DE102015117489A1 - Drive system for several actuators arranged in a row - Google Patents

Abstract

The present invention relates to a drive system for a plurality of actuators arranged in a row and movable independently from a starting position in a working direction and a return direction. In order to find a drive solution that allows fast strokes of the individual actuators with a sufficient force pulse, but space-saving and cost-saving can be realized, it is proposed that the actuators (3) are each supported in a first direction against a force storage device (6) which in a movement against the energy accumulator (6) builds up a restoring force, each actuator (3) via a fixing element (9, 33) can be fixed in a starting position in which the energy storage device (6) is biased at least partially against a restoring force, each actuator (3) in each case a toothing (12), and a drive system for driving the actuators (3) in a second direction is present, having a common drive shaft, to which for the driven by the drive system actuators (3) respectively at least one gear (15) is placed, which is only partially interlocked around its circumference, wherein the gear formed on the gear (15) in a corresponding stroke position of the actuator (3) with the teeth (3) formed on the comb, so that when engaging the gear (15) formed teeth in the actor (3) formed teeth over a maximum length of the gear ( 15) formed teeth a forced promotion of the actuator (3) in the second, the direction of rotation of the drive shaft corresponding direction.

Description

The present invention relates to a drive system for a plurality of actuators arranged in a row and movable independently from a starting position in a working direction and a return direction.

The actuators used in a generic device can be used, for example, to drive ejectors in a sorting system for fruits and vegetables in the processing and food industries. One in the Scriptures EP 1 605 170 For example, the disclosed system comprises a conveyor belt which passes products to be examined past a sensor system. The sensor system has a processing algorithm that makes the necessary decisions as to whether an object is accepted or ejected. An actuator system ejects the objects to be sorted out of the stream as a function of the signals of the processing algorithm. To increase the capacity, not a single actuator is used in the actuator system, but several individual ejectors are arranged side by side distributed over the width of the conveyor belt. Typically, about 40-60 ejectors with a width of about 25 mm are used here.

As ejector within the array various concepts in question, such as mechanical stamp or flaps that mechanically eject the objects to be sorted or direct the objects in the desired direction, punctual water, sandblasting nozzles o. A, the objects to be sorted by a water, Sandblast o. Ä. Eject / eject, or pneumatic nozzle lines that eject the objects by a pressure surge from the stream. For heavy objects of about 50-100 mm in diameter, or in the sorting of vegetables, usually only mechanical ejectors come into question, since at a correspondingly high speed of movement nozzle-based ejectors do not exert sufficient impulse to the object in the short time while it is in front of the ejector so that the object does not change its direction of movement sufficiently. For very small objects of about 5 mm in diameter, such as in grain sorting, however, pneumatic nozzle lines are the most commonly used solution. Especially with objects of unevenly distributed size, density and weight, however, mechanical ejectors are the most sensible solution, since the necessary impulse can be placed most precisely on the objects and thus a stable change in direction can be achieved even with uneven objects.

Another application example for the actuators described here for a plurality of actuators arranged in series is the selective surface treatment, for example in the context of mechanical Weikregregulierung in crops. Here, a system consisting of sensor system and processing algorithm and actuator system can be mounted on a vehicle, cart or the like to carry it over the area with crops and weeds. The sensor system and the processing algorithm then decide whether there is a crop or a weir in one place. In order to damage a weed, the individually controllable stamp as actuators targeted so triggered to meet this and to protect the crops.

• – Die Zeiten, welche für eine einzelne Bearbeitung zu Verfügung stehen, sind sehr kurz. Um eine entsprechende Flächenleistung bei der Beikrautregulierung bzw. eine entsprechende Mengenleistung bei der Sortierung zu schaffen, sollte die Zeit für eine einzelne Aktoraktion mit Hin- und Rückweg maximal 100 ms betragen.
• – Insbesondere bei der Beikrautregulierung, aber auch bei der Sortierung ungleichmäßiger, relativ großer Objekte, muss ein hoher Impuls auf das Objekt ausgeübt werden. Beispielsweise in der Beikrautregulierung muss der einzelne Aktor den Eindringwiderstand des Bodens überwinden. Relativ kraftvolle Antriebe nehmen hier stets einen relativ großen Bauraum ein. Die erreichbare Auflösung beim Sortieren durch die Anordnung relativ breiter Aktorelemente nebeneinander ist dann beschränkt.
• – Der Bauraum, der für die Aktoranordnung zur Verfügung steht, ist sehr begrenzt, da sich die einzelnen Aktoren je nach Auflösung des Gesamtsystems gegenseitig in Ihrer maximalen Breite beschränken. Auflösungen mit Breiten unter 25 mm sind mit vorbekannten Ansätzen für kraftvolle Antriebe schwerlich umsetzbar.
• – Die Kosten für die Gesamtanordnung müssen möglichst gering gehalten werden. Hierfür ist es besonders vorteilhaft, wenn möglichst viele Komponenten, beispielsweise der Antriebstechnik und Steuerung, für alle Aktorelemente gemeinsam verwendet werden können.

