Electric drive device with a linearly reciprocating output member for driving automation devices in production, especially for driving clamping, gripping, shifting, limiting or positioning devices

Abstract

The invention relates to an electric drive device with a linearly reciprocating output member for driving automation devices in production, in particular for driving a clamping, gripping, shifting, limiting or positioning device, which comprises an electric rotary motor (2) which has an output shaft (20) which is coupled to a motion screw (31 ) of the device (3) for converting rotational motion into linear motion, the linearly movable output of which is coupled to the output member (110) of the electric device, wherein the output element (110) is linearly reciprocably slidably mounted in the housing (11 ) of the device and is provided with means for coupling to the driven mechanical device (A) and the electric drive device is provided with control electronics for the individual parts of the device. The rotary motor (2) is formed by a BLDC or LSPMSM motor with an external rotor (21 ).

Description

[0001] Electric drive device with a linearly reciprocating output member for driving automation devices in production, especially for driving clamping, gripping, shifting, limiting or positioning devices

[0002] Technical field

[0003] The invention relates to an electric drive device with a linearly reciprocating output member for driving automation devices in production, in particular for driving a clamping, gripping, shifting, limiting or positioning device which includes an electric rotary motor which has an output shaft which is coupled to a motion screw of a device for converting rotational motion into linear motion, the linearly movable output of which is coupled to the output element of the electric drive device, wherein the output element is linearly reciprocally mounted in the housing of the device and is provided with means for coupling to the driven mechanical device and the electric drive device is provided with control electronics for the individual parts of the device. art

[0004] In technology, many mechanical devices are used that require a drive controlled by linear reciprocating motion for their operation. Such devices that require input controlled linear reciprocating motion input for their operation are, for example, lever clamps used in the automotive industry to hold body parts during the joining of these parts, drives for clamping, gripping, shifting, limiting or positioning devices and a whole range of other movable devices for production automation, etc.

[0005] For example, WO2017174067A1 , US2008315477A1 , EP3130809A1 , US2014232051 A1 and other documents disclose drive devices with a linearly reciprocating output member, wherein these devices comprise a linear motor, e.g. a pneumatic piston or a linear electric motor, which is coupled, usually directly, to the linearly reciprocating output member of the device. In pneumatic devices, the movement is controlled by controlling the supply and possibly also the discharge of the driving medium, with the disadvantage of the difficult controllability of the movement course and then also the considerable economic demand of the pneumatic drive due to the need for special pneumatic distribution systems and also the costs of producing the pressure driving medium. In linear electric motors, the disadvantage is the relatively large length and also the limited power compared to the built-up area.

[0006] Furthermore, known are drive devices which, as a source of movement of their linearly reciprocating output member, comprise at least one rotary electric motor, the output shaft of which is coupled to the linearly reciprocating output member of the device by means of a device for converting rotational motion into linear motion, usually by means of a motion screw and nut. The linearly reciprocating output member of the device is linearly reciprocatingly slidably mounted in the housing of the drive device.

[0007] US4102372A, US2002195762A1 , US6585246B2 and others disclose arrangements in which a mechanical transmission, e.g. by gears or a toothed belt, etc., is included between the output shaft of at least one rotary electric motor of the drive device and a device for converting rotational motion into linear motion to adjust the parameters of the movement of the output shaft of the rotary electric motor of the drive device, in particular to increase the torque and reduce the speed at the input to the device for converting rotational motion into linear motion.

[0008] DE19931723C1 , US4723767Aand others disclose drive devices that have a rotary electric motor with a central shaft that is the rotor of the motor and also forms the output shaft of the drive. This central shaft is located on the central axis of the drive, which is identical with the longitudinal axis of the linearly reciprocating output member of the drive. The central shaft of the motor is coupled to the linearly reciprocating output member of the drive by a motion screw and nut.

[0009] DE102012103921A1 , US2011232050A1 and others disclose the monitoring of the extreme positions of the linearly moving output member of the device. Furthermore, EP1700671 A2, EP1310332A2, US6354580B1 , EP1201370A2 and others disclose essentially incremental monitoring of multiple positions of the linearly reciprocating output member of the device. The control and driving electronics, which are connected to the electric motor, position sensors, power supply, signalling and possibly to other elements of the device, are either mounted in a separate box connected to the drive device or are mounted in the internal part of the drive device, either in the space for accommodating the electric motor or in the box for accommodating the linearly reciprocating output member of the drive device.

