WO2009018793A2 - Actionneur - Google Patents

Actionneur Download PDF

Info

Publication number
WO2009018793A2
WO2009018793A2 PCT/DE2008/001098 DE2008001098W WO2009018793A2 WO 2009018793 A2 WO2009018793 A2 WO 2009018793A2 DE 2008001098 W DE2008001098 W DE 2008001098W WO 2009018793 A2 WO2009018793 A2 WO 2009018793A2
Authority
WO
WIPO (PCT)
Prior art keywords
shaft
rope
cable
actuator according
winding
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/DE2008/001098
Other languages
German (de)
English (en)
Other versions
WO2009018793A3 (fr
Inventor
Harald Staab
Christof Hieger
Arne Sonnenburg
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.)
Fraunhofer Gesellschaft zur Foerderung der Angewandten Forschung eV
Original Assignee
Fraunhofer Gesellschaft zur Foerderung der Angewandten Forschung eV
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 Fraunhofer Gesellschaft zur Foerderung der Angewandten Forschung eV filed Critical Fraunhofer Gesellschaft zur Foerderung der Angewandten Forschung eV
Publication of WO2009018793A2 publication Critical patent/WO2009018793A2/fr
Publication of WO2009018793A3 publication Critical patent/WO2009018793A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • 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

Definitions

  • the invention relates to an actuator with a shaft drive in rotation staggering shaft drive, about whose shaft at least one band or rope-like element, hereinafter referred to rope, up and / or unwindable, which has a rope length and has two cable ends, wherein the cable ends are each connectable to a cable mounting bearing, the cable mounting bearings are relatively diametrically opposed to the shaft, the rope connected to the shaft between two cable mounting bearings takes a taut state and the rope along its rope length in a localized rope area between the two cable ends at a cable attachment point connected to the shaft.
  • Actuators for transmission primarily of tensile forces, for example between a mechanical fixed abutment and a relative to the abutment movably mounted object are known in manifold variety.
  • a very simple embodiment of such an actuator is connected to a fixed counter bearing, motor-driven shaft around which a traction means, for example in the form of a rope, is wound with appropriate shaft rotation. Is the loose end of the rope, for example, with an otherwise loose stored Object firmly connected, so the object is pulled in the direction of the fixed abutment by the motor-assisted rope rewind.
  • a disadvantage of such an actuator arrangement is the direct load action directly on the shaft, which applies to form suitable stable and / or stable storage.
  • DE 2300104 B2 describes a device with which a chain link fence can be tensioned.
  • a hollow post with radial bores is provided, in which a winding shaft is mounted.
  • Individual wire mesh fence segments are interconnected by means of tension wires, which are guided by the radial holes in the post and by diametrical holes of the winding shaft.
  • the chain link fence can be tensioned by turning the winding shaft manually.
  • the tensioning wire winds on the winding shaft.
  • the winding of the tension wire is completely uncontrolled, so that along the Winding shaft occurring tilting moments can lead to deflections of the winding shaft.
  • this device is structurally and functionally not suitable for continuous winding and unwinding but only for one-time clamping and occasional retightening.
  • the actuator described below which is intended to combine properties, for example with regard to a muscle-like function, combines a mechanically very simple design and action principle, and also has the highest degree of integration capability in mechanically complex systems and, moreover, its size can be scaled almost arbitrarily ,
  • the actuator has a shaft drive which sets a shaft in rotation about whose shaft at least one band-shaped or rope-like element can be wound up and / or unwound, which has a length and two element or cable ends.
  • the ribbon or rope-like element has a high tensile strength in the longitudinal direction and transverse elasticity to be wound on waves with the smallest possible radii.
  • suitable for this purpose are commercially available steel cables or steel wire wires, as they are known in the form of strings of stringed instruments from the field of music.
  • whole bundles of fine steel wire fibers can be used in a suitable manner, as used for example as a "leader” in fishing sport.
  • Also made of plastic or nylon ropes, as they are available as a commercial fishing or kite cords are
  • higher steel strips can be used instead of commercially available steel wire or plastic cords, by means of which both high tensile forces and also considerable thrust forces are transferable without the multiplicity of
  • rope is used hereafter for the purpose of simplifying the description of possible embodiments for the formulation "band or rope-like element" chosen in the claim formulation.
  • the rope is preferably formed in one piece and has a rope length limited by two rope ends. In a not necessarily central, located between the two cable ends, locally limited cable area, the rope is connected to the shaft.
  • the connection of the cable to the shaft is preferably designed in the form of a fixed connection, so that the cable, for example, is fixed selectively along the length thereof to the shaft.
  • the two cable ends are each connectable to a cable mounting bearing, which are substantially diametrically opposed to the shaft, so that the rope always assumes a tensioned state.
  • the term "cable mounting bearing” is to be understood generally and is intended to describe a force application point at which a force generatable along the cable extension can be transmitted to an arbitrary area connected to the force application point or to any object connected to the force application point either tensile or shear forces transmitted and thus generate depending on the design of the bearing, for example. By attaching to a peripheral edge of a hub torque.
