U.S. patent application number 10/296075 was filed with the patent office on 2004-06-10 for lift and turn drive unit.
Invention is credited to Lang, Walter, Ortmeier, Helmut.
Application Number | 20040108493 10/296075 |
Document ID | / |
Family ID | 7643141 |
Filed Date | 2004-06-10 |
United States Patent
Application |
20040108493 |
Kind Code |
A1 |
Ortmeier, Helmut ; et
al. |
June 10, 2004 |
Lift and turn drive unit
Abstract
A lift and turn drive unit, comprising a working element which
may be linearly displaced and rotated relative to at least one
housing element, whereby the working element is formed from at
least one lifting element and at least one turning element.
Inventors: |
Ortmeier, Helmut;
(Weikersheim, DE) ; Lang, Walter; (Igersheim,
DE) |
Correspondence
Address: |
BACHMAN & LAPOINTE, P.C.
900 CHAPEL STREET
SUITE 1201
NEW HAVEN
CT
06510
US
|
Family ID: |
7643141 |
Appl. No.: |
10/296075 |
Filed: |
June 30, 2003 |
PCT Filed: |
May 23, 2001 |
PCT NO: |
PCT/EP01/05940 |
Current U.S.
Class: |
254/1 |
Current CPC
Class: |
B25J 9/123 20130101;
H02K 21/14 20130101; Y10T 74/20341 20150115; H02K 11/21 20160101;
H02K 41/03 20130101; B25J 18/04 20130101; H02K 16/00 20130101; B25J
9/126 20130101; H02K 2201/18 20130101; B23Q 1/4876 20130101 |
Class at
Publication: |
254/001 |
International
Class: |
B66F 001/00 |
Foreign Application Data
Date |
Code |
Application Number |
May 23, 2000 |
DE |
100 25 351.2 |
Claims
1. Lifting/swiveling drive having a working element (2) which can
move rotatably and linearly relative to at least one housing
element (1), characterized in that the working element (2) is
formed from at least one lifting element (3) and at least one
rotational element (12).
2. Lifting/swiveling drive having a working element (2) which can
move rotatably and linearly relative to at least one housing
element (1), characterized in that the working element (2) is
formed from at least one lifting element (3) and at least one
rotational element (12), the lifting element (3) being decoupled
relative to a rotative movement of the rotational element (12).
3. Lifting/swiveling drive having a working element (2) which can
move rotatably and linearly relative to at least one housing
element (1), characterized in that the working element (2) is
formed from at least one lifting element (3) and at least one
rotational element (12), the rotational element (12) interacting
with at least one rotational drive (15) and the lifting element (3)
interacting with at least one linear drive (5).
4. Lifting/swiveling drive having a working element (2) which can
move rotatably and linearly relative to at least one housing
element (1), characterized in that the working element (2) is
formed from at least one lifting element (3) and at least one
rotational element (12), the lifting element (3) and the rotational
element (12) being rotatively decoupled and arranged linearly one
behind the other or coaxially one in the other or at least
partially parallel next to each other.
5. Lifting/swiveling drive according to at least one of claims 1 to
4, characterized in that a measuring system (8) is assigned in each
case to the working element (2), in particular to the lifting
element (3) and rotational element (12).
6. Lifting/swiveling drive according to at least one of claims 3 to
5, characterized in that the lifting element (3) adjoins the
rotational element (12) in an axially moveable and radially
rotationally fixed manner, the rotational element (12) being
moveable within a rotational drive (15) rotatively relative to the
lifting element (3) and the rotational drive (15) being fixed
relative to the housing element (1, 16).
7. Lifting/swiveling drive according to claim 5 or 6, characterized
in that lifting element (3) and rotational element (12) are
arranged one behind the other in a common axis (A) or next to each
other in two parallel axes (A, B).
8. Lifting/swiveling drive according to at least one of claims 1 to
7, characterized in that the lifting element (3) and/or the
rotational element (12) is mounted resiliently relative to the
housing element (1) by means of at least one energy-storing element
(10/19), in particular spring element, in particular in order to
realize a balancing of the masses and therefore for relieving the
load on the linear drive (5).
