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EP2823550A2 - Arrangement of an actuator and an actuator holder - Google Patents

Arrangement of an actuator and an actuator holder

Info

Publication number
EP2823550A2
EP2823550A2 EP13714544.7A EP13714544A EP2823550A2 EP 2823550 A2 EP2823550 A2 EP 2823550A2 EP 13714544 A EP13714544 A EP 13714544A EP 2823550 A2 EP2823550 A2 EP 2823550A2
Authority
EP
European Patent Office
Prior art keywords
actuator
arrangement according
holder
energy
drive device
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.)
Withdrawn
Application number
EP13714544.7A
Other languages
German (de)
French (fr)
Inventor
Rolf Strothmann
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Publication of EP2823550A2 publication Critical patent/EP2823550A2/en
Withdrawn legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/123—Linear actuators
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/40—Circuit arrangements or systems for wireless supply or distribution of electric power using two or more transmitting or receiving devices
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/80—Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0063—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with circuits adapted for supplying loads from the battery
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/19—Drive system for arm
    • Y10S901/23—Electric motor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20311—Robotic arm including power cable or connector

Definitions

  • the invention relates to an arrangement of an actuator and a AkiorhaSfer, wherein the actuator is movably connected to the actuator holder and means are provided for supplying the actuator with operating energy.
  • the actuator which is movably coupled to an oscillator and to be supplied with operating energy, it can be used, for example. to handle a robot arm, which is pivotally connected to another Roboferarm forming the actuator holder.
  • the actuator is constituted by an assembly of a wheel and a rotary drive means for the wheel, the assembly being e.g. about an axis perpendicular to the wheel axis pivotable and connected to a holder in the form of Fahrgesteiis.
  • the present invention provides a novel arrangement of the above type which is characterized in that the means for supplying the actuator with frictional energy comprise an energy accumulator integrated in the actuator.
  • the integrated energy storage allows operation of the actuator with high electrical power whose transmission is made difficult by means of electrical line connections between the Aktorhaiter and the actuator because of the movable coupling of the actuator to the actuator holder.
  • the actuator is freely movable in at least one dimension against the actuator holder and the actuator can be pivoted against the actuator holder, for example, by an arbitrary angle of rotation.
  • the energy Transmission by means of electrical cable connections require consuming Schleifkontak- fusions.
  • the actuator which can be pivoted about an arbitrary angle of rotation could, for example, only comprise a rotor of an electrical machine provided with power windings and the actuator holder be formed by its stator.
  • devices for contactless transmission of frictional energy to the energy store are provided in the device according to the invention, in particular for transmitting the operating energy from the actuator holder to the actuator.
  • the possible transmission power only needs to correspond to the operating energy required by the actuator in the time average.
  • a drive device is provided for moving the actuator against the Aktorhaiter.
  • Drive device like the other drive devices, receive frictional energy from the energy store.
  • said drive means comprises a component connected only to the actuator and one connected only to the actuator holder
  • Component ie the drive device is formed by both the actuator and the actuator holder.
  • the component connected only to the actuator may be a rotor and, in the case of the component connected only to the actuator holder, it may be a stator of a drive motor forming the drive device, by means of which the actuator, if necessary, can be pivoted by any desired angle of rotation.
  • the rotor Poiwickionne and the stator means for generating the exciter field of the drive motor on.
  • the current flowing through the pole windings is supplied by the integrated energy store, which is co-rotated with the rotor.
  • the devices for transmission of operating energy can be replaced by parts de?
  • the actuator moving drive means may be formed, wherein the stator of the drive motor is optionally provided with an operating power to the energy storage transmitting winding.
  • This winding is also usable for generating the magnetic field of the drive motor.
  • Aitemotiv the winding can also be provided in addition to permanent magnets of the stator, wherein the Feider the permanent magnets and the winding overlap Sassen, so that in particular results in a varying d-Anteii. Even with a large amplitude of the d-component, a desired q-arrow can be adjusted. Since the d component can also be influenced on the actuator side, an energy and / or information transmission is possible in principle in both directions,