The requirements for mechanical actuator lines are very high in both of the above fields of application (sorting systems and, for example, weed control).

• - The times available for a single edit are very short. In order to create a corresponding area performance in the weed control or a corresponding quantity output during sorting, the time for a single actuator action with round trip should be a maximum of 100 ms.
• - In particular, when Beikrautregulierung, but also in the sorting of uneven, relatively large objects, a high impulse must be exerted on the object. For example, in Beikrautregulierung the individual actuator must overcome the penetration resistance of the soil. Relatively powerful drives always occupy a relatively large space here. The achievable resolution when sorting by the arrangement of relatively wide actuator elements next to each other is then limited.
• - The space available for the actuator assembly is very limited, since the individual actuators limit each other depending on the resolution of the overall system in their maximum width. Resolutions with widths below 25 mm are difficult to implement with previously known approaches for powerful drives.
• - The costs of the overall arrangement must be kept as low as possible. For this purpose, it is particularly advantageous if as many components as possible, for example, the drive technology and control, can be used in common for all actuator elements.

All previously known solutions, for example line-by-line arrangements of several linear or electromechanical linear drives or of hydraulic or pneumatic linear actuators, have the disadvantage that the single drive unit in the row arrangement is almost completely duplicated, therefore the cost of drive technology increases practically linearly with the number of actuators used in line.

It is the object of the present invention to find a drive solution that allows rapid strokes of the individual actuators with a sufficient force pulse, but it is space-saving and cost-saving feasible.

The object is achieved for a generic drive system by the actuators are supported in a first direction each against a force storage, which builds a restoring force in a movement against the energy storage, each actuator can be fixed via a fixing element in a starting position, in which the energy storage at least is partially biased against a restoring force, each actuator in a section each having a toothing, and a drive system for driving the actuators in a second direction is present, having a common drive shaft, in each case at least one gear for the driven by the drive system actuators is placed, which is only partially interlocked around its circumference, wherein the teeth formed on the gear mesh in a corresponding stroke position of the actuator with the teeth formed on the actuator, so that in an engagement of the teeth formed on the gear formed in the actuator Teeth over a maximum length of the toothing formed on the gear a forced promotion of the actuator in the second, the direction of rotation of the drive shaft corresponding direction.

The solution to drive the actuators in one direction by a common drive shaft, eliminating individual drives for each actuator in this direction. The common drive shaft requires less space, is cheaper and still provides very fast movements of the actuator. While the movement in the direction of rotation of the drive shaft is forcibly performed when an actuator is in engagement with the drive shaft, the movement in the other direction can be optionally and timed controlled. The coordination to which direction the actuator is moved, follows from the vote of the teeth in a portion of the actuator with the teeth of the gear located on the drive shaft. Namely, when the teeth of the gear associated with an actuator and the teeth of the actuator are not engaged with each other, the actuator in the direction of rotation of the drive shaft opposite direction is freely movable.

According to one embodiment of the invention, the first direction as driven by the restoring force of the energy storage direction, the working direction and the second direction is the positively driven return direction. In particular, for Beikrautregulierung this configuration has the advantage that the actuator is moved in the direction of work by the restoring force of the energy storage and not by a positive connection with the drive. This has the advantage that when an impact of the actuator on any stone located in the ground or a comparable object, only the energy storage is not completely relaxed, but no damage to the drive caused.

According to one embodiment of the invention, the force accumulators, which build up the restoring force during the movement of the individual actuators in the first direction, springs. As mechanical components, springs are cost-effective, reliable, virtually maintenance-free and can move the actuators within the movement path at high speeds.

According to one embodiment of the invention, the fixing element is designed as a mechanical detent plate. A mechanical detent actuator causes a positive locking movement of the actuator, which can be easily and quickly canceled when a movement of the actuator is required. A mechanical detent is comparatively inexpensive. With the detent, an actuator can be set with a simple mechanical acting means in one position, without that the actuator would have to be held permanently in this position via an additionally acting force component.