[0010] The disadvantage of the background art are the relatively large external dimensions and weight of known drive devices in relation to the required performance of these drive devices, e.g., in the case of clamps of automobile body parts in relation to the required achievable clamping forces, etc. The limited controllability of the movement of the linearly reciprocating output member of the drive device, both in terms of controlling the speed and the movement course, also appears to be a disadvantage. A common disadvantage of the background art is also the design and manufacturing complexity of the drive device and the disadvantageous time requirements for service in the event of a failure.

[0011] The object of the invention is to eliminate or at least minimize the disadvantages of the background art, in particular, to provide a drive device having reduced overall dimensions while maintaining performance, to improve the control of the speed of movement and the course of movement of the linearly reciprocating output member of the drive device, to simplify the structure and to improve the monitoring of the position of the linearly reciprocating output member of the drive device.

[0012] Summary of invention

[0013] The object of the invention is achieved by an electric drive device with a linearly reciprocating output member for driving automation devices in production, in particular for driving a clamping, gripping, shifting, limiting or positioning device, whose principle consists in that the rotary motor is formed by a BLDC or LSPMSM motor with an external rotor.

[0014] The term BLDC motor here refers to a brushless DC motor with electric commutation. The term LSPMSM motor, from the English "line start permanent magnet synchronous motor", means here a synchronous rotary electric motor with permanent magnets, with an external rotor and with asynchronous starting, where the term "with asynchronous starting" means that the synchronous motor is equipped with a starting cage winding, or a starting cage, which serves to ensure the starting of the synchronous motor after being connected to the power supply. Under normal conditions, a permanent magnet synchronous motor with an external rotor does not start up by itself after being connected to the power supply and requires an external impulse, i.e. , a force to set the rotor into initial motion.

[0015] LSPMSMs combine the characteristics of PMSMs (PMSM - a synchronous motor with permanent magnets from the English "permanent magnet synchronous motor"), especially high steady-state efficiency without slip losses, with the ability to asynchronously start the motor when directly connected to the power supply. Although LSPMSMs have smaller dimensions due to higher efficiency at the same rated power, the purchase price is higher than that of an asynchronous motor, however, the operating costs of LSPMSMs are lower. The same is true for BLDC motors.

[0016] The advantage of the solution according to the invention is reduction of the carbon footprint through reduced energy consumption and reduction of the cost per movement cycle, which is lower by up to 90 % in the device according to the invention compared to air-powered devices. Another advantage is the quick replacement of the drive directly on the production line or quick replacement of the jig at the customer's site or at another workplace. Therefore, the end customer can be provided with new technology with minimal downtime. The electric drive is designed with an emphasis on efficiency, reliability and affordability. The selected type of electric rotary motor has a very low KV, high torque at low speeds. The risks of high cycling intensity or high temperatures in the working environment, when the motor could overheat and, for example, disconnection of magnets could occur, can be eliminated by several thin stator sheets, which will improve heat dissipation. The drive can be easily supplemented with means for manual positioning. With the selected motor type, it is possible to achieve increased rigidity and alignment by removing bearings from the motor structure.

[0017] The device according to the invention can be used for production automation as a drive of a wide range of automation devices in production, e.g. for driving automated clamping, gripping, shifting, limiting, positioning and other devices in automated production. The skilled person is able, on the basis of the knowledge of the present description, exemplary embodiments, drawings, and other embodiments and variants disclosed or indicated herein, to implement such devices in automated manufacturing within the scope of the present invention.

[0018] Preferred embodiments are listed in the dependent claims and their advantage is a compact design of the entire drive device while achieving high working performance, or a reduction in the installation space of the device while maintaining performance. Another advantage is the wide range of connectors, including input power supply for power supply, phase control and direction of rotation of the field, as well as input control for communication with the parent PLC for "sending" tasks from the PLC to the device and for feedback, and Daisy chain for daisy chaining individual devices to each other using the output power supply connector to pass power to the next device connected in the chain and using output control to pass the request or feedback to the next device in the chain and possibly more according to the requirements and needs of the user. The electronics of the base plate automatically check the parameters of the power supply source or power supply network and in the event of any anomaly, it automatically disconnects and protects itself and the device. To increase safety, the base plate also includes an electrical fuse in the form of a separate element. The optical signalling elements used allow and facilitate visual communication with the operator or service technician (open, power, close) and are also able to indicate the position of the device and the presence of power. When the device moves from one position to another, the optical signalling elements flash. The control of the position of the output element of the device is preferably performed by means of several pieces of Hall probes, e.g. 2 to 10, or another suitable number. The Hall probes are located on the rear side of the base plate, wherein the linearly reciprocatingly movable part of the device, here preferably a guide cube, is provided with a magnet for better detection by the Hall A device for converting rotational motion into linear motion is built into such a housing and the internal stator of the rotary motor is also mounted on it. The device also includes software, SW, which allows setting the parameters of the device operation and also collecting, storing and exporting telemetry data on the device operation. Another advantage is the possibility of designing the entire device with a high degree of resistance to external environmental influences, e.g. IP 64 and higher rating or IPX.