  • the actuator comprises a wheel and a rotary drive means for the wheel.
  • the wheel axle is perpendicular to the axis to make the actuator move against the actuator holder. e.g. a chassis holding the wheel assembly, is pivotable.
  • the transfer of energy may also be in the opposite direction from the actuator to the applicator, e.g. in the generator mode of the drive motor of the wheel.
  • the ErflndungsgemaSe arrangement can be cascaded, the Akforhalter each form itself again part of another actuator.
  • Fig. 1 a erfindungsgemäSe arrangement with a driven wheel comprehensive Aktorbauhim which is connected to a vertical axis to the wheel axis rotatably connected to a chassis and
  • FIG. 2 is a schematic circuit diagram for explaining the function of the arrangement of FIG. 1.
  • FIG. 2 is a schematic circuit diagram for explaining the function of the arrangement of FIG. 1.
  • FIG. 1 An arrangement shown in Fig. 1 comprises an actuator assembly 1 ; in the embodiment shown has a wheel 2, a Radhalfer 3 and a Speicher- bafterie 4.
  • the indicated by dashed lines storage battery 4 is housed in the Radhalfer 3.
  • the actuator assembly 1 has a rotor 6 which adjoins the rod holder 3 and which is part of it a drive motor 5 about a pivot axis 7 against a stator 8 is rotatable.
  • the pivot axis 7 is perpendicular to the axis of rotation of the wheel. 2
  • the stator 8 of the drive motor 5, which forms a pivot drive for the Aktorbau- unit 1, is rigidly connected to a holder 9 shown in fragmentary form, which is in the illustrated embodiment, a Fahrgesteii a (not shown otherwise) mobile device.
  • the rotor 6 has the pole windings through which the operating current flows, while the stator 8 drives the field of excitation of the driving motor 5, e.g. generated by means of permanent magnets.
  • the pole windings and permanent magnets are not shown in FIG. 1.
  • the Aktorbautician i further comprises a wheel 2 rotating about the wheel axis, housed in the wheel driving motor 10 with a stator 1] and a wheel rotating outer rotor 1 2.
  • the drive motor 10 can be connected via a circuit 13 to the storage battery 4, wherein the motor operation by the circuit 1 3 is controllable.
  • the controllable via a circuit 1 4 drive motor 5 for the rotary actuator of the ⁇ ktorbauaji 1 operating energy from the Speicherbai ferie 4th
  • winding 1 5 is provided on the stator 8 and forms with the other parts of the stator 8 in Fig. 2 by Sfrichiinien indicated, connected to the holder 9 assembly 1 6.
  • the winding 1 5 can be provided on the stator 8 instead of or in addition to permanent magnets., In the Ersferen case, it can be used to generate the excitation field of the drive motor 5.
  • the ⁇ ktorbautician 1 is pivoted by the drive motor 5 to any rotation angle. If the sector module 1 were not provided with the storage battery 4, the rotational drive motor 10 and the swivel drive motor 5 were required to have operating power disadvantageously, e.g. be fed via sliding contacts.
  • the storage battery 4 can in particular short term high power requirements of the rotary drive motor 1 0 meet.
  • the drive-on energy required in the time average can be superimposed on the contactor with the aid of the winding 15.
  • the transformer coupling between the actuator] and the Akforhalter 9 on the winding 1 S allows not only the energy transfer and the transmission of information. Modulations of flowing currents always make themselves felt on the other side as well by this coupling.
  • Such information transfer from the actuator holder ⁇ to the holder Akfor 9 could be carried out in particular in the context of operation of the pivot drive motor 5 by Pululsweftenmoduiation (PWM).
  • PWM Pululsweftenmoduiation
  • Binary code can be accommodated in the P ' WM cycles.
  • a shift of secondary half-time points in successive PWM samples could be used for sarcoding, where, for example, no shift in two consecutive cycles encodes the value "ö", while one positive shift in one cycle and one negative shift in the following cycle encode the value Represents "1".
  • no shift in two consecutive cycles encodes the value "ö”
  • one positive shift in one cycle and one negative shift in the following cycle encode the value Represents "1”.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Permanent Magnet Type Synchronous Machine (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
  • Actuator (AREA)
  • Fluid-Damping Devices (AREA)

Abstract

The invention relates to an arrangement of an actuator (1) and an actuator holder (9). The actuator (1) is movably connected to the actuator holder (9), and devices are provided for supplying the actuator (1) with operating energy. According to the invention, the devices for supplying the actuator (1) with operating energy comprise an energy store (4) integrated into the actuator (1). The actuator (1) is preferably movable relative to the actuator holder (9) in at least one dimension in an unrestricted manner.

