CN104578562A - Large-stroke multi-section linear actuator mechanism - Google Patents
Large-stroke multi-section linear actuator mechanism Download PDFInfo
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- CN104578562A CN104578562A CN201410827690.8A CN201410827690A CN104578562A CN 104578562 A CN104578562 A CN 104578562A CN 201410827690 A CN201410827690 A CN 201410827690A CN 104578562 A CN104578562 A CN 104578562A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 41
- 238000005096 rolling process Methods 0.000 claims abstract description 45
- 230000005540 biological transmission Effects 0.000 claims description 74
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 35
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 2
- 229910052782 aluminium Inorganic materials 0.000 claims description 2
- 239000004411 aluminium Substances 0.000 claims description 2
- 239000000463 material Substances 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims 2
- 230000009471 action Effects 0.000 abstract description 16
- 230000033001 locomotion Effects 0.000 description 14
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 10
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 208000032370 Secondary transmission Diseases 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000003252 repetitive effect Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
The invention discloses a large-travel multi-section linear actuator mechanism. The large-stroke multi-section linear actuator mechanism comprises a main drive assembly, a secondary drive assembly, an outer section assembly, a middle section assembly and an inner section assembly, wherein the main drive assembly is fixedly connected to an outer base and connected with the secondary drive assembly through a main drive screw nut, the main drive screw nut is connected with the middle section assembly through a middle base, and the secondary drive assembly is connected with the inner section assembly through an inner base; the mechanism comprises a forward stroke action and a backward stroke action; during forward stroke, a servo motor drives a main drive screw to rotate, so that the main drive screw nut moves in an axial direction to drive the middle section assembly to extend outwards, the main drive screw nut rotates with the main drive screw after limited by a disc spring and drives a hollow screw to rotate, a hollow screw nut moves in an axial direction to drive the inner section assembly to extend outwards until II type rolling linear guide rail sliders are limited by a middle base assembly, and the overall forward stoke action is completed; and the backward stroke action is opposite to the forward stroke action.
Description
Technical field
The invention belongs to mechanical device drive technology field and Rolling Components drive technology field, particularly a kind of Long Distances multi-lengthed electric push-bar mechanism.
Background technique
The drive unit of transfer bar mechanism to be a kind of by the movement transition of certain forms the be straight reciprocating motion of push rod, can be used for using as performing machinery, to realize distant control, centralized control or automatically to control in various simple or complicated technological process.As a kind of comparatively universal auxiliary drive, transfer bar mechanism is widely used in the fields such as mechanical transmission, lifting platform and weight lifting.The form of transfer bar mechanism is varied: drive form comprises manual, electronic, pneumatic and hydraulic pressure etc., and push rod form also comprises cammingly, scissors type and hydraulic cylinder type etc.Transfer bar mechanism has reliable performance, is active in one's movements, and operates steadily, the features such as push-pull effort is identical, good environmental adaptability, and it is widely used in the industries such as electric power, machinery, mine, oil, chemical industry, lifting, transport.But along with the raising of social demand, the requirement of people to transfer bar mechanism is also more and more higher.Owing to being subject to the restriction of application, concrete application conditions, people require that transfer bar mechanism has small size, Long Distances, and the feature such as tip displacement and movement velocity controllable precise.
Although there is the electric pushrod mechanism with the feature such as small size, Long Distances in the market, but small size can be had concurrently, Long Distances, the motor drive mechanism that is easy to realize the advantages such as automatic control, terminal position and speed energy controllable precise also comparatively lack, especially the multi-stage motor transfer bar mechanism of the high rigidity of the industries such as movies-making equipment, precision cutting lathe, highi degree of accuracy, Long Distances be can be applied to, blank or stage at the early-stage are almost in.
Summary of the invention
The object of the present invention is to provide a kind of driving mechanism that can realize Long Distances multi-joint telescoping under less boundary dimension.Energy implementation process of the present invention and backhaul two kinds of actions, accurately can control displacement and the movement velocity of rod member end.
