[go: up one dir, main page]

WO2024246760A1 - Actionneur à commande de force de poussée - Google Patents

Actionneur à commande de force de poussée Download PDF

Info

Publication number
WO2024246760A1
WO2024246760A1 PCT/IB2024/055199 IB2024055199W WO2024246760A1 WO 2024246760 A1 WO2024246760 A1 WO 2024246760A1 IB 2024055199 W IB2024055199 W IB 2024055199W WO 2024246760 A1 WO2024246760 A1 WO 2024246760A1
Authority
WO
WIPO (PCT)
Prior art keywords
floating
axis
actuator according
nut
actuator
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.)
Pending
Application number
PCT/IB2024/055199
Other languages
English (en)
Inventor
Valerio Farolfi
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.)
Maunoa Srl
Original Assignee
Maunoa Srl
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 Maunoa Srl filed Critical Maunoa Srl
Publication of WO2024246760A1 publication Critical patent/WO2024246760A1/fr
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

Links

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
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/2015—Means specially adapted for stopping actuators in the end position; Position sensing means
    • 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
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/2021—Screw mechanisms with means for avoiding overloading
    • 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
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/2062—Arrangements for driving the actuator
    • F16H2025/2075—Coaxial drive motors
    • 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
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
    • F16H25/2204—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with balls