9. Lifting/swiveling drive according to at least one of claims 1 to
8, characterized in that the rotational element (12) is assigned a
rotational sleeve (13) and the latter is assigned a rotational
drive (15), the rotational sleeve (13) being moveable linearly
and/or rotatively relative to the rotational drive (15).
10. Lifting/swiveling drive according to claim 9, characterized in
that the rotational sleeve (13) is designed as a secondary part (7)
of the rotational drive (12).
11. Lifting/swiveling drive according to at least one of claims 3
to 10, characterized in that the rotational drive (15) is connected
fixedly to a rotational drive housing (16) or housing element
(1).
12. Lifting/swiveling drive according to at least one of claims 9
to 10, characterized in that the rotational drive (15) is arranged
within and/or outside the rotational sleeve (13), and the
rotational sleeve (13) is moveable linearly and rotatively relative
to the rotational drive (12).
13. Lifting/swiveling drive according to at least one of claims 3
to 9, characterized in that the lifting element (3) has a lifting
module (4) which is assigned at least one linear drive (5), the
lifting module (4) being moveable axially relative to the linear
drive (5).
14. Lifting/swiveling drive according to claim 13, characterized in
that the linear drive (5) is fixed relative to the housing element
(1), and the lifting module (4) is arranged within and/or outside
the linear drive (5).
15. Lifting/swiveling drives according to at least one of claims 1
to 14, characterized in that the lifting element (3) is adjoined by
a rotational drive housing (16) in which the rotational drive (15)
is arranged, the rotational element (12), in particular the
rotational sleeve (13), being decoupled rotatively relative to the
lifting element (3), in particular relative to a lifting module
(4), via at least one bearing element (14), and the rotational
element (12) being movable linearly by means of the lifting module
(4).
16. Lifting/swiveling drive according to at least one of claims 13
to 15, characterized in that the lifting module (4) is designed as
a tubular element, rectangular tube, square tube, polygonal tube or
the like, which is assigned at least one linear guide (9) and at
least one linear measuring system (8).
17. Lifting/swiveling drive according to at least one of claims 1
to 16, characterized in that rotational elements (12) and lifting
module (4) are designed as hollow shaft elements and form an axial
passage (21).
Description
[0001] The present invention relates to a lifting/swiveling drive
having a working element which can move rotatably and linearly
relative to at least one housing element.
[0002] Lifting/swiveling drives of this kind are known commercially
and are customary in diverse forms and designs. They are used in
different spheres essentially for carrying out an entirely
determined lifting movement, for example of a tool, with
simultaneous or subsequent rotational movement in order to machine
a certain workpiece or, for example, to pick up a certain object
and deposit it at another location. In this case, use is made in
conventional lifting/swiveling drives of, for example, disk cam
mechanisms which are subject to a high degree of wear and are
thereby imprecise.
[0003] Furthermore, lifting/swiveling drives of this type are very
slow in operation and can therefore only be used to a limited
extent during production. For example, lifting/swiveling drives of
this type are used in the production of compact disks (CD) which,
for the coating of the plastic carrier, have to be inserted into a
corresponding device for this. This insertion has to be able to
take place very exactly, precisely and very rapidly. Manufacturing
devices of this type are in operation 24 hours a day and require
long service lives at high velocities. The precision is
considerably impaired by the wear, which is disadvantageous. The
consequence of higher velocities is a higher degree of wear and a
higher breakdown rate, which is undesirable.
[0004] Furthermore, lifting/swiveling drives of this type can be
used, for example, as "wafer handling" in the semiconductor
industry. To date, it has not been possible to realize a hollow
shaft with passage possibilities to an adequate extent. The
conventional hollow shaft diameters of lifting/swiveling drives are
too small.
[0005] It is also disadvantageous in conventional lifting/swiveling
drives that the latter are relatively large and do not have a very
compact construction, which is undesirable.
[0006] U.S. Pat. No. 5,404,983 discloses a lifting/swiveling drive
which is formed from two actuators connected one behind the other
in series. The first actuator executes a linear movement and is
coupled to the second actuator. The second actuator is an actuator
which can be rotated rotatively in order to drive a shaft
rotatively.