The technical solution realizing the object of the invention is: a kind of Long Distances multi-lengthed electric push-bar mechanism, comprise actuating motor, Motor with position sensing device, I profile shaft holds, motor key, I profile shaft holds with back-up ring, I jacket cylinder, main transmission leading screw, disc type back-up ring, type III bearing, type III bearing back-up ring, II jacket cylinder, type III bearing inner sleeve cylinder, main transmission feed screw nut, pinboard, disc spring sleeve, II profile shaft holds, disc spring, disc spring back-up ring, stop nut, hollow lead screw, hollow lead screw nut, interior pedestal, II type rolling linear guide slide block, interior base shell, middle base shell, II type rolling linear guide, I type rolling linear guide slide block, middle pedestal, outer base shell, I type rolling linear guide, anticollison block, outer frame,
The cross section of outer frame is Hexagon, this outer frame to be connected three anticollison blocks away from one end of actuating motor, and these three anticollison blocks are along the circumferential direction distributed on outer frame, and outer frame is connected I jacket cylinder, I jacket cylinder is connected Motor with position sensing device, and Motor with position sensing device is connected actuating motor, coaxially arrange two I profile shafts at I jacket cylinder and the discontiguous internal surface of outer frame to hold, two I profile shafts hold centre and arrange I profile shaft and hold with back-up ring, I profile shaft holds inner side and arranges main transmission leading screw, main transmission leading screw is arranged main transmission feed screw nut, main transmission leading screw arranges motor key near one end of actuating motor, actuating motor and main transmission leading screw are by motor key transmission, arrange II profile shaft at main transmission leading screw away from one end of actuating motor to hold, the side of holding away from actuating motor at II profile shaft arranges disc spring back-up ring, at disc spring back-up ring, stop nut is set away from the side of actuating motor, at the arranged outside disc spring sleeve that II profile shaft holds, in the outside of disc spring back-up ring, coaxially disc spring is set,
The cross section of outer base shell is hexagonal structure, this outer base shell is connected in the outside of outer frame, inside base shell, three mutually not contiguous surfaces are connected an I type rolling linear guide respectively outside, each I type rolling linear guide arranges two I type rolling linear guide slide blocks, all I type rolling linear guide slide blocks are all connected mutually with middle pedestal, to be connected near one end of actuating motor II jacket cylinder at middle pedestal, to be connected near one end of actuating motor disc type back-up ring at II jacket cylinder, in the inner side of II jacket cylinder, two type III bearings are set, type III bearing back-up ring is installed in the middle of two type III bearings, type III bearing inner sleeve cylinder is set in the inner side of type III bearing, at type III bearing inner sleeve cylinder with away from the middle of the type III bearing of actuating motor, type III bearing back-up ring is set, type III bearing inner sleeve cylinder and main transmission feed screw nut are fixed together, main transmission feed screw nut and pinboard are connected, pinboard and hollow lead screw are fixed together, hollow lead screw is installed hollow lead screw nut,
The cross section of middle base shell is hexagonal structure, in this, base shell is connected in the outside of middle pedestal, inside middle base shell, three mutually not contiguous surfaces are connected an II type rolling linear guide respectively, each II type rolling linear guide installs two II type rolling linear guide slide blocks, all II type rolling linear guide slide blocks are all connected mutually with interior pedestal, interior pedestal is connected mutually with hollow lead screw nut, and interior base shell is connected on interior pedestal.