Definitions

  • the present invention relates to an actuator having push force control.
  • Actuators of the recirculating ball screw type are known with a recirculating sleeve which allow combined linear motion and rotary motion to be performed on the same axis.
  • these actuators Being subjected to a combined action of two motors, these actuators are not very suitable for carrying out some types of operations that require force control such as those called pick&place which, specifically, work in the following way: picking of a screw by the shank by inserting it into a “cannula” and keeping it in position by the creation of a vacuum, with the shank facing upwards, inserted into the cannula, arranged with the head downwards with the screw drive exposed, subsequent placing of the screw onto a screwdriver of the appropriate shape and consequent distancing of the cannula from the screw which remains inserted on the screwdriver, again with the shank upwards and the head downwards.
  • pick&place which, specifically, work in the following way: picking of a screw by the shank by inserting it into a “cannula” and keeping it in position by the creation of a vacuum, with the shank facing upwards, inserted into the cannula, arranged with the head downwards with the screw drive exposed, subsequent placing of the
  • the first axis for the aligning of the key (specifically a screwdriver) on the screw drive and the second axis for carrying out the insertion after key and screw aligning. If the second axis reaches the contact height between the screw head and the screwdriver, without the key being aligned, the first axis rotates while the second axis continues its stroke applying an increasing pressure which, combined with the rotation, can lead to negative consequences, e.g.
  • the feedback would be difficult to manage as the torque generated by one axis affects the torque generated by the other axis, e.g. for performing a stroke only along the second axis a reaction is required with torque on the first axis to prevent rotation of the entire mandrel and generate pure translation.
  • the “resistant” torque of the first axis is in turn a function of other variables, e.g. the amount of grease on the ball tracks.
  • an actuator defining a longitudinal axis Z, comprising a screw, a nut, wherein the screw translates along the axis Z by rotation of the nut , a conduit, a photocell capable of generating a light beam, a floating case, inside of which the nut is fixed, a carrier inside of which the floating case is mounted, to which a torque can be transmitted coaxially to the axis Z, enabling the floating case (10) to slide along the direction of the axis Z, a motor arranged coaxially to the axis Z, capable of making the nut rotate, a load fixing element integrally sustained to the lower end of the screw, a chamber arranged in the lower part of the case which can be supplied under pressure with compressed air, supplied via the conduit, a first spring which pushes the upper part of the floating case downwards to produce a preload, wherein the pressure of the compressed air acts on the surface of the floating case so that
  • An important advantage offered by the solution of the invention is that it allows the adjustment of the action force of the on the air pressure in a conduit and the feedback is performed digitally by a photocell.
  • a “pick&place” type function can be carried out on small elements without the risk of damage due to the application of excessive pressure.
  • the solution of the invention allows the compensation of the weight of the recirculating ball screw with grooves of a particular pick&place type used for controlling “micro screws” for dental implants.
  • the “micro screws” can be picked and moved, gripping them by the shank with the head directed downwards, so as to insert a particular measurement caliper into their screw drive which is stationary with respect to the screw. The insertion can be carried out delicately with a roto-translation movement.
  • the actuator of the invention thanks to the floating nut sliding inside a guide that allows the transmission of the rotation of the electric motor, it is possible to prevent impacts or contacts with excessive forces.
  • the contact force of the tool is thus adjustable by varying the pressure of the air downstream of the device.
  • the main advantages of the actuator are the contact force it can produce, which is pneumatically adjustable, as we act directly on physical quantities such as the supply air pressure and the action surface is defined without software intermediation.
  • This offers the actuator of the invention greater strength and safety.
  • it is applicable with screws, recirculation screws or ball recirculation screws having ball recirculation grooves.
  • a simple adjustment and feedback are carried out even when compound movements are performed.
  • the actuator of the invention is easy to implement as the feedback is carried out digitally by a photocell.
  • Fig. 1 shows a longitudinal section on a longitudinal axial plane of the actuator of the invention
  • Fig. 2 shows an axonometric view with a partial longitudinal section of the actuator in Fig. 1 ;
  • Fig. 3 shows an axial section of the actuator in Fig. 1 in a first operating position
  • Fig. 4 shows an axial section of the actuator in Fig. 1 in a second operating position
  • Fig. 5 shows an axial section of the actuator in Fig. 1 in a third operating position.
  • the actuator of the invention defines a longitudinal axis of symmetry Z, and comprises a screw 1 screwed into a nut 7.
  • the screw 1 is free to translate along axis Z by the rotation of the nut 7, but its angular movement about axis Z with any method is prevented.
  • the nut 7 is fixed inside a floating case 10, which is in turn mounted inside a carrier 6 which transmits torque thereto for rotation about axis Z, leaving it free to run along the axis Z direction.
  • the electric motor 5, coaxial to axis Z, is able with its rotation to rotate the nut 7, but it could also be a hydraulic or pneumatic or other type of motor, or any transmission member, such as a pulley for a toothed belt, a pinion, a gear wheel, etc., connected to a motor arranged outside the working area.
  • a motor support 14 is also provided, fastened to the upper part of the motor 5.
  • an element is solidly fastened for the fastening of a load, such as a tool or apparatus, not shown in the figures, e.g. a keying or locking set 12.
  • the nut 7 can remain in a certain angular position around axis Z by virtue of the torque imposed by the motor 5.
  • the lower part of the case 10 faces a chamber 19 supplied under pressure with compressed air which is supplied through the conduit 8 while the upper part of the case 10 is pushed downwards by a preload spring 3 which has the upper part of the box 2 as a reaction support.
  • the air pressure in the chamber 19 acts on the surface of the case 10 which is floating and is positioned along axis Z according to the resultant of the forces generated by the difference between sections D1 and D2, indicated in Fig. 3.
  • the sealing elements 15, e.g. the rings guarantee the maintenance of a certain air pressure in the chamber 19.
  • Inside the floating case 10 there is also a floating bush 20 held in position by a spring 21 , both coaxial to the case 10 itself.
  • the end part of the floating bush 20, during its movement, is able to interrupt the light beam 16 generated by the photocell 11 .
  • An encoder ring 4 and an encoder head 13 may be advantageously provided.
  • An important advantage of the actuator of the invention is that it can be used when precise adjustment of the force applied to the actuator is required.
  • the application of the actuator for operations in the field of screw tightening is particularly advantageous for the reason that the floating nut 7, being an integrated stroke compensation system, allows the actuator to be transformed into a completely electric tightener without a pneumatic stroke of the screwdriver, as normally operated in tighteners of the prior art.
  • the totally electric management of a screwdriver fastened to the actuator for screwing operations implies other advantages, including full control of the movement of the screwdriver, being able to produce different advancement speeds in different advancement positions along axis Z, and having the possibility to implement other additional functions along the stroke of the screwdriver itself.
  • the actuator of the invention can be transformed into a system for the safety of machine elements by simply replacing the photocell with a “safe” sensor such as, for example, an inductive safety sensor or photoelectric sensors connected to an appropriate safety control unit.