[0007] EP 0 797 587A2 relates to a lifting/swiveling drive, a
rotative actuator driving an actuating rod rotatively. In order to
carry out the lift, the rotative actuator is moved linearly to and
fro by means of a linear actuator. In order to precisely define the
linear movement, the rotative actuator is guided on a guide
rail.
[0008] The present invention is based on the object of providing a
lifting/swiveling drive of the type mentioned at the beginning
which eliminates the above-mentioned disadvantages and with which,
in particular, the precision, the velocities and accelerations of
rotative and linear type is [sic] to be considerably increased
along with longer service lives. Furthermore, a control of the
linear and rotative movement of the working element is to be
possible in a highly precise and exact manner. In addition, a
lifting/swiveling drive of this type is to be universally
universally [sic] producible in particular as regards its overall
sizes, its overall lengths and its diameter.
[0009] This object is achieved by the features of patent claims 1
and 2.
[0010] In the case of the present invention, reference is firstly
made to the functioning of the lifting/swiveling drive according to
DE 100 25 351.2. The present invention differs with respect thereto
in that the working element is formed from a lifting element and at
least one rotational element. It is of essential importance, in the
case of the present invention, that the rotational element is
decoupled rotatively relative to the lifting element. At least one
bearing element is inserted between lifting element and rotational
element in order to ensure the decoupling.
[0011] In a first exemplary embodiment, the lifting element, in
particular its lifting module, is only moved linearly to and fro
relative to a housing element by means of a linear drive. A
rotational sleeve, in particular designed as a rotor, sits in a
rotatively decoupled manner on the lifting module via a bearing
element inserted in between, the rotational sleeve of the
rotational element being rotatively driveable by means of a
rotational drive.
[0012] The rotational drive is seated fixedly relative to a
rotational drive housing which is immobile. The rotational sleeve
is therefore designed to be longer by a lifting length in order to
permit a lifting balance.
[0013] In order to reduce the overall length, the lifting module
can engage coaxially completely or at least partly around the
rotational element, in particular the rotational sleeve or the
rotational drive thereof. By this means, a short construction is
realized. If, however, lifting element and rotational drive are
arranged adjoining each other directly behind each other, then a
long, but cross-sectionally relatively small construction can be
realized.
[0014] In a second exemplary embodiment of the present invention,
lifting element and rotational element are arranged next to each
other and parallel and are connected to each other via a connecting
plate or a support element. In this case too, the rotational
element or the rotational sleeve is decoupled rotatively relative
to the lifting element or the lifting module via at least one
bearing element. By means of the parallel arrangement, a small
overall length of the lifting/swiveling drive is likewise
ensured.
[0015] In a last variant of the lifting/swiveling drive, a lifting
balance of the rotational element and of the rotational sleeve is
omitted in that the entire rotational element together with
rotational sleeve, rotational drive and rotational drive housing is
moved linearly by means of the lifting element or lifting module.
In this case, the rotational drive housing which supports the
rotational drive is seated on the lifting module. The rotational
sleeve, which is driven via the rotational drive, is decoupled
rotatively relative to the lifting element via at least one bearing
element, so that the lifting element only executes the linear
movement and the rotational sleeve the rotative movement. It is
advantageous here that the entire length of the lifting/swiveling
drive is shortened and [sic] at least one lifting length.
[0016] At least one spring element can be inserted between a base
plate of the housing element and the lifting element, for the
damping of the end positions.
[0017] Furthermore, a measuring system for measuring the linear and
rotative movement is respectively assigned to the lifting element
and to the rotational element.
[0018] Also this embodiment that the complete rotational element is
moved linearly by means of the lifting element or lifting module
can be arranged linearly one behind the other or arranged coaxially
one inside the other in the above-described manner [sic], so that
the overall length of the lifting/swiveling drive can be reduced.
This is likewise intended to be included within the scope of the
present invention.