  • the rope By rotation of the shaft, the rope begins to wind up on the shaft, whereby the cable ends connected to the cable fixing bearings are pulled in the direction of the shaft. If, however, the shaft is rotated by the shaft drive in the opposite direction to the winding direction oriented, so there is a corresponding development of the rope from the shaft. It would also be conceivable to connect two cable pieces with their respective ends to the shaft, as if the cable were formed in one piece as described above. It is also possible to attach more than one rope to a shaft of a shaft drive to the transferable along the cable strands tensile and possibly shear forces in the Sum to increase or rope ends coming from several opposite directions together.
  • both cable mounting bearing are relatively loose relative to the shaft drive, which is spatially fixed, for example, to a mechanical support structure or a fixed mechanical abutment, the loosely mounted cable mounting bearings each move at the same speed on the shaft.
  • the shaft drive including shaft and one of the two mounting bearings relative to the other mounting bearing, which is fixed, for example, to a mechanical counter-bearing or on a suitably shaped support structure, loosely so that when shaft rotation both the shaft drive and shaft as also the loosely guided rope mounting bearing in the case of a rope winding on the shaft to be moved in the direction of the fixed cable mounting bearing.
  • an actuator with the features of the preamble of claim 1 is characterized in that in the region of the cable attachment point, a means is provided by which the rope forces acting along the cables attack each with respect to a shaft axis of the shaft diametrically opposed tangent points that at a Rotation of the shaft for the purpose of winding the rope on the shaft both spaced from the shaft shaft ends are movable relative to the shaft on the shaft at equal speeds, and that the ropes when winding by the means in one layer and in a helical arrangement about the shaft in abutment be brought or multilayer, with constant axial position relative to the shaft with increasing winding radius around the shaft.
  • the advantage of the actuator according to the invention is to be seen in that provided by the provided in the region of the cable attachment means means that the rope ordered, ie positively guided to form a fixed by the means of the application pattern is guided around the shaft.
  • the actuator according to the invention it is assumed that two cable strands are unwound or unwound around the shaft, although it is in principle possible to have more than two cable strands, ie 3, 4 and more cable strands in a correspondingly equivalent manner around the shaft , according to forcibly guided up or unwind.
  • the means to be specified in more detail below ensure that the contact points of the cable strands are diametrically opposed along the peripheral edge of the shaft with respect to the shaft axis or are distributed equally at the peripheral edge, so that the tensile forces acting on the shaft via the individual cable strands Compensate largely completely at the location of the shaft, so that the shaft is exposed to no force moments.
  • FIG. 4 showing a winding device with a longitudinal to
  • Fig. 7 showing an orderly winding two cable strands along a shaft in the way spatially guided cable mounting bearing
  • Fig. 8a, b actuator representation with fuse for tensioning the cable strands. Ways to carry out the invention, industrial usability
  • FIG. 1 schematically shows an actuator which is described in DE 10 2006 012 431 A1 and provides a shaft drive 1 consisting of an electric motor, a motor-driven shaft 2 and a cable 3 connected to the shaft 2, wherein the cable 3 has two cable ends 3 ', which are each connected to cable mounting bearings 4, 5.
  • the cable mounting bearings 4, 5 are located diametrically opposite relative to the shaft 2 and constitute fastening points for the cable ends 3 '.
  • the shaft drive 1 designed as an electric motor is controlled via an electronic control unit 6 with respect to the rotational direction and rotational speed of the shaft 2.
  • the motor 1 is supported with a corresponding support structure 7.
  • the support structure 7 provides for receiving the dead weight of the motor 1 and the torque M. generated by the shaft rotation and the associated winding process.
  • the cable 3 is fixed by means of a fixing ring 12 firmly fitting to the shaft 2, so that the stretched around the shaft 2 cable sections each have a rope longitudinal extension, with the shaft an angle ß with 90 ° ⁇ ß ⁇ 0 °, preferably 70th ° ⁇ ⁇ 20 ° (see FIG. 2a, top illustration).
  • the shaft 2 For the orderly installation of the rope 3 in the single-layer, helical manner shown in Figure 2, it is advantageous to use cables that have a certain dimensional stability, so that when winding a respective réellewickelnder cable section along a side edge of an already wound on the shaft 2 piece of rope can slide off self-centering.
  • the shaft 2 it is possible to form the shaft 2 with a smooth shaft surface, however, an embodiment not shown is conceivable in which the shaft 2 provides groove-shaped recesses, which as it were helically rotate around the shaft 2, in which the ropes 3 when winding independently lay down.
  • the shaft provides two recesses of double helical groove-shaped or concave shape, where, in the case of FIG. 2b, the shaft respectively provides four groove-shaped recess tracks.
  • FIG. 3a left-hand illustration, illustrates that the cable 3 can not necessarily be fastened to the shaft 2 in a continuous manner but also in a split form.