[0019] Brief description of drawings

[0020] The invention is schematically represented in the drawing, wherein Fig. 1 shows an exemplary embodiment of an assembly of an electric drive device according to the invention and a driven clamping device, which together form an electric clamp for holding parts together, e.g., for holding parts of a car body when joining these parts, etc., Fig. 1 a shows the electric drive device according to the invention separated from the driven clamping device of Fig. 1 , Fig. 1 b shows a 3D view of the electric drive device of Fig. 1 from the front, Fig. 1 c shows a 3D view the electric drive device of Fig. 1 from the rear, Fig. 1 d shows a 3D view of an example of a driven limiting device for use with the electric drive device according to the invention, Fig. 1 e shows a 3D view of an embodiment of a driven positioning device for use with the electric drive device according to the invention, Fig. 1f shows a 3D view of an embodiment of a driven clamping or gripping device for use with the electric drive device according to the invention, Fig. 2 shows a longitudinal section of the electric drive device of Fig. 1 with schematic representation of the attached body of the driven clamping device of Fig. 1 , Fig. 3 shows 3D decomposition of the internal arrangement of the electric drive device of Fig. 1 , Fig. 4 shows an exemplary embodiment of a housing for a linearly reciprocating output member according to the invention, Fig. 4a shows the housing of Fig. 4 in an opposite side view to Fig. 4, Fig. 4b a 3D decomposition of the housing of Fig. 4, Fig. 5 an example of an arrangement for a linearly reciprocating output member according to the invention, Fig. 5a shows the linearly reciprocating output member of Fig. 5 in an opposite side view to Fig. 5 and Fig. 5b shows an embodiment of the linearly reciprocating output member of Fig. 5 with the rear end removed. Examples of embodiment

[0021] The invention will be described with reference to an exemplary embodiment of an electric drive device 1. with a linearly reciprocating output member for driving automation devices in production, in particular for driving a clamping, gripping, shifting, limiting or positioning device, where the driven mechanical device comprises a driven mechanical device A, in an embodiment shown in Figs. 1 a 1 a formed as a lever clamping mechanism A for holding unillustrated parts together, e.g., for holding unillustrated parts of a car body when joining these parts together during car body production, etc., in the example of embodiment shown in Fig. 1 d formed as a limiting device A, in the example of embodiment shown in Fig. 1 e formed as a positioning device A, in the example of embodiment shown in Fig. 1f formed as a clamping or gripping device A, or, in an unillustrated example of embodiment, formed as another suitable driven mechanical device A, wherein the driven mechanical device A is coupled by its input member to a linearly reciprocating output member of the electric drive device 1_. In such a case, the electrically drive device with the connected driven mechanical device_A forms an electrically driven and controlled tool B, such as a clamp for holding unillustrated parts together, a gripper, a limiter, a shifter and other suitable driven mechanical device A for automating the manufacturing process. Thus, the invention is generally applicable for driving substantially any connectable mechanical device A which requires a linearly reciprocating input motion for its operation, especially in the automation of manufacturing processes.

[0022] The electric drive device 1_ with a linearly reciprocating output member for driving a mechanical device A, hereinafter referred to as "the electric drive device 1." or simply EHZ 1_, comprises a motor cover 10 which, together with a rotary motor 2, is mounted on a housing 11 which is provided with a central through opening. In the illustrated exemplary embodiment, the motor cover 10 is provided on its underside with a lid 100 to facilitate access to the motor which is accommodated in the cover 10, and to possibly allow at least limited movement of the device 1_ through manual drive by an operator.

