02-01 Bionichive Ltd Ensemble bras mécanique extensible

Also Published As

Publication number Publication date
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