According to one embodiment of the invention, the fixing element is designed as a magnet. As a magnet, an electromagnet, a permanent magnet or a combined permanent electromagnet can be used. In particular, the use of a permanent electromagnet, which has a permanent magnetism, but which can be completely or partially neutralized by energizing an integrated coil, has the advantage that this permanent electromagnet is magnetic in the de-energized state. Thus, the actuators remain in the off state in their preloaded starting position and there is no run-up procedure required to bring them into the biased position before starting the operation, which would be required for an electromagnet. Overall, it is advantageous in the magnetic solution for the fixing member that the number of mechanically movable parts can be further reduced.

According to one embodiment of the invention, the fixing elements are connected to an electronic control which selectively controls one or more fixing elements as a function of sensor signals and / or other input signals, wherein the fixing elements each have a switchable blocking function, which is canceled upon transmission of a control signal from the electronic control is. About the controller can thus unlocking an actuator and thereby enabling movement in the first or second direction, depending on how the system is designed.

According to one embodiment of the invention, the drive shaft or the drive of the drive shaft to a rotary encoder as a sensor which transmits a sensor signal to the electronic control, and the electronic control controls the fixing elements taking into account the sensor signal of the rotary encoder. About the encoder, the controller knows whether an unlocking of the actuator with the drive shaft via a gear is engaged and thereby a forced driven movement in the rotational direction of the drive shaft, or if the teeth of the gear and the actuator over a rotational angle of the drive shaft away not engage each other and therefore a movement of the actuator in the direction of rotation of the drive shaft opposite direction is possible. By the release of the actuator in a time interval in which the actuator can also move in a direction opposite to the direction of rotation of the drive shaft, a timed accurate movement of the actuator in the first direction is possible.

According to one embodiment of the invention, the actuators are designed as movable in the axial direction punch. Movable in the axial direction punch are inexpensive to produce, easy to run in a storage and easy in the daily practice of the device. Also, the driving forces can be well transferred in both directions in the actuator. Special dies / mechanisms / materials can be affixed to the dies at the base of the respective die, such as sharp edges made of a specially hardened metal, to more severely damage weeds in weed control, or hooks / wings to make the soil stronger at points to be worked to loosen / rupture or dampening materials so as not to damage objects which are to be ejected during sorting on the surface during impact.

According to one embodiment of the invention, the individual actuators serve as a drive for further mechanics, or for sorting flaps or levers.

According to one embodiment of the invention, all gear wheels are mounted with only partial toothing on the circumference without phase offset on the drive shaft. This has the advantage that any electronic control of the individual fixing elements of the respective phase offset of the individual gear must not be known, this can thus be made simpler.

According to one embodiment of the invention, all gears are mounted with only partial toothing on the circumference with phase offset on the drive shaft. This has the advantage that any electronic control of the individual fixing elements of the respective phase offset of the individual gear must not be known, this can thus be made simpler. Another advantage is that any vibrations / shocks exerted on the system during deployment are reduced and vibrations induced by the rotation of the drive shaft can potentially be minimized.

According to one embodiment of the invention, the common drive shaft is replaced with plugged gears by a continuous, very wide gear, which can mesh the teeth of all actuators located side by side.

According to one embodiment of the invention, the drive shaft is connected to a drive motor which drives them. The connection may comprise transmissions and / or transmissions and / or couplings and / or other coupling elements. As the drive motor, an electric motor or a hydraulic motor or an internal combustion engine can be used.

According to one embodiment of the invention, the drive shaft rotates continuously during operation of the drive system. A particular advantage in comparison to previously known solutions of the drive system is that the drive shaft is common to all individual actuators. Thus, only one drive train is required for all actuators. Thus, or any drive motor, transmission gear o. Ä. For all actuators only once required, so that the costs related to the individual actuator costs with increasing number of actuators per drive system, while remaining constant in prior art solutions.

It is possible to arrange two or more such drive systems, each with two or more actuators in a higher-level system, or to increase the capacity of an overall process and / or to fulfill different purposes within an overall process and / or the achievable work resolution in an overall process continue to increase.

It is expressly understood that the above-described embodiments of the invention can be combined in each case, but also in any combination with each other with the subject of the main claim, as far as no compelling technical obstacles.

Further modifications and embodiments of the invention can be taken from the following description and the drawings.