[0023] In the housing 11_, in the central through opening, the output member 110 is arranged in a linear reciprocable manner in the direction of its longitudinal axis O, The output member 110 is coupled by its first end 1101 to a device 3 for converting rotational motion into linear motion, whereas the second end 1102 of the output member 110 is free and is situated outside the inner space of the housing 11.. The free second end 1102 of the output member 110 is adapted to couple to an unillustrated input member of a lever clamping mechanism B, i.e. , the input member of the driven mechanical device A, e.g., in the illustrated embodiment, it is provided with a connecting fork with an eye.

[0024] The device 3 for converting rotational motion into linear motion comprises a guide cube 30, which is fixedly, i.e. without the possibility of movement relative to the first end 1101 of the output member 110, mounted on the first end 1101 of the output member 110. The guide cube 30 is, for example, provided with a tubular extension 301 , by which it is fixedly and at the same time detachably or non-detachably connected to the first end 1101 of the output member 110, it is, for example, screwed, glued, soldered, pressed, etc. in the cavity in the first end 1101 of the output member 110, or it is screwed, glued, pressed, soldered, etc. onto the outer circumference of the first end 1101 of the output member 110.

[0025] A guide sleeve 32 is mounted by its inner mounting surface 320 on the outer circumference of the first end 1101 of the output member 110, between the second end 1102 of the output member 110 and the guide cube 30. The guide sleeve 32 is fixedly mounted in the housing 11 without the possibility of movement in the direction of the longitudinal axis O. In the illustrated embodiment, the guide sleeve 32 is formed by a circular guide ring in whose guide cavity which is situated in the direction of the longitudinal axis O, the output member 110 is mounted by its outer circumference so as to be able to slide back and forth in the direction of the longitudinal axis O. This guide ring is axially and radially immovable, i.e. without the possibility of spontaneous movement, mounted in a mounting surface 116 in the housing 11 at the end of the housing 11 near the second end 1102 of the output member 110, and, where appropriate, is secured in the housing 11 by a locking ring 1160. In an unillustrated embodiment, the guide sleeve 32 is formed by a square guide ring or is formed by a guide ring of another suitable shape, including an embodiment different from the illustrated embodiment of the shaped contact between the inner guide surface of the guide sleeve 32 and the outer surface of the output member 110. However, from the point of view of the manufacture and assembly of the device, a circular or cylindrical embodiment of these cooperating surfaces is preferable.

[0026] The guide cube 30 is mounted in the housing 11 by its outer circumference reversibly slidably in the direction of the longitudinal axis 0 and at the same time non-rotatably around the longitudinal axis 0, i.e. without the possibility of rotating around the longitudinal axis 0. Therefore, the guide cube 30 is provided on its outer circumference with at least one longitudinal and non-rotating guide surface 300 which, in the assembled state of the device, abuts on a guide counter surface 117 formed on the inner side of the housing 11 in a direction parallel to the longitudinal axis 0. In the illustrated embodiment, the guide cube 30 is provided with four planar guide surfaces 300, by means of which the guide cube 30 is mounted in the housing 11 in a reciprocating manner in the direction of the longitudinal axis O and at the same time non-rotatably around the longitudinal axis O. In an unillustrated embodiment, the guide cube is provided with a pair, or a trio, or a five or six or another suitable number of longitudinal and non-rotating guide surfaces 300, which have either a planar or shaped character, or a part of the longitudinal and non-rotating guide surfaces 300 is planar and a part is shaped, or a part of the guide surface 300 is planar and a part of the guide surface 300 is shaped, wherein a corresponding number of guide counter surfaces 117 are formed in the housing 11., which have a corresponding shape and position.

[0027] In the direction of the longitudinal axis O, the guide cube 30 is provided with a central through opening 302, which is connected to a central longitudinal cavity 1103, which is formed in the first end 1101 of the output member 110 in the direction of the longitudinal axis O, i.e., in the direction of the length of the output member 110. The central longitudinal cavity 1103 is preferably formed on a part of the length of the output member 110 in the direction from the first end 1101. The central through opening 302 is provided with an internal motion thread 3020, into which a motion screw 31 fits with its external motion thread 310. The inner diameter of the central longitudinal cavity 1103 in the output member 110 is greater than the outer diameter of the motion screw 31_, and the length of the central longitudinal cavity 1103 of the output member 110 is greater than the length of the maximum insertion of the motion screw 31 into the central longitudinal cavity 1103 of the output member 110, as will be described in more detail in the following text dealing with the function of the device according to the invention. Thus, in the assembled state of the device, the motion screw 31 is situated with its first end 311 in the central longitudinal cavity 1103 of the output member 110, wherein the motion screw 31 in the assembled state of the device passes through the guide cube 30 and its internal motion thread 3020, where the second end 312 of the motion screw 31 is situated outside the output member 110 and the guide cube 30. The second end 312 of the motion screw 31 is coupled to the output shaft 20 of the motor 2, without reducing the parameters of the movement of the output shaft 20 of the motor 2.

