RU195136U1 - ACTUATOR FOR INDEPENDENT OR JOINT COMMUNICATIVE AND ANGULAR MOVEMENTS - Google Patents

Abstract

The actuator for independent or joint translational and angular movements contains two electric motors with stators 1, 2 with hollow rotors 5, 6 mounted coaxially and kinematically connected to a common threaded rod 7. A nut 4 is fixed in the hollow rotor 6 of one electric motor with the formation of a screw pair with a common threaded rod 7. In this case, the common threaded rod 7 is made with six longitudinal guide grooves 8 along its outer threaded surface, and in the hollow rotor 5 of the second electric motor a coupling 3 is fixed with six two radial protrusions 9 mounted in said guide grooves 8 common threaded rod 7 to be fixed against rotation and reciprocating axial movement of the latter. Electric motors are made in the form of two identical electric motors from the group: synchronous or stepper motors placed with stators 1, 2 and rotors 5, 6 in a common housing. The actuator allows you to perform simultaneously or alternately reciprocating and rotational movements and thereby obtain various combinations of the movement of the common rod (shaft), this extends the functionality of the actuator in terms of a sufficiently large stroke size, and also provides the necessary dynamic capabilities, work. Such an actuator has a control function of sufficient quality and eliminates jamming of the helical gear.

Description

The utility model relates to the field of electrical engineering and can be used in feed drives of machines, hoisting machines, CNC machines, 3D printers, robotics, engine manufacturing, when creating laboratory manipulators, gate valves and other areas requiring simultaneous or alternating reciprocating and / or rotational movement of the working body. The inventive actuator for independent or joint translational and angular movements is an electromechanical actuator - an electric drive for a regulatory or control system.

Various designs of electric drives are known having either an off-axis screw-nut gear integrated in the hollow rotor, or tightly connected parallel screw-nut gears, or a transmission with electromagnetic coupling (SU 1410215).

However, such drives are characterized by insufficient dynamism, accuracy, smoothness, and, as a consequence, reliability.

A known electric drive containing two electric motors, in the hollow rotors of which are located helical gears, the screws of which are rigidly connected to each other, and the nuts are rigidly connected to the rotors (SU 955375).

In this known electric drive, electric motors are mounted on one base, and their screws are parallel, connected by a common jumper and have equal strokes. In this case, the speeds of the electric motors are synchronized. When the rotors rotate synchronously in opposite directions, the screws move linearly (without rotation), due to the presence of a rigid connection between the screws. A well-known electric motor is characterized by a limited stroke, insufficient dynamism, accuracy and reliability.

Closest to the proposed utility model is the Kuznetsov electric drive, selected for the prototype, containing two electric motors located along the common axis, in the hollow rotors of which are located helical gears, the screws of which are interconnected and made as a single unit forming a common shaft, along the entire length of which threads of two directions are made. The nuts of the screw gears are rigidly connected to the rotors and have threads of different directions (RU 2075813, prototype).

The combination of different directions and rotational speeds of the rotors allows you to get different combinations of translational and rotational movements of the shaft.

A known electric drive is characterized by restrictions on the types of screw pairs used (for example, ball screw pairs cannot be used), on the choice of thread pitch (a small thread pitch increases the tendency to bite due to increased friction inside the screw pair), on the choice of materials for manufacturing screw pairs, insufficient dynamism , accuracy and reliability.

The technical task of the utility model is to create an effective actuator to perform simultaneously or alternately reciprocating and / or rotational motion, as well as expanding the arsenal of actuator designs.

The technical result that ensures the solution of the problem lies in the fact that increased accuracy and reliability, there are no restrictions on the use of various types of screw pairs, as well as expanded functionality of the actuator.