[0019] Further advantages, features and details of the invention
emerge from the following description of preferred exemplary
embodiments and with reference to the drawing, in which
[0020] FIG. 1 shows a schematically illustrated longitudinal
section through a lifting/swiveling drive with lifting element and
rotational element;
[0021] FIG. 2 shows a schematically illustrated longitudinal
section through a further exemplary embodiment of the
lifting/swiveling drive according to FIG. 1 with lifting element
and rotational element;
[0022] FIG. 3 shows a schematically illustrated longitudinal
section through a further exemplary embodiment of a
lifting/swiveling drive with lifting element and rotational element
in a parallel arrangement;
[0023] FIGS. 4a to 4c show further longitudinal sections through
further exemplary embodiments for further lifting/swiveling drives
with lifting element and rotational element in different
arrangements;
[0024] FIG. 5 shows a schematically illustrated plan view of one
possible arrangement of a lifting element according to the
lifting/swiveling drive from FIG. 1.
[0025] According to FIG. 1, a lifting/swiveling drive R.sub.2
according to the invention has a housing element 1 in which a
working element 2 is mounted. The working element 2 is formed from
a lifting element 3, which permits a lifting movement of a lifting
module 4 relative to the housing element 1, and a rotational
element 12. The lifting element 3 can be moved along an axis A
linearly, as illustrated in the double arrow direction X, by means
of a linear drive 5. The linear drive 5 essentially comprises at
least one primary part 6, which is assigned to the lifting element
3, and a secondary part 7, which is connected to the housing
element 1. Furthermore, as is illustrated in particular in FIG. 5,
the lifting module 4 can be assigned a measuring system 8 which
measures a linear movement of the lifting module 4 relative to the
housing element 1 and, by this means, a linear movement can be
exactly controlled.
[0026] Furthermore, FIG. 5 reveals that at least one linear guide 9
is arranged between housing element 1 and lifting element 3 in
order to permit a linear movement of the lifting module 4 relative
to the housing element 1 in an exact and precise and, in
particular, play-free manner. A plurality of linear guides or the
like, bearing elements, guide carriages or the like can be provided
to ensure linear guidance of the lifting module 4 relative to the
housing element 1. It can furthermore be seen from FIG. 5 that a
plurality of linear drives 5 having primary parts 6 and secondary
parts 7 in each case are provided in order to move the lifting
module 4 relative to the housing element 1 linearly along the axis
A.
[0027] Furthermore, the lifting module 4 can also be assigned a
mass balance 10 in order to convert the motor power which is
available into a higher acceleration or dynamics. It may also be
conceivable, as emerges in particular in FIG. 1, to assign to the
housing element 1 a plurality of end position switches 11 which are
spaced apart axially from one another in order in each case to
recognize a maximum lift or the end positions of the lift of the
lifting element 3.
[0028] It is important in the case of the present exemplary
embodiment that the rotational element 12 adjoins the lifting
element 3 on the end side in a linear manner, the rotational
element 12 being designed as a rotational sleeve 13. The rotational
sleeve 13 or the rotational element 12 likewise lies in the axis A
of the lifting element 3 and adjoins it there on the end side. The
special feature of the present invention is that the rotational
element 12 or its rotational sleeve 13 is connected to the lifting
element 3, in particular to the lifting module 4, via a bearing
element 14 arranged in between. In this manner, a rotational
movement of the rotational element 12 or of the rotational sleeve
13 is decoupled relative to the lifting element 3. The lifting
element 3 can be moved linearly only along the double arrow
direction X which is illustrated, the rotational element 12 being
arranged in a manner such that it can be rotated about the axis A.
In the present exemplary embodiment, the rotational sleeve 13 is
designed as a secondary part 7. The rotational sleeve 13 is at
least partially surrounded coaxially by a rotational drive 15 and
is fixed relative to the housing element 1. The secondary part 7 or
at least part of the rotational sleeve 13 can be designed as a
permanent magnet. By this means, the rotational drive 15 can be
used to form a rotational motor which drives the rotational sleeve
13 rotatively about the axis A. Any desired tool can be flanged
onto the end side of said rotational sleeve 13 or any desired
workpiece can be held thereon.
[0029] Furthermore, a measuring system 8 can likewise be assigned
to the rotational drive 15 in order to record and to control a
rotative movement. In the present exemplary embodiment, the housing
element 1 is of two-part design, a rotational drive housing 16
being arranged within the housing element 1 and being mounted
fixedly there. Said housing element 1 is used for holding the
rotational drive 15.