Compared with prior art, its remarkable advantage is in the present invention: 1) the present invention utilizes two joint elevator mechanisms, can be implemented in the Long Distances transmission under less boundary dimension, and stroke can reach 2 times of minimum withdrawal size; 2) the present invention utilizes and organizes linear rolling guide more, can realize preferably transmitting motion and leading role, and rigidity is strong, is enough to the demand meeting the occasion such as lathe, highi degree of accuracy transmission control; 3) the main transmission section of the present invention mechanism that utilizes two sections of leading screw centers embedded, ensure that the small size realized under Long Distances transmission, and highi degree of accuracy can be realized, high repetitive positioning accuracy transmission controls; 4) present invention employs disc spring position-limit mechanism, the stall phenomenon of transmission part can be prevented preferably; 5) the present invention utilizes the difference of two sections of turn-screw pretightening forces, can realize the order lifting action of two pole parts preferably; 6) the present invention utilizes Electric Machine Control, by the difference of two sections of guide screw leads, accurately can control displacement and the movement velocity of rod member end; 7) a kind of Long Distances multi-lengthed electric push-bar mechanism of the present invention, realize the advantage such as Long Distances, terminal position controllable precise by structural designs such as motor driving, telescoping rods, greatly expand electric pushrod mechanism in sector applications such as movies-making equipment, lathes.
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Accompanying drawing explanation
Fig. 1 is the general structure generalized section of Long Distances multi-lengthed electric push-bar mechanism of the present invention.
Fig. 2 is the main transmission assembly generalized section of Long Distances multi-lengthed electric push-bar mechanism of the present invention.
Fig. 3 is the secondary transmission assembly generalized section of Long Distances multi-lengthed electric push-bar mechanism of the present invention.
Fig. 4 is the acromere assembly schematic cross-section of Long Distances multi-lengthed electric push-bar mechanism of the present invention.
Fig. 5 is the middle joint assembly schematic cross-section of Long Distances multi-lengthed electric push-bar mechanism of the present invention.
Fig. 6 is the internal segment assembly schematic cross-section of Long Distances multi-lengthed electric push-bar mechanism of the present invention.
Fig. 7 is the backhaul action transmission principle figure of Long Distances multi-lengthed electric push-bar mechanism of the present invention.
Fig. 8 is the process action transmission principle figure of Long Distances multi-lengthed electric push-bar mechanism of the present invention.
Fig. 9 is the assembly theory of constitution figure of Long Distances multi-lengthed electric push-bar mechanism of the present invention.
Embodiment
Composition graphs 9, the present invention is a kind of Long Distances multi-lengthed electric push-bar mechanism, comprises main transmission assembly V, secondary transmission assembly VI, acromere assembly VII, middle joint assembly VIII and internal segment assembly IX five assemblies.
Composition graphs 1 ~ Fig. 8, Long Distances multi-lengthed electric push-bar mechanism of the present invention, comprise actuating motor 1, Motor with position sensing device 2, I profile shaft holds 3, motor key 4, I profile shaft holds with back-up ring 5, I jacket cylinder 6, main transmission leading screw 7, disc type back-up ring 8, type III bearing 9, type III bearing back-up ring 10, II jacket cylinder 11, type III bearing inner sleeve cylinder 12, main transmission feed screw nut 13, pinboard 14, disc spring sleeve 15, II profile shaft holds 16, disc spring 17, disc spring back-up ring 18, stop nut 19, hollow lead screw 20, hollow lead screw nut 21, interior pedestal 22, II type rolling linear guide slide block 23, interior base shell 24, middle base shell 25, II type rolling linear guide 26, I type rolling linear guide slide block 27, middle pedestal 28, outer base shell 29, I type rolling linear guide 30, anticollison block 31, outer frame 32,