Description

Beschreibung  description
„Anordnung aus einem Aktor und einem Aktorhaiter'1 "Arrangement of an actor and an actor holder" 1
Die Erfindung betrifft eine Anordnung aus einem Aktor und einem AkiorhaSfer, wobei der Aktor beweglich mit dem Aktorhalter verbunden Ist und Einrichtungen zur Versorgung des Aktors mit Betriebsenergie vorgesehen sind. The invention relates to an arrangement of an actuator and a AkiorhaSfer, wherein the actuator is movably connected to the actuator holder and means are provided for supplying the actuator with operating energy.
Bei einem solchen, beweglich an einen Halfer gekoppelten und mit Betriebs- energie zu versorgenden Aktor kann es sich z.B. um einen Roboterarm handein, der verschwenkbar mit einem weiteren, den Aktorhalter bildenden Roboferarm verbunden ist. In einem anderen Ausführungsbeispiel ist der Aktor durch eine Baugruppe aus einem Rad und einer Drehantriebseinrichtung für das Rad gebildet, wobei die Baugruppe z.B. um eine zu der Raddrehachse senkrechte Achse verschwenkbar und mit einem Halter in Form eines Fahrgesteiis verbunden ist. In such an actuator, which is movably coupled to an oscillator and to be supplied with operating energy, it can be used, for example. to handle a robot arm, which is pivotally connected to another Roboferarm forming the actuator holder. In another embodiment, the actuator is constituted by an assembly of a wheel and a rotary drive means for the wheel, the assembly being e.g. about an axis perpendicular to the wheel axis pivotable and connected to a holder in the form of Fahrgesteiis.
Durch die vorliegende Erfindung wird eine neue Anordnung der obengenannten Art geschaffen, die dadurch gekennzeichne f Ist, dass die Einrichtungen zur Versorgung des Aktors mit Befriebsenergie einen in den Aktor integrierten Energie- Speicher umfassen. The present invention provides a novel arrangement of the above type which is characterized in that the means for supplying the actuator with frictional energy comprise an energy accumulator integrated in the actuator.
Vorteilhaft erlaubt der integrierte Energiespeicher einen Betrieb des Aktors mit hoher elektrischer Leistung, deren Übertragung mittels elektrischer Leitungsverbindungen zwischen dem Aktorhaiter und dem Aktor wegen der beweglichen Kopplung des Aktors an den Aktorhalter erschwert ist. Advantageously, the integrated energy storage allows operation of the actuator with high electrical power whose transmission is made difficult by means of electrical line connections between the Aktorhaiter and the actuator because of the movable coupling of the actuator to the actuator holder.
Der genannte Vorteil tritt besonders deutlich in einer Ausführungsform hervor, in welcher der Aktor in wenigstens einer Dimension gegen den Aktorhalter uneingeschränkt beweglich und der Aktor gegen den Aktorhaiter z.B. um einen beliebigen Drehwinkel verschwenkbar ist, im letzteren Fall würde die Energie- Übertragung mittels elektrischer Leitungsverbindungen aufwendige Schleifkontak- fierungen erfordern. Der um einen beliebigen Drehwinkel verschwenkbare Aktor könnte neben dem Energiespeicher z.B. lediglich einen mit Poiwickiungen versehenen Rotor einer elektrischen Maschine umfassen und der Aktorhaiter durch dessen Stator gebildet sein. The above advantage is particularly evident in an embodiment in which the actuator is freely movable in at least one dimension against the actuator holder and the actuator can be pivoted against the actuator holder, for example, by an arbitrary angle of rotation. In the latter case, the energy Transmission by means of electrical cable connections require consuming Schleifkontak- fusions. In addition to the energy storage, the actuator which can be pivoted about an arbitrary angle of rotation could, for example, only comprise a rotor of an electrical machine provided with power windings and the actuator holder be formed by its stator.
Zweckmäßig sind in der erfindungsgemäBen Anordnung Einrichtungen zur berührungslosen Überfragung von Befriebsenergie zu dem Energiespeicher vorgesehen, insbesondere zur Übertragung der Betriebsenergie von dem Aktorhalter zu dem Aktor, Die mögliche Übertragungsleistung braucht nur der von dem Aktor im zeitlichen Mittel benötigten Betriebsenergie zu entsprechen. Advantageously, devices for contactless transmission of frictional energy to the energy store are provided in the device according to the invention, in particular for transmitting the operating energy from the actuator holder to the actuator. The possible transmission power only needs to correspond to the operating energy required by the actuator in the time average.