[0028] In the illustrated embodiment, the second end 312 of the motion screw 31 is coupled to the output shaft 20 of the motor 2 without reducing the parameters of the movement of the output shaft 20 of the motor 2 in such a manner that the second end 312 of the motion screw 31 is provided with surfaces for transmitting torque, e.g., in the form of machining at least a part of the second end 312 of the motion screw 31 into the shape of a square or a hexagon or a "thousand-faced" or other suitable functional shaping for direct transmission of torque, wherein this functional shaping at the second end 312 of the motion screw 31 is located in a corresponding first functional shaping 340 on or in a connecting spacer 34, which is rotatably mounted about the longitudinal axis O, here specifically by means of a roller bearing 33 in the mounting surface 330 in the housing 11.. The connecting spacer 34 is further provided with a second functional shaping 341 , by which the connecting spacer 34 is coupled to the output shaft 20 of the motor 2, again without reducing the parameters of the movement of the output shaft 20 of the motor 2. In the illustrated example embodiment, the first and second functional shapings 340, 341 of the connecting spacer 34 are formed in central openings in the longitudinal axis O in the connecting spacer 34, which is, for example, formed by a rotatable body which is provided on its outer circumference with a rotatable surface 342 for accommodating the rolling bearing 33 in the inner ring. The rolling bearing 33 is mounted by its outer ring in the housing 11 without the possibility of axial and radial movement.

[0029] In an unillustrated example embodiment, the second end 312 of the motion screw 31 is directly connected to the output shaft 20 of the motor 2, preferably again by means of a suitable functional shaping for direct torque transfer, e.g. the second end 312 of the motion screw 31 is provided with a first functional shaping for direct torque transfer into which the corresponding functional shaping for direct torque transfer at the end of the output shaft 20 of the motor 2 fits. Preferably, in this unillustrated example, the second end 312 of the motion screw 31 is mounted in a roller bearing which is accommodated in the housing 11..

[0030] In another unillustrated embodiment, the motion screw 31 is an integral part of the output shaft 20 of the motor_2, while in another preferred embodiment, the motion screw 31 is mounted in the area near the motor_2 in a suitable bearing, which is accommodated in the housing 11.. All these arrangements allow the motion screw 31 to be mounted in the housing 11 with only one roller bearing and without a reduction intermediate gear on the rotary motor 2.

[0031] By mounting the rotary motor 2 fixedly on the housing 11., the rotation of the output shaft 20 of the rotary motor 2 is directly, i.e. without a reduction intermediate gear, transmitted to the motion screw 31 , the rotation of which around the longitudinal axis O is converted into the linear motion of the output member 110, which is guided in the housing 11 by the guide cube 30 and the guide sleeve 32. During its movement along the longitudinal axis O, the guide cube 30 moves in the guiding in the housing 11., e.g., in the guide countersurfaces 117, between two extreme positions K1 , K2, where the first extreme position K1 of the guide cube 30 is situated at the second end 312 of the motion screw 31 and the second extreme position K2 of the guide cube 30 is situated at the first end 311 of the motion screw 31 .

[0032] In the illustrated exemplary embodiment, the rotary motor 2 is formed by a BLDC or LSPMSM motor with an external rotor 21 . The motor 2 is mounted on the housing 11 by its internal stator 22. Preferably, the BLDC or LSPMSM motor 2_is provided with electronic phase switching which is implemented by the control device 2 of the motor, which comprises means for controlling the speed, the time course of the speed and, where appropriate, means for controlling the braking of the output shaft 20 of the motor 2, thereby allowing the control of the speed of rotation of the output shaft 20 of the motor 2, the time course of the speed of rotation of the output shaft 20 of the motor_2 and also allowing controlled braking of the rotation of the output shaft 20 of the motor 2. In the illustrated example of embodiment, the rotary motor 2 comprises an internal stator 22, which is mounted by one of its ends on the housing H, the stator 22 being provided with a longitudinal central opening in the longitudinal axis 0, in which the output shaft 20 of the motor 2 is rotatably mounted about the longitudinal axis 0. The output shaft 20 of the motor 2 is connected at the opposite end of the stator 22 to the external rotor 21 of the rotary motor 2. In the illustrated exemplary embodiment, the stator 22 is fixed by its first end to a mounting bracket 4 with a central opening 40 for the passage of the output shaft 20 of the motor 2 towards the output member 110 of the device, the mounting bracket 4 being fixed to the housing H