  • the loose cable ends 112 of the two cable sections are fixed with a secured by a locking screw 13 mounting ring 12 fixed to the shaft 2, the cable ends 112 are formed thickened advantageously, for example by means of a knot or by melting the rope ends, so that slipping the cable ends 112 can be excluded by the fastening ring 12.
  • Figure 3a right illustration shows an alternative way of fastening the rope 3 longitudinally to the shaft 2 by the rope 3 in the region of the mounting ring 12 around the shaft 2, half wrapped around and pressed firmly against the shaft 2 with the mounting ring 12.
  • the shaft 2 has a feedthrough channel 10, through which the cable 3 is threaded.
  • the edge regions of the feedthrough channel 10 are rounded.
  • FIG 3d in conjunction with Figure 3e a preferred embodiment for attaching the rope 3 at an end face of the shaft 2 is shown, which is releasably fixed at the same time with the drive shaft 113 of an electric motor 3.
  • the drive shaft 113 as it were the schematic diagram in Figure 3c, a feedthrough channel 10, through which the cable 3 is threaded through in the manner shown in Figure 3e.
  • the drive shaft 113 has a blind hole-like receiving opening for the front end of the shaft 2, which can be releasably fixed by means of a grub screw 13 to the drive shaft 113.
  • a cover-like design fastening ring 12 is thereby slipped over the drive shaft 113 in the manner shown in Figure 3e and secured against the shaft 2 with the grub screw 13 described above. All edges over which the cable 3 runs within the fastening device shown in Figures 3 d and e are rounded, so that the cable 3 is not subject to any risk of buckling.
  • the frontal opening 114 within the lid-like fastening ring 12 is formed rounded and ensures the largest possible bending or radius of curvature of the rope.
  • the orthogonal oriented to the wavelength extension face of the mounting ring 12 causes the rope 3, starting at the location of the cable outlet at the front opening 114 along the shaft 2 in doppelhelikaler, single-layer arrangement conforms directly along the shaft surface.
  • the shaft 2 is shown in a perspective view, along which a band-shaped cable 9 is fixed by means of a mounting ring 12 and is wound in a double-helical arrangement about the shaft 2 in the manner shown.
  • the band-shaped cable 9 does not wrap over each other and meet the Bandanlege Schemee both diametrically opposed belt sections axially at the same height on the shaft 2 a loose, axially to the shaft 2 movably arranged guide sleeve or a guide ring 14 is provided which provides two diametrically opposite openings through which the band-shaped rope 9 passes.
  • the band-shaped rope 9 shown in FIG. 4 is preferably designed as einêtndes steel strip with which when pulling on the shaft 2 high tensile and lower unwinding shear forces can be transmitted.
  • the controlled cable guide is shown in the form of a double helical coil spring, which comprises the shaft 2 radially, preferably slightly spaced.
  • the shaft 2 is connected in Figure 5 end to an electric motor 1 and as in the preceding embodiments, the mounting ring 12 provides for the fixation of the cable 3 along the shaft, which also serves to fix the doppelhelikalen formed as a spiral spring guide slot 104 at the same time.
  • the left half of the rope is gray and the right half of the rope black, but it is the same type of rope or the same rope. With such a device causing the rope winding, it is not absolutely necessary that the rope 3 is always taut.
  • the double-helical guide slot 104 preferably made of commercially available compression springs or of steel, ensures that the winding points come to rest uniformly and always diametrically opposite one another axially along the shaft 2.
  • a simple helical guide slot 104 is shown in the embodiment shown in Figure 6, along which an additional sleeve-like guide ring 14 is axially slidably mounted, which has at least two diametrically opposite openings 101 each to the cable feedthrough.
  • a peripheral edge of the guide ring 14 radially superior slide cam 102 which is in sliding engagement with the coil spring assembly, whereby this is moved during the winding and unwinding in a defined manner in the axial direction relative to the shaft 2.
  • the shaft 2 may be provided in all described embodiments in the manner explained above, each with groove-shaped, the shaft helically circumferential depressions, in which the cable sections are able to nestle during winding.
  • FIG. 7 shows a winding operation of a rope 3 along a shaft 2 in three different winding positions I, II and III.
  • a drive motor 1 is shown with an attached shaft 2, to which a cable 3 is fixedly attached by means of a fixing ring 12.
  • the left half of the rope is gray and the right half of the rope colored black, but this is the same type of rope or rope.
  • the three different winding positions relate to the fully developed position in the position I, in the position III, the fully wound position and in the position Il a corresponding center position.
  • d s is the shaft diameter and dc e is the height and d cc is the width of the rope resting under tension on the shaft 2.
  • FIG. 8 shows an actuator which provides an additional device for a permanent cable pretension.
  • the actuator provides, as in the embodiment of Figure 1 before an electric motor 1, at the shaft 2, a cable 3 is wound, which is fastened via a fastening ring 12 on the shaft 2.
  • the connection between grinding wheel 115 and the shaft 117 is made either non-positively or via a friction clutch with a defined frictional torque.
  • the spring 116 is tensioned. If the rope 3 slackens, the torque stored in the spring 116 rotates the shaft 2 until the rope 3 is tensioned and the cable force prevents further rotation.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Transmission Devices (AREA)
  • Flexible Shafts (AREA)