In einer Ausführungsform der Erfindung Ist eine Antriebseinrichtung zur Bewegung des Aktors gegen den Aktorhaiter vorgesehen. In one embodiment of the invention, a drive device is provided for moving the actuator against the Aktorhaiter.
Diese ggf. neben weiteren Antriebseinrichtungen des Aktors vorgesehene This possibly provided in addition to other drive means of the actuator
Antriebseinrichtung kann, wie die weiteren Antriebseinrichtungen, Befriebsenergie aus dem Energiespeicher beziehen. Vorzugsweise umfasst die genannte Antriebseinrichtung eine nur mit dem Aktor verbundene Komponente und eine nur mit dem Aktorhalter verbundene Drive device, like the other drive devices, receive frictional energy from the energy store. Preferably, said drive means comprises a component connected only to the actuator and one connected only to the actuator holder
Komponente, d.h. die Antriebseinrichtung ist sowohl durch den Aktor als auch den Aktorhalter gebildet. Bei der nur mit dem Aktor verbundenen Komponente kann es sich um einen Rotor und bei der nur mit dem Aktorhaiter verbundenen Komponente um einen Stator eines die Antriebseinrichtung bildenden Antriebsmotors handeln, durch den der Aktor, ggf. um beliebige Drehwinkel verschwenkbar ist. In einer bevorzugten Ausführungsform der Erfindung weist der Rotor Poiwickiungen und der Stator Einrichtungen zur Erzeugung des Erregerfeldes des Antriebsmofors auf. Den durch die Polwicklungen fließenden Strom liefert der integrierte, mit dem Rotor mitgedrehte Energiespeicher. Die Einrichtungen zur Übertragung von Betriebsenergie können durch Teile de?' genannten, den Aktor bewegenden Antriebseinrichtung gebildet sein, wobei der Stator des Antriebsmotors ggf. mit einer Betriebsenergie zu dem Energiespeicher übertragenden Wicklung versehen ist. Diese Wicklung ist ferner zur Erzeugung des Magnetfeldes des Antriebsmotors verwendbar. Aitemotiv kann die Wicklung aber auch zusätzlich zu Permanentmagneten des Stators vorgesehen sein, wobei sich die Feider der Permanent- magnefen und der Wicklung überlagern Sassen, so dass sich insbesondere ein variierender d-Anteii ergibt. Selbst bei großer Amplitude des d-Anteils lässt sich ein gewünschter q-Anfeil einregeln. Da der d-Anteil auch aktorseitig beeinflussf werden kann, ist eine Energie- und/oder Informationsübertragung prinzipiell in beiden Richtungen möglich, Component, ie the drive device is formed by both the actuator and the actuator holder. The component connected only to the actuator may be a rotor and, in the case of the component connected only to the actuator holder, it may be a stator of a drive motor forming the drive device, by means of which the actuator, if necessary, can be pivoted by any desired angle of rotation. In a preferred embodiment of the invention, the rotor Poiwickiungen and the stator means for generating the exciter field of the drive motor on. The current flowing through the pole windings is supplied by the integrated energy store, which is co-rotated with the rotor. The devices for transmission of operating energy can be replaced by parts de? be formed, the actuator moving drive means may be formed, wherein the stator of the drive motor is optionally provided with an operating power to the energy storage transmitting winding. This winding is also usable for generating the magnetic field of the drive motor. Aitemotiv the winding can also be provided in addition to permanent magnets of the stator, wherein the Feider the permanent magnets and the winding overlap Sassen, so that in particular results in a varying d-Anteii. Even with a large amplitude of the d-component, a desired q-arrow can be adjusted. Since the d component can also be influenced on the actuator side, an energy and / or information transmission is possible in principle in both directions,
In einer Ausführungsform umfasst der Aktor ein Rad und eine Drehantriebseinrichtung für das Rad. Vorzugsweise steht die Radachse senkrecht zu der Achse, urn weiche der Aktor gegen den Aktorhalter. z.B. ein die Radbaugruppe haltendes Fahrgestell, verschwenkbar ist. In one embodiment, the actuator comprises a wheel and a rotary drive means for the wheel. Preferably, the wheel axle is perpendicular to the axis to make the actuator move against the actuator holder. e.g. a chassis holding the wheel assembly, is pivotable.