The cross section of outer frame 32 is Hexagon, this outer frame 32 to be connected three anticollison blocks 31 away from one end of actuating motor 1, these three anticollison blocks are along the circumferential direction distributed on outer frame 32, outer frame 32 is connected I jacket cylinder 6, I jacket cylinder 6 is connected Motor with position sensing device 2, and Motor with position sensing device 2 is connected actuating motor 1, two I profile shafts are coaxially set at I jacket cylinder 6 and the discontiguous internal surface of outer frame 32 and hold 3, two I profile shafts arrange I profile shaft and hold with back-up ring 5 in the middle of holding 3, I profile shaft arranges main transmission leading screw 7 inside holding 3, main transmission leading screw 7 is arranged main transmission feed screw nut 13, main transmission leading screw 7 arranges motor key 4 near one end of actuating motor 1, actuating motor 1 and main transmission leading screw 7 are by motor key 4 transmission, at main transmission leading screw 7, II profile shaft is set away from one end of actuating motor 1 and holds 16, hold 16 at II profile shaft and disc spring back-up ring 18 is set away from the side of actuating motor 1, at disc spring back-up ring 18, stop nut 19 is set away from the side of actuating motor 1, the arranged outside disc spring sleeve 15 of 16 is held at II profile shaft, in the outside of disc spring back-up ring 18, disc spring 17 is coaxially set,
The cross section of outer base shell 29 is hexagonal structure, this outer base shell 29 is connected in the outside of outer frame 32, inside base shell 29, three mutually not contiguous surfaces are connected an I type rolling linear guide 30 respectively outside, each I type rolling linear guide 30 arranges two I type rolling linear guide slide blocks 27, all I type rolling linear guide slide blocks 27 are all connected mutually with middle pedestal 28, to be connected near one end of actuating motor 1 II jacket cylinder 11 at middle pedestal 28, to be connected near one end of actuating motor 1 disc type back-up ring 8 at II jacket cylinder 11, in the inner side of II jacket cylinder 11, two type III bearings 9 are set, type III bearing back-up ring 10 is installed in the middle of two type III bearings 9, type III bearing inner sleeve cylinder 12 is set in the inner side of type III bearing 9, at type III bearing inner sleeve cylinder 12 with away from the middle of the type III bearing 9 of actuating motor 1, type III bearing back-up ring 10 is set, type III bearing inner sleeve cylinder 12 and main transmission feed screw nut 13 are fixed together, main transmission feed screw nut 13 and pinboard 14 are connected, pinboard 14 and hollow lead screw 20 are fixed together, hollow lead screw 20 is installed hollow lead screw nut 21,
The cross section of middle base shell 25 is hexagonal structure, in this, base shell 25 is connected in the outside of middle pedestal 28, inside middle base shell 25, three mutually not contiguous surfaces are connected an II type rolling linear guide 26 respectively, each II type rolling linear guide 26 installs two II type rolling linear guide slide blocks 23, all II type rolling linear guide slide blocks 23 are all connected mutually with interior pedestal 22, interior pedestal 22 is connected mutually with hollow lead screw nut 21, and interior base shell 24 is connected on interior pedestal 22.
On described main transmission leading screw 7, the pretightening force of main transmission feed screw nut 13 is greater than the pretightening force of hollow feed screw nut 21 on hollow lead screw 20.
The material of described outer frame 32, outer base shell 29, middle pedestal 28, middle base shell 25, interior pedestal 22, interior base shell 24 is aluminium.
The helical pitch of described main transmission leading screw 7 is greater than the helical pitch of hollow lead screw 20.
Long Distances multi-lengthed electric push-bar mechanism of the present invention energy implementation process and backhaul two kinds of actions, concrete course of action is as follows:
1, process action process
As shown in Figure 7, first check that all moving elements are all in original state, start actuating motor 1, actuating motor 1 makes main transmission leading screw 7 rotate by motor key 4, main transmission leading screw 7 rotates and main transmission feed screw nut 13 is moved to the direction away from actuating motor 1, and during main transmission feed screw nut 13 drives, pedestal 28 moves along I type rolling linear guide 30 to the direction away from actuating motor 1, when main transmission feed screw nut 13 be subject to the disc spring 17 of main transmission leading screw 7 end spacing after, main transmission feed screw nut 13 stops axial motion, main transmission feed screw nut 13 follows main transmission leading screw 7 synchronous axial system, main transmission feed screw nut 13 drives hollow lead screw 20 to rotate by pinboard 14, hollow lead screw 20 rotates and hollow lead screw nut 21 is moved to the direction away from actuating motor 1, hollow lead screw nut 21 drives interior pedestal 22 to move along II type rolling linear guide 26 to the direction away from actuating motor 1, until II type rolling linear guide slide block 23 is subject to the spacing stop motion of middle base shell 25, complete whole process action.