The essence of the utility model consists in the fact that the actuator contains two electric motors with hollow rotors mounted coaxially and kinematically connected to a common threaded rod, and a nut is fixed in the hollow rotor of one electric motor with the formation of a screw pair with a common threaded rod, while the common threaded rod is made with longitudinal guide grooves along the external threaded surface, and in the hollow rotor of the second electric motor a coupling is fixed with internal radial protrusions installed in the said directions l grooves of the common threaded rod with the possibility of fixation from rotation and reciprocating axial movement of the latter.

Preferably, the electric motors are made with a common housing.

The coupling and the common rod can be made with radial straight-line splined protrusions and with rectangular grooves, respectively.

The drawing of Fig. 1 shows a schematic diagram of an actuator for independent or joint translational and angular movements, Fig. 2 is a transverse section of a common rod, Fig. 3 is a common stock, side view, Fig. 4 is a perspective view of a rod, figure 5 - coupling of the rotor of the electric motor, side view, figure 6 - coupling of the rotor of the electric motor, end view, figure 7 - view of the coupling in axonometric projection.

The actuator for independent or joint translational and angular movements contains two electric motors with stators 1, 2 I with hollow rotors 5, 6 mounted coaxially and kinematically connected with a common threaded rod (shaft) 7. A nut 4 is fixed in the hollow rotor 6 of one electric motor with the formation a screw pair (transmission) with a common threaded rod 7. In this case, the common threaded rod 7 is made with six rectilinear rectangular longitudinal guide grooves 8 of constant width along its outer threaded surface, which result has nepolnokoltsevye (dashed) windings. The grooves 8 are cut, preferably, after threading on the rod 7. In the hollow rotor 5 of the second electric motor, a coupling 3 is fixed with six internal radial straight-side splined protrusions 9 of a quadrangular section, mounted in the said guide grooves 8 of the common threaded rod 7 with the possibility of fixing against rotation and back - translational axial displacement of the latter. In other special cases, the implementation of the coupling 3 can be made star-shaped - with internal radial protrusions of a triangular section (in this case, the grooves on the rod 7 have the corresponding shape). The rotor 5 can be made integral with the coupling 3, and the rotor 6 - integral with the nut 4.

The electric motors are made in the form of two identical controlled electric motors from the group: synchronous or stepping motors placed with stators 1, 2 and rotors 5, 6 in a common housing. The controls for such electric motors are well known, are not included in the scope of the applicant's claims under this application and are not shown in the drawings. The torque of these electric motors is directly proportional to the supply voltage. Therefore, even in the case of a decrease in voltage in the power supply network, the load capacity and reliability of these motors are significantly higher than that of asynchronous machines.

Moreover, on a threaded rod 7, a ball screw pair or a roller screw pair should be used as a screw pair with a nut 4, provided that the depth of the grooves 8 is less than the depth of the contact spot of the ball (or roller) with the threaded surface.

The stem 7 is preferably made of high carbon steel or Invar (an alloy consisting of nickel (Ni, 36%) and iron (Fe, the rest). Nut 4 may be steel or Teflon (for low loads). Clutch 7 and common stem 7 are made with radial, for example, straight-line splined protrusions 9 and grooves 8, respectively. Splined joints are a type of connection of shafts with bushings along mating surfaces of a complex profile with protrusions (splines) and troughs. They are designed to transmit torque, provide good centering m uft 3 on the rod (shaft) 7, easy relative movement of parts connected to the rod 7 along the axis.

The actuator is operated as follows.

To perform a given movement of the working body, one or both actuator motors is started. Electric motors are controlled by software, in particular, using frequency converters and servo controllers.

There are three options for the actuator.

1. When the rotors 5 and 6 (as well as couplings 3 and nuts 4) rotate in the same direction with the same angular velocities, the rod (shaft) 7 rotates in the same direction, without linear movement, the absence of which is ensured by the motion of the threaded rod 7 (i.e. a screw of a screw pair) in the longitudinal direction relative to the nut.

2. When the rotor 6 (as well as the nut 4) is rotated and the rotor 5 is fixed, as well as the coupling 3, a longitudinal reciprocating movement of the rod (shaft) 7 occurs without its angular movement, the absence of which is ensured by the coupling 3 fixed by the rotor 5.