Es versteht sich, dass die Übertragung von Energie auch in umgekehrter Richtung vom Aktor auf den Akforhalter erfolgen kann, z.B. im Generatorbetrieb des Antriebsmotors des Rades. Die erflndungsgemaSe Anordnung lässt sich kaskadieren, wobei die Akforhalter jeweils selbst wieder einen Teil eines weiteren Aktors bilden. It will be appreciated that the transfer of energy may also be in the opposite direction from the actuator to the applicator, e.g. in the generator mode of the drive motor of the wheel. The ErflndungsgemaSe arrangement can be cascaded, the Akforhalter each form itself again part of another actuator.
Die Erfindung wird nachfolgend anhand eines Ausführungsbeispieis und der beiliegenden, sich auf dieses Ausführungsbeispiei beziehenden Zeichnungen weifer erläutert. Es zeigen: The invention will be explained in more detail with reference to a Ausführungsbeispieis and the accompanying, relating to this Ausführungsbeispiei drawings. Show it:
Fig. 1 eine erfindungsgemäSe Anordnung mit einer ein angetriebenes Rad umfassenden Aktorbaueinheit die um eine zur Radachse senkrechte Achse drehbar mit einem Fahrgestell verbunden ist und Fig. 1 a erfindungsgemäSe arrangement with a driven wheel comprehensive Aktorbaueinheit which is connected to a vertical axis to the wheel axis rotatably connected to a chassis and
Fig, 2 eine schematische Schalfungsdarsteilung zur Erläuterung der Funktion der Anordnung von Fig. 1 . FIG. 2 is a schematic circuit diagram for explaining the function of the arrangement of FIG. 1. FIG.
Eine in Fig. 1 gezeigte Anordnung umfasst eine Aktorbaueinheit 1 ; die in dem gezeigten Ausführungsbeispiel ein Rad 2, einen Radhalfer 3 und eine Speicher- bafterie 4 aufweist. Die durch Strichlinien angedeutete Speicherbatterie 4 ist in dem Radhalfer 3 untergebracht. Als weiteren Bestandteil weist die Aktorbou- einheif 1 einen sich an den Rodhalter 3 anschließenden Rotor 6 auf, der als Teil eines Antriebsmofors 5 um eine Schwenkachse 7 gegen einen Stator 8 drehbar ist. Die Schwenkachse 7 steht senkrecht zur Drehachse des Rades 2. An arrangement shown in Fig. 1 comprises an actuator assembly 1 ; in the embodiment shown has a wheel 2, a Radhalfer 3 and a Speicher- bafterie 4. The indicated by dashed lines storage battery 4 is housed in the Radhalfer 3. As a further component, the actuator assembly 1 has a rotor 6 which adjoins the rod holder 3 and which is part of it a drive motor 5 about a pivot axis 7 against a stator 8 is rotatable. The pivot axis 7 is perpendicular to the axis of rotation of the wheel. 2
Der Stator 8 des Antriebsmotors 5, der einen Schwenkantrieb für die Aktorbau- einheit 1 bildet, ist starr mit einem ausschnittsweise dargestellten Halter 9 verbunden, bei dem es sich in dem gezeigten Ausführungsbeispiel um ein Fahrgesteii einer (im Übrigen nicht gezeigten) fahrbaren Vorrichtung handelt. The stator 8 of the drive motor 5, which forms a pivot drive for the Aktorbau- unit 1, is rigidly connected to a holder 9 shown in fragmentary form, which is in the illustrated embodiment, a Fahrgesteii a (not shown otherwise) mobile device.
In dem betreffenden Beispiel weist der Rotor 6 die mit Betriebsstrom durch- fiossenen Polwicklungen auf, während der Stator 8 das Erregerfei d des Antriebsmofors 5 z.B. mit Hilfe von Permanentmagneten erzeugt. Die Polwicklungen und Permanentmagnete sind in Fig. 1 nicht gezeigt. In the example in question, the rotor 6 has the pole windings through which the operating current flows, while the stator 8 drives the field of excitation of the driving motor 5, e.g. generated by means of permanent magnets. The pole windings and permanent magnets are not shown in FIG. 1.
Die Aktorbaueinheit i weist ferner einen das Rad 2 um die Radachse drehenden, im Rad untergebrachten Äntriebsmotor 10 mit einem Stator 1 ] und einem das Rad drehenden Außenrotor 1 2 auf. The Aktorbaueinheit i further comprises a wheel 2 rotating about the wheel axis, housed in the wheel driving motor 10 with a stator 1] and a wheel rotating outer rotor 1 2.
Zu seinem Betrieb lässt sich der Antriebsmotor 10 gemäß Fig. 2 über eine Schaltung 13 an die Speicherbatterie 4 anschließen, wobei der Motorbetrieb durch die Schaltung 1 3 steuerbar ist. Ebenso bezieht der über eine Schaltung 1 4 steuerbare Antriebsmotor 5 für den Schwenkantrieb der Äktorbaueinheit 1 Betriebsenergie aus der Speicherbai ferie 4. For its operation, the drive motor 10 according to FIG. 2 can be connected via a circuit 13 to the storage battery 4, wherein the motor operation by the circuit 1 3 is controllable. Likewise, the controllable via a circuit 1 4 drive motor 5 for the rotary actuator of the Äktorbaueinheit 1 operating energy from the Speicherbai ferie 4th