2, process was moved in backhaul
As shown in Figure 8, first actuating motor 1 is placed in inverted status (being namely in the motion state contrary with process action process), actuating motor 1 makes main transmission leading screw 7 reverse by motor key 4, main transmission leading screw 7 reversion makes main transmission feed screw nut 13 move near the direction of actuating motor 1, thus during main transmission feed screw nut 13 is driven, pedestal 28 moves along I type rolling linear guide 30 to the direction near actuating motor 1, in the middle of pedestal 28 be subject to anticollison block 31 on outer frame 32 spacing after, main transmission feed screw nut 13 stops axial motion, main transmission feed screw nut 13 is followed main transmission leading screw 7 and is synchronously reversed, main transmission feed screw nut 13 drives hollow lead screw 20 to reverse by pinboard 14, hollow lead screw 20 reversion makes hollow lead screw nut 21 move near the direction of actuating motor 1, hollow lead screw nut 21 drives interior pedestal 22 to move along II type rolling linear guide 26 to the direction near actuating motor 1, until hollow lead screw nut 21 is subject to the spacing rear stop motion of the pinboard 14 be connected with main transmission feed screw nut 13, complete whole backhaul action.
As from the foregoing, the present invention utilizes two joint elevator mechanisms, can be implemented in the Long Distances transmission under less boundary dimension, and stroke can reach 2 times of minimum withdrawal size.The present invention utilizes and organizes linear rolling guide more, can realize preferably transmitting motion and leading role, and rigidity is strong, is enough to the demand meeting the occasion such as lathe, highi degree of accuracy transmission control.The mechanism that main transmission section of the present invention utilizes two sections of leading screw centers embedded, ensure that the small size realized under Long Distances transmission, and highi degree of accuracy can be realized, high repetitive positioning accuracy transmission controls.Present invention employs disc spring position-limit mechanism, the stall phenomenon of transmission part can be prevented preferably.The present invention utilizes the difference of two sections of turn-screw pretightening forces, can realize the order lifting action of two pole parts preferably.The present invention utilizes Electric Machine Control, by the difference of two sections of guide screw leads, accurately can control displacement and the movement velocity of rod member end.The present invention utilizes motor as power source, is easy to realize controlling at a distance and automatically.
Claims (4)
1. a Long Distances multi-lengthed electric push-bar mechanism, is characterized in that: comprise actuating motor [1], Motor with position sensing device [2], I profile shaft holds [3], motor is with key [4], I profile shaft holds with back-up ring [5], I jacket cylinder [6], main transmission leading screw [7], disc type back-up ring [8], type III bearing [9], type III bearing is with back-up ring [10], II jacket cylinder [11], type III bearing inner sleeve cylinder [12], main transmission feed screw nut [13], pinboard [14], disc spring is with sleeve [15], II profile shaft holds [16], disc spring [17], disc spring is with back-up ring [18], stop nut [19], hollow lead screw [20], hollow lead screw nut [21], interior pedestal [22], II type rolling linear guide slide block [23], interior base shell [24], middle base shell [25], II type rolling linear guide [26], I type rolling linear guide slide block [27], middle pedestal [28], outer base shell [29], I type rolling linear guide [30], anticollison block [31], outer frame [32],