[0033] The housing 11 is provided on one side thereof with a longitudinal recess 115 in which the control electronics base plate 114 is mounted parallel to the longitudinal axis 0, the longitudinal recess 115 with the base plate 114 being covered by a cover plate 111 . Mounted on the control electronics base plate 114 are electrical and electronic means which form the control, power supply and driving electronics of the device according to the invention. The bottom of the longitudinal recess 115 is preferably located parallel to the longitudinal axis 0.

[0034] The control electronics base plate 114 is with its rear side 1140 facing the guide cube 30, which is reciprocally mounted between the two extreme positions KI, K2 in the guide in the housing 11., e.g., in the guide counter surfaces 117. On this rear side 1140 of the base plate 114, a row of sensors 1141 of the position of the guide cube 30 is arranged along the longitudinal axis 0, the row of sensers being located parallel to the longitudinal axis 0. The sensors 1141 of the position of the guide cube 30 are connected to the electrical and electronic means of the base plate 114, which are provided with means for evaluating the signal of the 1141 of the position of the guide cube 30 and for determining the position of the guide cube 30 continuously anywhere between the extreme positions K1 , K2 of the guide cube 30. By continuous determining the position is meant the accurate and reliable determination of the position of the guide cube 30 anywhere along the entire length of its movement between the extreme positions K1 , K2, even in the sections between two adjacent sensors 1141 , so that the electrical and electronic means of the base plate 114 are also capable of determining the distance of the position of the guide cube 30 from each of the adjacent sensors 1141 the position of the guide cube 30 between the adjacent sensors 1141 and thereby continuously locating the position of the guide cube 30 anywhere between the extreme positions K1_, K2. This arrangement ensures detection of 100 % of the length of the path of the guide cube 30, i.e. , 100 % of the length of the path of the second end 1102 of the output member 110 of the device according to the invention. Preferably, at least one temperature sensor (not shown) is arranged on the control electronics base plate 114 and / or on and / or in the rotary motor 2, which is connected to the electrical and electronic means on the control electronics base plate 114, in particular for monitoring the temperature of at least some elements of the device according to the invention and protecting them against overheating.

[0035] In the illustrated example of embodiment, the sensors 1141 of the position of the guide cube 30 are formed by Hall probes. In an unillustrated example of embodiment, the sensors 1141 of the position of the guide cube 30 are formed by other suitable sensors.

[0036] In order to improve the certainty of determining the position of the guide cube 30 by monitoring the same location on the guide cube 30 by the sensor

[0037] 1141 the guide cube 30 is provided with a locating element 35 on the side thereof facing the rear side 1140 of the base plate 114. The locating element 35 preferably comprises a magnetic roller which is arranged in a defined position on the guide cube 30 perpendicular to the longitudinal axis O, i.e., the longitudinal axis of the roller forming the locating element 35 is perpendicular to the longitudinal axis O.

[0038] In order to improve the detection of the guide cube 30 by the sensors 1141 , in one example of embodiment, the bottom of the longitudinal recess 115 is provided with either a through longitudinal groove arranged parallel to the longitudinal axis O at a level between the row of sensors 1141 of the position of the guide cube 30 and the sensed portion of the guide cube 30, e.g., by the locating element 35, between the extreme positions K1 , K2 of the guide cube 30. In another exemplary embodiment, the bottom of the longitudinal recess is formed by a non-metallic baffle, which separates the guide cube 30 between the extreme positions K1_, K2 of the guide cube 30 from the row of sensors 1141 of the position of the guide cube 30 without reducing the detectability of the guide cube 30 by the row of sensors 1141 .