Eine [in Fig. 1 nicht dargestellte) Wicklung 1 5 ist an dem Stator 8 vorgesehen und bildet mit den übrigen Teilen des Stators 8 eine in Fig. 2 durch Sfrichiinien angedeutete, mit dem Halter 9 verbundene Baueinheit 1 6. Die Wicklung 1 5 kann an dem Stator 8 anstelle von oder zusätzlich zu Permanentmagneten vorgesehen sein., wobei sie im ersferen Fall zur Erzeugung des Erregerfeldes des Antriebsmotors 5 nutzbar ist. A not shown in Fig. 1 winding 1 5 is provided on the stator 8 and forms with the other parts of the stator 8 in Fig. 2 by Sfrichiinien indicated, connected to the holder 9 assembly 1 6. The winding 1 5 can be provided on the stator 8 instead of or in addition to permanent magnets., In the Ersferen case, it can be used to generate the excitation field of the drive motor 5.
Die Äktorbaueinheit 1 ist durch den Äntriebsmotor 5 um beliebige Drehwinkel verschwenkbar. Wäre die Äktorbaueinheit 1 nicht mit der Speichef batterie 4 versehen, musste dem Drehantriebsmotor 10 und dem Schwenkantriebsmotor 5 Betriebsenergie nachteilig z.B. über Schleifkontakte zugeführt werden. The Äktorbaueinheit 1 is pivoted by the drive motor 5 to any rotation angle. If the sector module 1 were not provided with the storage battery 4, the rotational drive motor 10 and the swivel drive motor 5 were required to have operating power disadvantageously, e.g. be fed via sliding contacts.
Die Speicherbatterie 4 kann insbesondere kurzfristig hohen Leistungsanforderungen des Drehantriebsmotors 1 0 gerecht werden. Die im zeitlichen Mittel benötigte Anfriebsenergie lässt sich berührungsios mit Hilfe der Wicklung 1 5 über- tragen, die zusammen mit den Poiwickiungen des Rotors 6 des Schwenkantrieb*- mofors 5 eine Übertragereinrichtung bildet, Übertragene Energie kann die Batterie 4 Zwischenspeichern. Es versteht sich, dass durch den Drehantriebsrnotor 10 im Generatorbetrieb erzeugte Energie auf dem umgekehrten Wege berührungs s über den Schwenk- antriebsmotor 5 und die darin integrierte Wicklung 15 übertragen werden kann. The storage battery 4 can in particular short term high power requirements of the rotary drive motor 1 0 meet. The drive-on energy required in the time average can be superimposed on the contactor with the aid of the winding 15. carry, which forms a transformer device together with the Poiwickiungen of the rotor 6 of the Schwenkantrieb * - mofors 5, transmitted energy, the battery 4 cache. It is understood that energy generated by the rotary drive motor 10 in the generator mode can be transmitted in the opposite way via the swivel drive motor 5 and the winding 15 integrated therein.
Die transformatorische Kopplung zwischen dem Aktor ] und dem Akforhalter 9 über die Wicklung 1 S erlaubt neben der Energieübertragung auch die Übertragung von Information. Modulationen fließender Ströme machen sich durch diese Kopplung stets auch auf der jeweils anderen Seite bemerkbar. The transformer coupling between the actuator] and the Akforhalter 9 on the winding 1 S allows not only the energy transfer and the transmission of information. Modulations of flowing currents always make themselves felt on the other side as well by this coupling.
Eine solche Informationsübertragung vom Aktorhalter Ί auf den Akforhalter 9 ließe sich insbesondere im Rahmen eines Betriebs des Schwenkantriebsmotors 5 durch Impulsweftenmoduiation (PWM) durchführen. Such information transfer from the actuator holder Ί to the holder Akfor 9 could be carried out in particular in the context of operation of the pivot drive motor 5 by Pululsweftenmoduiation (PWM).
In den P'WM-Zyklen iässt sich Binärcode unterbringen. Zum Beispiel könnte einer Verschiebung von Umsc.halfzeitpunkfen in aufeinanderfolgenden PWM~2ykfen zur Sinärcodierung genutzt werden, wobei beispielsweise keine Verschiebung in zwei aufeinanderfolgenden Zyklen den Wert„ö" codiert, während eine positive Verschiebung in einem Zyklus und eine negative Verschiebung Im folgenden Zyklus den Wert„ 1 " darstellt. In Anbetracht der verhältnismäßig hochfrequenten PWM-Zyklen lassen sich entsprechend große Datenmengen übertragen. Binary code can be accommodated in the P ' WM cycles. For example, a shift of secondary half-time points in successive PWM samples could be used for sarcoding, where, for example, no shift in two consecutive cycles encodes the value "ö", while one positive shift in one cycle and one negative shift in the following cycle encode the value Represents "1". In view of the relatively high-frequency PWM cycles correspondingly large amounts of data can be transmitted.