Landscapes

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

Abstract

L'actionneur (1) comprend un écrou (7) et une vis (1) qui se déplace le long d'un axe Z par rotation de l'écrou (7), qui est fixé dans le boîtier flottant (10). Le support (6) est monté dans le boîtier flottant (10). Le moteur électrique (5) fait tourner l'écrou (7). La chambre (19) est alimentée en air comprimé, par le conduit (8). Le ressort (3) pousse le boîtier flottant (10) vers le bas pour produire une précharge. La pression de l'air comprimé agit sur le boîtier flottant (10) pour le positionner le long de l'axe Z. La douille flottante (20) agencée à l'intérieur du boîtier flottant (10) est maintenue en position par un second ressort (21), et la douille flottante (20) peut interrompre le faisceau lumineux (16) généré par la cellule photoélectrique (11).
PCT/IB2024/055199 2023-06-01 2024-05-29 Actionneur à commande de force de poussée Pending WO2024246760A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT102023000011193 2023-06-01
IT102023000011193A IT202300011193A1 (it) 2023-06-01 2023-06-01 Attuatore con controllo della forza di spinta

Publications (1)

Publication Number Publication Date
WO2024246760A1 true WO2024246760A1 (fr) 2024-12-05

Family

ID=87800899

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2024/055199 Pending WO2024246760A1 (fr) 2023-06-01 2024-05-29 Actionneur à commande de force de poussée

Country Status (2)

Country Link
IT (1) IT202300011193A1 (fr)
WO (1) WO2024246760A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3161074A (en) * 1962-02-14 1964-12-15 Korthaus Helmut Electromotive adjusting device
JPH06344187A (ja) * 1993-06-03 1994-12-20 Ueno Seiki Kk モータプレス装置
DE19525454C2 (de) * 1995-07-13 1998-06-10 Beikirch Industrieelektronik G Schubspindelantrieb
WO2005067674A2 (fr) * 2004-01-08 2005-07-28 Tol-O-Matic, Inc. Commande electrique

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3161074A (en) * 1962-02-14 1964-12-15 Korthaus Helmut Electromotive adjusting device
JPH06344187A (ja) * 1993-06-03 1994-12-20 Ueno Seiki Kk モータプレス装置
DE19525454C2 (de) * 1995-07-13 1998-06-10 Beikirch Industrieelektronik G Schubspindelantrieb
WO2005067674A2 (fr) * 2004-01-08 2005-07-28 Tol-O-Matic, Inc. Commande electrique

Also Published As

Publication number Publication date
IT202300011193A1 (it) 2024-12-01

Similar Documents

Publication Publication Date Title
JP6021984B2 (ja) 自動化方式で結合可能なチャック
US20090037017A1 (en) Method and apparatus for a displacement correction for a machine tool
EP4000803B1 (fr) Meuleuse comprenant un mécanisme conforme à commande asservie
CN111716355A (zh) 机器人绝对定位精度补偿系统及方法
CA1303685C (fr) Dispositif de commande
WO2007024607A2 (fr) Ensemble de transfert multiaxial
CN115741392A (zh) 力控打磨装置及其控制方法、打磨机器人及其控制方法
US20190291268A1 (en) Arm structure of robot and robot
WO2024246760A1 (fr) Actionneur à commande de force de poussée
HRP20250925T1 (hr) Uređaj za aktivno upravljanje kontaktnom silom u postupcima obrade
US4637771A (en) Lifting head of swivel arm of assembly robot
US20130147131A1 (en) Rotary Stage With Integrated Collet Closer Assembly
KR100626852B1 (ko) 구동축 이동장치
US8069756B2 (en) Apparatus for automatically detecting the position of the cutting tool in the computerized numerically controlled lathe
US5970599A (en) Milling machine
US20090013808A1 (en) Advancing means for a multi-coordinate measurement table of a coordinate measuring device and method for controlling such an advancing means
CN208557116U (zh) 机床实时精度补偿系统
JP3848278B2 (ja) ストリップ形状ブランクの断続的供給装置
JP4398537B2 (ja) ワーク支持装置
JP2006507952A (ja) コンピュータ式ｎｃ工作機械用工具補正装置
EP4621254A1 (fr) Fixation de dispositif d'entraînement
JP7764031B2 (ja) ネジ締付システム
JP2001009607A (ja) 工作機械の電動チャックにおける潤滑油供給装置
US7988606B2 (en) Machine comprising a mechanical guide element for guiding the displacement of a first and a second device
CN112413068B (zh) 一种微型轴类滚轮驱动机构

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 24736067

Country of ref document: EP

Kind code of ref document: A1