The invention will now be described with reference to an embodiment. Show it:

: an embodiment of a single actuator element in the side view,

: the individual operating phases and the latching position as starting position of a single actuator element,

: the entire drive system with multiple actuators in a plan view,

a further embodiment of the individual actuator element.

shows an embodiment of a single actuator element in the side view. The actor 3 becomes in a return movement (in the figure upward movement) against the energy storage 6 biased. The energy storage 6 is in the embodiment shown as a compression spring 6 designed, which against a stop 7 is tense. The fixing element is a permanent electromagnet 9 configured, which on a corresponding magnetically attractable trained head 10 of the actor 3 can exert a magnetic force and the actuator 3 in a prestressed position of the energy store 6 can fix. The actor 3 has a toothed section 12 , The partially toothed gear 15 provides with its toothed circumferential segment when engaged in the corresponding teeth of the actuator 3 for a forced movement of the actuator 3 in the return direction - in the picture upwards - and with its untoothed circumferential segment, as soon as this the teeth of the actuator 3 opposes, for free mobility of the actor 3 in working direction - in the picture downwards -.

shows the individual operating phases and the locking position as the starting position of a single actuator element, which as in 1 is designed. In the very left part of , section A, becomes the actor 3 through the partially toothed gear 15 in the return direction - in the picture up - forcibly moved, due to the engagement of the teeth of the gear 15 into the gearing 12 of the actor 3 , The energy storage 6 , here designed as a spring 6 , is thus biased so that a restoring force is built up. The fixing element is a permanent electromagnet 9 designed. Due to the large distance of the actuator head 10 from the permanent electromagnet 9 In principle, it does not matter whether the permanent electromagnet 9 energized or not. As the magnetic force decreases with increasing distance proportional to the square of the distance, the permanent-magnet agent exercises 9 even in the de-energized state here no significant force on the actuator 3 out. It is therefore assumed that the saving of energy, the coils of the permanent electromagnet are not energized here, symbolized by the continuous black outlined coils 18 ,

In the second section from the left - Section B - is the actuator 3 at top dead center. The last tooth of a toothed segment of the partially toothed gear 15 has no intervention in the gearing 12 of the actor 3 , The energy storage 6 , here designed as a spring, is biased. In the operating phase shown here is now a working process of the actuator 3 desired, or because a herauszusortierendes object below the actuator 3 located. Therefore, the fixing element, designed here as a permanent electromagnet 9 , solved. This is due to the fact that the coils of the permanent electromagnet are energized, in the figure by the hatched coils 19 to recognize. The energization of the coils of the permanent electromagnet 9 leads to a neutralization of the permanent magnetic field, so that no magnetic force for fixation on the head 10 of the actor 3 is exercised. Accordingly, the system goes into the operating phase of the movement in the working direction shown in section C.

In the middle section of - The section C - moves the actuator 3 in working direction - in the picture downwards -. The gearing 12 of the actor 3 is an untoothed segment of the partially toothed gear 15 opposite. The actor 3 can thus by the energy storage 6 applied restoring force are moved into working movement. The fixing element is a permanent electromagnet 9 designed. After the actor 3 has left its rest position, the energization of the permanent electromagnet 9 for releasing the actuator 3 be omitted from the rest position to save energy.

In the second section from the right - in section D - is the actuator 3 at bottom dead center. The actor 3 has completed its movement in the direction of work. The energy storage, here as a spring 6 designed, is largely or completely relaxed. Once the partially toothed gear 15 Now again with a toothed circumferential segment engaging in the teeth 12 of the actor 3 The movement in the return direction starts again, as shown in section A.

In the far right section of - the section E - is the actuator 3 in his rest position. This takes the actor 3 when z. B. in a sorting application below the actuator 3 no ejected object is located. She gets through the actor 3 reached after the end of the movement in the return direction, provided the fixing element 9 not unlocked. This is the case here. The fixing element is here as a permanent electromagnet 9 designed. The coils of the same are de-energized 18 , Thus, the attracted actuator head 10 and with him the entire actor 3 fixed at top dead center. The partially toothed gear 15 can continue to rotate as it is due to the positioning of the actuator 3 in detent position neither with its toothed nor with its untoothed segments engaged in the teeth 12 of the actor 3 Has. This allows a common drive shaft and a common drive train for a plurality of such, individually controllable actuators 3 having to trigger the action of a respective individual actor 3 via a control of the fixing element 9 can take place, and wherein the common drive shaft continues to rotate.

shows the entire drive system with multiple actuators 3 in an embodiment in plan view. Several actuator modules 24 , at least consisting of actuator 3 with toothing 12 , Energy storage 6 and fixing element are arranged in a row. Furthermore, several partially toothed gears 15 arranged in a row and positioned so that they engage in the gears at given times 12 to have. The partially toothed gears 15 are on a common drive shaft 30 , This allows the electric motor connected in the embodiment as a drive motor 21 to provide only once for all actuator elements. Furthermore, the provided in the embodiment for optimized control encoder 27 also be available only once.

shows a further embodiment of the individual actuator element, alternatively to the illustration in FIG , The fixing element is here as a mechanical detent 33 formed, which in the corresponding detent position in a detent bore 36 is inserted and the actuator 3 so fixed in the locked position.