Claims

Anordnung aus einem Aktor ( 1 ) und einem Aktorholter (9), wobei der Aktor ( 1 ) beweglich mit dem Aktorhaiter (9) verbunden ist und Einrichtungen zur Versorgung des Aktors ( 1 ) mit Betriebsenergie vorgesehen sind, Arrangement comprising an actuator (1) and an actuator retriever (9), wherein the actuator (1) is movably connected to the actuator holder (9) and means are provided for supplying the actuator (1) with operating energy,
dadurch gekennzeichnet,  characterized,
dass die Einrichtungen zur Versorgung des Aktors (1 ) mit Betnebsenergie einen in den Aktor ( 1 ) integrierten Energiespeicher (4) umfassen,  in that the devices for supplying the actuator (1) with power consumption comprise an energy store (4) integrated in the actuator (1),
Anordnung nach Anspruch 1 , Arrangement according to claim 1,
dadurch gekennzeichnet,  characterized,
dass der Aktor ( 1 ) in wenigstens einer Dimension gegen den Aktorhaiter (9) uneingeschränkt beweglich und insbesondere der Aktor ( 1 ) gegen den Aktorhalter {9} um einen beliebigen Drehwinkei verschwenkbar ist.  that the actuator (1) in at least one dimension against the Aktorhaiter (9) is fully movable and in particular the actuator (1) against the Aktorhalter {9} about any Drehwinkei pivoted.
Anordnung nach Anspruch 1 oder 2, Arrangement according to claim 1 or 2,
dadurch gekennzeichnet  characterized
dass Einrichtungen ( 15) zur beruhrungsiosen Übertragung von Betnebsenergie zu dem Energiespeicher (4), insbesondere zur Übertragung der Betriebsenergie von dem Aktorhalter (9) zu dem Aktor {] ) vorgesehen sind.  in that means (15) are provided for the non-contact transmission of power to the energy store (4), in particular for the transmission of the operating energy from the actuator holder (9) to the actuator {]).
Anordnung nach Anspruch 3, Arrangement according to claim 3,
dadurch gekennzeichnet,  characterized,
dass die Übertragungsieistung mindestens der von dem Aktor {1 } im zeitlichen Mittel benötigten Betriebsenergie entspricht.  the transmission power corresponds at least to the operating energy required by the actuator {1} over the time average.
Anordnung nach einem der Ansprüche 1 bis 4r Arrangement according to one of claims 1 to 4 r
dadurch gekennzeichnet,  characterized,
dass eine Antriebseinrichtung (5) zur Bewegung des Aktors (1 ) gegen den Aktorhaiter (9) vorgesehen ist,  a drive device (5) is provided for moving the actuator (1) against the actuator holder (9),
Anordnung nach Anspruch 5, Arrangement according to claim 5,
dadurch gekennzeichne  characterized
dass die Antriebseinrichtung (5) Betnebsenergie aus dem Energiespeicher (4) bezieht.  in that the drive device (5) receives energy from the energy store (4).
7. Anordnung noch Anspruch 5 oder 6, 7. Arrangement according to claim 5 or 6,
dadurch gekennzeichnet, dass die Antriebseinrichlung (5) eine nur mit dem Aktor ( I ) verbundene Komponente 16} und eine nur mit dem Aktorhalter (9) verbundene Komponente (8) urntasst. characterized, the drive device (5) comprises a component 16} connected only to the actuator (1) and a component (8) connected only to the actuator holder (9).
8. Anordnung nach Anspruch 7, 8. Arrangement according to claim 7,
dadurch gekennzeichnet,  characterized,
dass die nur mit dem Aktor ( 1 j verbundene Komponente e n Rotor (6) und die nur mit dem Aktorhaiter {9} verbundene Komponente ein Stator (8) eines die Antriebseinrichtung bildenden Antriebsmofors (5) Ist,  the component e n rotor (6) connected only to the actuator (1 j) and the component connected only to the actuator holder {9} are a stator (8) of a drive mechanism (5) forming the drive device,
9. Anordnung nach Anspruch 8, 9. Arrangement according to claim 8,
dadurch gekennzeichnet  characterized