The cross section of outer frame [32] is Hexagon, this outer frame [32] to be connected three anticollison blocks [31] away from one end of actuating motor [1], these three anticollison blocks are along the circumferential direction distributed on outer frame [32], outer frame [32] is connected I jacket cylinder [6], I jacket cylinder [6] is connected Motor with position sensing device [2], and Motor with position sensing device [2] is connected actuating motor [1], coaxially arrange two I profile shafts at I jacket cylinder [6] and outer frame [32] discontiguous internal surface to hold [3], two I profile shafts hold [3] middle I profile shaft that arranges and hold with back-up ring [5], I profile shaft holds [3] inner side and arranges main transmission leading screw [7], main transmission leading screw [7] is arranged main transmission feed screw nut [13], main transmission leading screw [7] arranges motor key [4] near one end of actuating motor [1], actuating motor [1] and main transmission leading screw [7] are by motor key [4] transmission, arrange II profile shaft at main transmission leading screw [7] away from one end of actuating motor [1] to hold [16], hold [16] at II profile shaft and disc spring back-up ring [18] is set away from the side of actuating motor [1], at disc spring back-up ring [18], stop nut [19] is set away from the side of actuating motor [1], the arranged outside disc spring sleeve [15] of [16] is held at II profile shaft, in the outside of disc spring back-up ring [18], disc spring [17] is coaxially set,
The cross section of outer base shell [29] is hexagonal structure, this outer base shell [29] is connected in the outside of outer frame [32], the surfaces that three, base shell [29] inner side is mutually not contiguous are outside connected an I type rolling linear guide [30] respectively, each I type rolling linear guide [30] arranges two I type rolling linear guides slide block [27], all I type rolling linear guides slide block [27] are all connected mutually with middle pedestal [28], be connected in one end of the close actuating motor [1] of middle pedestal [28] II jacket cylinder [11], be connected in one end of the close actuating motor [1] of II jacket cylinder [11] disc type back-up ring [8], two type III bearings [9] are set in the inner side of II jacket cylinder [11], type III bearings are installed in the middle of two type III bearings [9] with back-up ring [10], in the inner side of type III bearing [9], type III bearing inner sleeve cylinder [12] is set, at type III bearing inner sleeve cylinder [12] with away from the middle of the type III bearing [9] of actuating motor [1], type III bearing back-up ring [10] is set, type III bearing inner sleeve cylinder [12] and main transmission feed screw nut [13] are fixed together, main transmission feed screw nut [13] and pinboard [14] are connected, pinboard [14] and hollow lead screw [20] are fixed together, at hollow lead screw [20] upper installation hollow lead screw nut [21],
The cross section of middle base shell [25] is hexagonal structure, in this, base shell [25] is connected in the outside of middle pedestal [28], be connected on the surface that middle three, base shell [25] inner side is not contiguous mutually an II type rolling linear guide [26] respectively, upper installation two II type rolling linear guides slide block [23] of each II type rolling linear guide [26], all II type rolling linear guides slide block [23] are all connected mutually with interior pedestal [22], interior pedestal [22] is connected mutually with hollow lead screw nut [21], interior base shell [24] is connected on interior pedestal [22].
2. Long Distances multi-lengthed electric push-bar mechanism according to claim 1, is characterized in that: the pretightening force of the upper main transmission feed screw nut [13] of main transmission leading screw [7] is greater than the pretightening force of the upper hollow feed screw nut [21] of hollow lead screw [20].
3. Long Distances multi-lengthed electric push-bar mechanism according to claim 1, is characterized in that: the material of outer frame [32], outer base shell [29], middle pedestal [28], middle base shell [25], interior pedestal [22], interior base shell [24] is aluminium.
4. Long Distances multi-lengthed electric push-bar mechanism according to claim 1, is characterized in that: the helical pitch of main transmission leading screw [7] is greater than the helical pitch of hollow lead screw [20].
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| CN201410827690.8A CN104578562B (en) | 2014-12-26 | 2014-12-26 | Large-stroke multi-section linear actuator mechanism |
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| CN201410827690.8A CN104578562B (en) | 2014-12-26 | 2014-12-26 | Large-stroke multi-section linear actuator mechanism |
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| CN107834761A (en) * | 2017-11-16 | 2018-03-23 | 北京航天自动控制研究所 | A kind of high power density long stroke electromechanical coupling system |
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