3. When the rotors 5 and 6 are rotated, as well as the coupling 3 and nut 4 with different angular velocities, the rod (shaft) 7 rotates and simultaneously linearly moves, i.e. performs rotational-translational movements.

Examples of using the actuator.

1. The rod 7 is fixed and stationary.

In this case, the stator of the actuator is an actuator.

1.1. If a drum with a cable is placed on the body of stators 1,2, then we get a winch with the possibility of axial movement, suitable for lifting mechanisms or for moving along the bumper of a car.

1.2. On the case of stators 1,2 it is also possible to place a replaceable tool for CNC machines and 3D printers.

2. The case of stators 1,2 of the actuator is fixed, the common rod 7 is free.

The following use cases are possible in this case.

2.1. For drilling and milling machines, placing the tool on the end of the rod 7.

2.2. To control the gate valves by placing a locking tool at the end of the stem 7.

2.3. For accurate feeding and changing nozzles in 3D printers by placing the nozzles with a “star” at the end of the rod 7.

2.4. To change the gauge of the car during movement, where the rod 7 acts as a shaft on which the wheel is mounted.

2.5. As one of the actuating elements of a robotic arm (prosthesis), which will allow not only to bend and unbend the fingers, but also to allow them to move apart - “spread out”.

Thus, in the actuator, the electric motors are located along a common axis, one screw pair is used for longitudinal displacements of the rod (shaft) 7, and for angular displacements of the rod 7, a pair of coupling 3 - rod 7 is used. The actuator is made with a free common rod (shaft) 7, kinematically connected with 5.6 rotors with the possibility of independent longitudinal and angular movement, i.e. with two degrees of freedom - the angle of rotation of the rod 7 around this axis is added to the coordinate of the rod 7 along the longitudinal axis. (The number of degrees of freedom is the number of independent parameters that uniquely determine the position of the body in space). At the same time, this constructive implementation of the inventive actuator removes restrictions on the types of screw (threaded) pairs used, allows, in particular, to use a ball-screw pair, the choice of materials for manufacturing screw pairs, and the size of the thread pitch of a screw pair, and provides higher stability, accuracy and reliability of operation.

The inventive actuator for independent or joint translational and angular movements has enhanced functionality for use in various fields of engineering. In this case, the parameters of the programmed control of electric motors correspond to the scope of the actuator. For example, in rocket science (aircraft manufacturing) to control aerodynamic planes, in the automotive industry to move the steering rack, in medicine to control, for example, an artificial heart, the most important parameter will be the load. At the same time, in machine tools for the rapid movement of the carriage of the machine, the most important parameter is speed. When used in stepper drives where high positioning accuracy is required, in particular for CNC machines, 3D printers, in robotics for the working body, the main parameter is the angle of rotation.

Since the proposed actuator allows you to simultaneously or alternately reciprocating and rotational movements and, thereby, to obtain various combinations of the movement of the common rod (shaft), this extends the functionality of the actuator in terms of a sufficiently large stroke, and also provides the necessary dynamic capabilities, work. Such an actuator has a control function of sufficient quality and eliminates malfunctions caused by jamming of the helical gear.

Claims (3)

1. Actuator containing two electric motors with hollow rotors mounted coaxially and kinematically connected with a common threaded rod, and a nut is fixed in the hollow rotor of one electric motor with the formation of a screw pair with a common threaded rod, characterized in that the common threaded rod is made with longitudinal guide grooves along the external threaded surface, and in the hollow rotor of the second electric motor, a coupling is fixed with internal radial protrusions installed in the said grooves of the common threads Vågå rod to be locked against rotation and reciprocating axial movement of the latter. 2. The actuator according to claim 1, characterized in that the motors are made with a common housing. 3. Actuator according to any one of paragraphs.1, 2, characterized in that the coupling and the common stem are made with radial straight-line splined protrusions and with rectangular grooves, respectively.

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