dass der Rotor {6} Polwicklungen und der Stator (8) Einrichtungen ( 1 5} zur Erzeugung des Erregerfeides des Antriebsmotors (5) aufweist.  in that the rotor has {6} pole windings and the stator (8) has devices (1 5} for generating the exciting field of the drive motor (5).
10. Anordnung nach einem der Ansprüche 5 bis 9f 10. Arrangement according to one of claims 5 to 9 f
dadurch gekennzeichnet,  characterized,
dass die Einrichtungen zur berührungsiosen Übertragung von Betriebsenergie durch Teile der Antriebseinrichtung (5) für die Bewegung des Aktors [ 1 } gebildet sind.  in that the devices for non-contact transmission of operating energy are formed by parts of the drive device (5) for the movement of the actuator [1].
] 1 . Anordnung nach einem der Ansprüche 8 bis 10, ] 1 . Arrangement according to one of claims 8 to 10,
dadurch gekennzeichnet  characterized
dass der Stator (S) mit einer Betriebsenergie zu dem Energiespeicher [4) übertragenden Wicklung [ 1 5} versehen ist,  the stator (S) is provided with an operating energy to the energy store [4] transmitting winding [1 5},
1 2. Anordnung nach Anspruch 1 1 .. 1 2. Arrangement according to claim 1 1 ..
dadurch gekennzeichnet  characterized
dass die Wicklung ( 1 5} ferner zur Erzeugung des Erregerfeides des Antriebs- mctors (5) dient.  in that the winding (1 5) also serves to generate the exciting field of the drive motor (5).
] 3. Anordnung nach Anspruch 1 1 , ] 3. Arrangement according to claim 1 1,
dadurch gekennzeichnet  characterized
dass die Wicklung ( 1 5) zusätzlich zu Permanentmagneten des Stators (8) vorgesehen ist.  the winding (1 5) is provided in addition to permanent magnets of the stator (8).
1 4. Anordnung nach einem der Ansprüche i bis 13, 1 4. Arrangement according to one of claims i to 13,
dadurch gekennzeichnet dass der Aktor ( 1 ) ein Rad (2) und eine Drehantriebseinrichtung (I G) für das Rad [2] umfassi wobei vorzugsweise die Raddrehachse senkrecht auf der Achse (7) steht um die der Aktor (1 ) gegen den Aktorhaiter (?) verschwenkbar ist, characterized in that the actuator (1) comprises a wheel (2) and a rotary drive device (IG) for the wheel [2], wherein preferably the wheel rotation axis is perpendicular to the axis (7) about which the actuator (1) is pivotable against the actuator holder (?) is
15. Anordnung nach einem der Ansprüche 5 bis 1 4, 15. Arrangement according to one of claims 5 to 1 4,
dadurch gekennzeichnet,  characterized,
dass die Einrichtungen zur berührungslosen Übertragung von Betriebsenergie ferner zur Übertragung von Information vorgesehen s nd, wobei insbesondere die Übertragung von Information in aufeinanderfolgenden IrnpuSsz kien im Betrieb der Antriebseinrichtung zur Bewegung des Aktors gegen den Aktorhalter durch Impulsweitenmodulation vorgesehen ist.  in that the devices for non-contact transmission of operating energy are also provided for the transmission of information, in particular the transmission of information in successive channels during operation of the drive device for moving the actuator against the actuator holder by pulse width modulation.
EP13714544.7A 2012-03-06 2013-03-05 Arrangement of an actuator and an actuator holder Withdrawn EP2823550A2 (en)

Applications Claiming Priority (3)

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DE102012101873 2012-03-06
DE102012102971A DE102012102971A1 (en) 2012-03-06 2012-04-05 Arrangement of an actuator and an actuator holder
PCT/DE2013/100082 WO2013131515A2 (en) 2012-03-06 2013-03-05 Arrangement of an actuator and an actuator holder

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EP2823550A2 true EP2823550A2 (en) 2015-01-14

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EP (1) EP2823550A2 (en)
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WO2013131515A3 (en) 2013-10-31
US20150032255A1 (en) 2015-01-29
WO2013131515A2 (en) 2013-09-12
DE102012102971A1 (en) 2013-09-12

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