Abstract

L'invention concerne un actionneur avec un entraînement d'arbre, entraînant en rotation un arbre autour duquel au moins un élément en forme de bande ou de câble, appelé ci-après câble, qui peut être enroulé et/ou déroulé, dispose d'une longueur de câble et présente deux extrémités de câble. Chacune des extrémités de câble peut être reliée à un palier de fixation de câble, et les paliers de fixation de câble sont disposés dans une large mesure de manière diamétralement par rapport à l'arbre. Le câble relié à l'arbre adopte une position tendue entre les deux paliers de fixation de câble et est attaché à l'arbre en un point de fixation de câble, entre les deux extrémités de câble, dans une zone du câble limitée localement le long de sa longueur de câble. L'invention est caractérisée en ce qu'il est prévu, dans la région du point de fixation de câble, un moyen par lequel les forces du câble agissant le long du câble s'exercent en des points de tangence diamétralement opposés par rapport à un axe de l'arbre, en ce que, lors d'une rotation de l'arbre en vue d'enrouler le câble sur l'arbre, les deux extrémités de câble distantes de l'arbre peuvent être déplacées à la même vitesse sur l'arbre par rapport à l'arbre, et en ce que, par ce moyen, les câbles sont déposés, lors de l'enroulement, en une couche et en un agencement hélicoïdal autour de l'arbre ou sont déposés en plusieurs couches avec une position axiale restant identique par rapport à l'arbre, ainsi qu'avec un rayon d'enroulement croissant autour de l'arbre.
PCT/DE2008/001098 2007-08-08 2008-06-30 Actionneur Ceased WO2009018793A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200710037376 DE102007037376B3 (de) 2006-03-17 2007-08-08 Aktor
DE102007037376.9 2007-08-08

Publications (2)

Publication Number Publication Date
WO2009018793A2 true WO2009018793A2 (fr) 2009-02-12
WO2009018793A3 WO2009018793A3 (fr) 2009-10-01

Family

ID=39832249

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2008/001098 Ceased WO2009018793A2 (fr) 2007-08-08 2008-06-30 Actionneur

Country Status (2)

Country Link
DE (1) DE102007037376B3 (fr)
WO (1) WO2009018793A2 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020057143A1 (fr) * 2018-09-18 2020-03-26 哈尔滨工业大学（深圳） Dispositif d'entraînement de câble et robot parallèle entraîné par câble
CN115107010A (zh) * 2022-04-26 2022-09-27 腾讯科技（深圳）有限公司 绳轮组件、绳索驱动机构及机械臂

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019060420A2 (fr) * 2017-09-19 2019-03-28 Cornell University Transmissions passives, et procédés de préparation et d'utilisation associés
KR102129317B1 (ko) * 2018-12-31 2020-07-03 중앙대학교 산학협력단 줄 꼬임 구동기
DE102020207038A1 (de) 2020-06-04 2021-12-09 Kuka Deutschland Gmbh Greifer mit einem Seilzugbetätigungsmittel

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3044312A (en) * 1960-05-20 1962-07-17 Curtiss Wright Corp Mechanism for converting rotary to linear movement
US3709049A (en) * 1970-09-08 1973-01-09 Metron Corp Non-slip linear to rotary motion conversion apparatus
DE2300104C3 (de) * 1973-01-03 1975-09-04 Idealspaten- U. Schaufelwalzwerke A. Bredt & Co Kg, 5804 Herdecke Maschendrahtzaun
US4613798A (en) * 1985-04-01 1986-09-23 Baumann Peter H Electric-powered spring-return actuating device
DE102006012431B4 (de) * 2006-03-17 2008-07-24 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Aktor

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020057143A1 (fr) * 2018-09-18 2020-03-26 哈尔滨工业大学（深圳） Dispositif d'entraînement de câble et robot parallèle entraîné par câble
CN115107010A (zh) * 2022-04-26 2022-09-27 腾讯科技（深圳）有限公司 绳轮组件、绳索驱动机构及机械臂

Also Published As

Publication number Publication date
DE102007037376B3 (de) 2008-10-16
WO2009018793A3 (fr) 2009-10-01

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