[0030] However, the scope of the present invention is also to
include the housing element 1 being of single-piece design.
[0031] A further advantage of the present lifting/swiveling drive
R.sub.1 is that the latter can be designed to be cross-sectionally
very small, but has a certain length. The lift can be defined and
set as desired. Lifting module 4 and rotational sleeve 13 are of a
length L.sub.L and L.sub.R, respectively, which length is
determined from a length L.sub.1 of the rotational drive 15 and a
lifting length L.sub.H or from a length L2 of the secondary part 7
plus the lifting length L.sub.H.
[0032] If a greater lifting length L.sub.H is desired, then lifting
element 3 or lifting module 4 and rotational element 12 or
rotational sleeve 13 have to be correspondingly lengthened in each
case.
[0033] In the exemplary embodiment according to FIG. 2 a
lifting/swiveling drive R.sub.2, which corresponds approximately to
the above-described manner, is shown. The difference is that the
lifting module 4 at least partially engages coaxially around the
rotational drive housing 16 when being raised or moved linearly,
and said rotational drive housing 16 or the rotational drive 15 can
be accommodated on the end side within the lifting module 4. By
this means, a smaller overall length of the lifting/swiveling drive
R.sub.2 in comparison with rotational element 12 is ensured by the
coaxial inter-engagement or moving of lifting module 4 or lifting
element 3. Although an overall width or overall cross section of
the lifting/swiveling drive R.sub.2 increases, a smaller overall
length can thereby be realized.
[0034] The rotational element 12 is mounted in a manner such that
it is likewise rotatable, driveable and is decoupled rotatively
relative to the lifting element 3 or lifting module 4 via the
bearing element 14.
[0035] In the case of the lifting/swiveling drive R.sub.3, a small
overall length can likewise be realized by parallel arrangement of
rotational element 12 and lifting element 3, as is illustrated in
the exemplary embodiment of the present invention according to FIG.
3. In this case, rotational element 12 and lifting element 3 are
arranged parallel next to each other, the rotational element 12
being rotatable about the axis A in the above-described manner, and
the lifting element 3 being moveable linearly about an axis B,
which lies parallel to axis A, in the above-described manner by
means of the linear drive 5. The end side of the lifting module 4
is adjoined by a connecting plate 17 which is connected to a
support element 18 which is mounted linearly with respect to the
axis A. The rotational element 12 or the rotational sleeve 13 is
seated on the support element 18 as part of the lifting module 4 or
lifting element 3 in a decoupled manner via the bearing element 14.
In this exemplary embodiment, the measuring system 8 for measuring
the rotative rotational movement of the rotational sleeve 13
adjoins the end side of the support element 18. By means of the
parallel arrangement of lifting element 3 to rotational element 12,
an extremely small overall length of the lifting/swiveling drive
R.sub.3 can likewise be realized.
[0036] In a further exemplary embodiment of the present invention
according to FIG. 4a, the rotational drive housing 16 is connected
to the lifting module 4 in the case of a lifting/swiveling drive
R.sub.4. By this means, the complete rotational element 12 with
rotational drive 15 and rotational drive housing 16 can be raised
via the lifting element 3 or its lifting module 4. A lifting
balance for the rotational drive 15, as has been described in the
previous exemplary embodiments, is rendered superfluous. The
rotational sleeve 13 or the rotational element 12 is rotatively
decoupled relative to the lifting module 4 via the at least one
bearing element 14. In the above-described manner, the lifting
module 4 or lifting element 3 can only move to and fro linearly
along the axis A. However, the rotational sleeve 13 or the
rotational element 12 can only be rotated about the axis A in the
above-described manner by means of the rotational drive 15.
[0037] A spring element 19 is preferably inserted [sic] within the
lifting module 4, which spring element 19 is supported on the end
side at one end on the lifting module 4 and at the other end on a
base plate 20 of the housing element 1 in order preferably to
ensure a balancing of the masses and, in the event of, for example,
a current failure, to ensure damping in particular in the end
position region.
[0038] For example, in the case of a current failure, a lifting
movement of the lifting module 4 toward the base plate 20 can be
intercepted and damped.