The above embodiments are only illustrative of the invention. The invention is not limited to the embodiments described above. It is not difficult for a person skilled in the art to modify the exemplary embodiments in a manner which seems suitable to him in order to adapt them to a specific application.

LIST OF REFERENCE NUMBERS

3

Einzelaktor

6

Power accumulator (executed in this picture as a compression spring)

7

Stop for spring

9

Fixation element (in and designed as permanent electromagnet)

10

Stamp head of magnetic metal

12

gearing

15

partially toothed gear

18

de-energized coils of the permanent magnet

19

energized coils of Permanetelektromagneten

21

drive motor

24

Single-actuator modules in plan view (Einzelaktor 3 + Energy storage 6 + Fixing element 9 )

27

encoders

30

common drive shaft

33

Fixation element (in designed as a mechanical detent plate)

36

Detent hole for detent plate

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• EP 1605170 [0002]

Claims (14)

Drive system for a plurality of actuators arranged in a row, which are movable independently of one another from a starting position in a working direction and a return direction, characterized in that the actuators ( 3 ) in a first direction in each case against an energy store ( 6 ) are supported, which in a movement against the energy storage ( 6 ) builds up a restoring force, each actuator ( 3 ) via a fixing element ( 9 . 33 ) is fixable in a starting position, in which the energy storage ( 6 ) is biased at least partially against a restoring force, each actuator ( 3 ) in one section each a toothing ( 12 ), and a drive system for driving the actuators ( 3 ) is present in a second direction, which has a common drive shaft, to which for the actuators driven by the drive system ( 3 ) at least one gear ( 15 ) is placed, which is only partially interlocked around its circumference, wherein the gear ( 15 ) formed teeth in a corresponding stroke position of the actuator ( 3 ) with the on the actuator ( 3 ) trained teeth, so that in an engagement of the gear ( 15 ) trained teeth in the actor ( 3 ) formed teeth over a maximum of the length of the gear ( 15 ) trained teeth a forced promotion of the actuator ( 3 ) in the second, the direction of rotation of the drive shaft corresponding direction. Drive system according to claim 1, characterized in that the first direction as by the restoring force of the energy store ( 6 ) driven direction is the working direction and the second forcibly driven direction is the return direction. Drive system according to claim 1 or 2, characterized in that the energy storage ( 6 ), which during the movement of the individual actuators ( 3 ) build up the restoring force in the first direction, are formed as springs. Drive system according to one of the preceding claims, characterized in that the fixing elements as a mechanical detent plate ( 33 ) are formed. Drive system according to one of the preceding claims, characterized in that the fixing elements as a magnet ( 9 ) are formed. Drive system according to one of the preceding claims, characterized in that the fixing elements ( 9 . 33 ) are connected to an electronic controller which, depending on sensor signals and / or other input signals, has one or more fixing elements ( 9 . 33 ) selectively activates, wherein the fixing elements ( 9 . 33 ) each have a switchable blocking function, which is canceled upon transmission of a control signal from the electronic control. Drive system according to claim 6, characterized in that the drive shaft ( 30 ) or the drive of the drive shaft ( 30 ) a rotary encoder ( 27 ) as a sensor which transmits a sensor signal to the electronic control, and the electronic control the fixing elements ( 9 . 33 ) from under consideration of the sensor signal of the encoder drives. Drive system according to one of the preceding claims, characterized in that the actuators ( 3 ) are formed as movable in the axial direction punch. Drive system according to one of the preceding claims, characterized in that the individual actuators ( 3 ) serve as a drive for further mechanics, or as a drive for sorting flaps or levers. Drive system according to one of the preceding claims, characterized in that all gears ( 15 ) with only partial toothing on the circumference without phase offset on the drive shaft ( 30 ) are mounted. Drive system according to one of the preceding claims, characterized in that all gears ( 15 ) with only partial toothing on the circumference without phase offset on the drive shaft ( 30 ) are mounted. Drive system according to one of the preceding claims, characterized in that the common drive shaft ( 30 ) with attached gears ( 15 ) is replaced by a continuous, very wide gear, which the teeth of all adjacent actuators ( 3 ) can comb. Drive system according to one of the preceding claims, characterized in that the drive shaft ( 30 ) is connected to a drive motor which drives these. Drive system according to one of the preceding claims, characterized in that the drive shaft ( 30 ) rotates continuously driven during operation of the drive system.

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