[0039] FIG. 4b shows a similar exemplary embodiment of a
lifting/swiveling drive R.sub.5, in which, likewise in the
above-described manner, the lifting module 4, which can be moved
linearly along the axis A by means of the linear drive 5, supports
the rotational drive housing 16 in which the rotational drive 15 is
fixedly arranged. The rotational sleeve 13 of the rotational
element 12 is rotatively decoupled via the bearing 14 and can be
rotatively driven by means of the rotational drive 15. The rotative
measuring system 8 is seated on the lifting module 4 in the
vicinity of the bearing 14. In this manner, the complete rotational
element 12 with rotational drive housing 16, rotational drive 15
and rotational sleeve 13 can likewise be moved linearly via the
lifting module 3 or lifting module 4. A lifting balance of the
linear drive 5 is also rendered superfluous here. Furthermore, it
is advantageous that the rotational sleeve 13 or rotational drive
15 is at least partially engaged over coaxially by the arrangement
of the lifting module 4, in particular of the linear drive 5, so
that a short and compact construction of the lifting/swiveling
drive R.sub.5 can be realized in a similar manner as illustrated in
the exemplary embodiment according to FIG. 2. According to the
exemplary embodiment of FIG. 4a, a spring element 19 is provided,
which spring element is used essentially for balancing of the
masses and, for example in the event of a current failure, ensures
damping of the lifting movement, in particular of the end position
damping.
[0040] The strength of the mass balance 10/19 or of the spring
element 10/19, which can be assigned in all of the exemplary
embodiments, is designed in accordance with the installation
position of the lifting/swiveling drive, and said mass balance or
spring element can be omitted, for example in a horizontal
installation position.
[0041] In the exemplary embodiment according to FIG. 4c, the
lifting module 4 engages virtually coaxially and completely over
the rotational drive housing 16 in which the rotational drive 15 is
fixed in the above-described manner. The rotationally fixed linear
drive 5 is provided radially between lifting module 4 and housing
element 1. In the present exemplary embodiment, as in the exemplary
embodiments of FIGS. 4a and 4b, the rotational drive housing 16 is
coupled to the lifting module 4 and the complete rotational element
12 can be moved linearly along the axis A by means of the lifting
module 4. The rotational sleeve 13 is rotatively decoupled relative
to the lifting module 4 of the lifting element 3 via the bearing
14. Corresponding linear guides 9 ensure a precise extension of the
lifting element 4 out of the housing element 1. By this means, an
extremely short construction of the lifting/swiveling drive R.sub.5
is made possible.
[0042] The lifting modules 4 are preferably of rectangular, square
or polygonal design in cross section and can only be moved
linearly, all of the rotational sleeves preferably being of tubular
design.
[0043] Lifting module 4 and rotational sleeve 13 are preferably
designed as hollow shaft elements which ensure corresponding
passages 21. In this case, lifting module 4 and rotational sleeve
13 are preferably situated in one axis. By this means, a very large
passage 21, when considered cross-sectionally, for lines,
electrical lines, pneumatic lines etc. can be ensured. This is of
great advantage in the present invention, since lifting/swiveling
drive R.sub.1 to R.sub.6 can thereby be used in a very universal
manner.
List of Reference Numbers
[0044] 1 Housing element
[0045] 2 Working element
[0046] 3 Lifting element
[0047] 4 Lifting module
[0048] 5 Linear drive
[0049] 6 Primary part
[0050] 7 Secondary part
[0051] 8 Measuring system
[0052] 9 Linear guide
[0053] 10 Mass balance
[0054] 11 End position switch
[0055] 12 Rotational element
[0056] 13 Rotational sleeve
[0057] 14 Bearing element
[0058] 15 Rotational drive
[0059] 16 Rotational drive housing
[0060] 17 Connecting plate
[0061] 18 Support element
[0062] 19 Spring element
[0063] 20 Base plate
[0064] 21 Passage
[0065] A Axis
[0066] B Axis
[0067] L.sub.L Length
[0068] L.sub.R Length
[0069] L.sub.1 Length
[0070] L.sub.2 Length
[0071] L.sub.H Lifting length
[0072] R.sub.1 to R.sub.6 Lifting /swiveling drive
[0073] X Double arrow direction
* * * * *