[0039] The device according to the invention further comprises control and connection connectors 112 and optical signalling means 113, which are connected to electrical and electronic means on the control electronics base plate 114. According to one embodiment, the control and connection connectors 112 and optical signalling means 113 are mounted on the base plate in particular on its front side 1142, and pass through the cover plate 111 , to which they are also attached, when appropriate, to increase durability and resistance. In another example of embodiment, the control and connection connectors 112 and optical signalling means 113 are mounted on the cover plate 111 and are electrically and / or data-connected to the electrical or electronic means on the base plate 114, e.g., by means of unillustrated cables or other suitable lines. In another example of embodiment, the control and connection connectors 112 are mounted on the cover plate 111 and are electrically and / or data-connected to the electrical or electronic means on the base plate 114, e.g. by means of unillustrated cables or other suitable lines, the optical signalling means 113 being mounted on the control electronics cover plate 114. In another example of embodiment, the control and connection connectors 112 are mounted on the control electronics cover plate 114 and the optical signalling means 113 are mounted on the cover plate 111 and are electrically and / or data-connected to the electrical or electronic means on the base plate 114, e.g., by means of unillustrated cables or other suitable lines. In a further example of embodiment, the optical signalling means 113 are mounted on the control electronics cover plate 114, wherein the cover plate 111 is provided with translucent surfaces having different colours, ideally "traffic light" colours, i.e. red, yellow (orange), green, in a location above the optical signalling means 113. In another unillustrated example of embodiment, the optical signalling means 113 pass at least partially through the openings in the cover plate 111 . In another unillustrated example of embodiment, the optical signalling means 113 are mounted on the cover plate 114 and are connected to the translucent surfaces on the cover plate by suitable light guides or possibly by coloured light guides. The control and connection connectors 112 are thus connected to the controlled and powered elements of the EHZ 1. and to the control, power supply and driving electronics on the base plate 114. The optical signalling means 113 preferably comprise at least one luminous element, e.g., an LED, which is connected to the power supply and the control, power supply and driving electronics on the base plate 114 and which is visible from the external environment of the EHZ 1_.

[0040] The control and connection connectors 112 comprise the main power connector, which serves to power the rotary motor 2 as well as to power control, power supply and driving electronics on the base plate 114 and to power the optical signalling means 113.

[0041] According to an exemplary embodiment, the control and connection connectors 112 preferably comprise standardized data-power connector for uploading control SW values to a memory (not shown), which is stored on the base plate 114 within the electrical and electronic means. In a preferred example of embodiment, the standardized data and power supply connector is also adapted to control directly the individual elements of the device by a connected external control device, e.g., by a computer with control software, and also to control the device as a whole. The standardized data / power connector is preferably formed by a USB-C connector which is connected to the control, power supply and driving electronics on the base plate 114.

[0042] According to another exemplary embodiment, the control and connection connectors 112 preferably comprise a connector for connecting electrical and electronic means on the base plate 114 to the control device of the workplace on which the device for performing its function is installed for performing work activities, e.g., to the control device of the workplace for assembling a car body in the case of using the device according to the invention to drive the clamp of car body parts during car body assembly, etc.

[0043] According to another example of embodiment, the control and connection connectors 112 preferably also comprise a connector for interconnecting two or more devices according to the present invention into a functionally coordinated group of the devices according to the invention, e.g. in the form of a serial or even parallel connection of a functionally coordinated group of the devices according to the invention.

[0044] The operation of the device according to the invention is such that the device is connected to an electric current source, while the control SW controls the operation of the device using electrical and electronic means on the base plate 114. The control SW is either stored in the memory on the base plate 114 or is stored in the control device of the workplace, which is connected to the device according to the invention, or is stored in an external control device, which is connected to the device according to the invention. At the command of the control SW, the rotary motor 2 starts to spin and this rotational motion is converted into a linear motion by the device 3 for converting rotational motion into linear motion of the output member 110, which is further transmitted to the driven device A, such as the lever clamp mechanism A according to Figs. 1 and 1 a or the device A according to Figs. 1d to 1f or another suitable device A. The linear movement of the output member 110 is sensed by the row of sensors 1141 , which continuously sense the position of the guide cube 30 anywhere between the extreme positions K1 , K2, thereby obtaining data on both the size / length of the linear movement of the output member 110 as well as data on the course of this movement, i.e., data on the size of the linear displacement of the output member 110 and the time / speed course of this movement are obtained. Among the data on the course of movement of the output member 110 are, for example, also the speed and course of the speed of movement, etc., including the speed and course of the speed of movement in individual phases or in parts of the path of movement of the output member 110. Either the control SW predetermines the distance the output member 110 is to move from the start of its movement and this is then performed by the electrical and electronic means on the base plate 114, or the control SW controls the movement of the output member 110 in real time and commands the output member 110 to stop moving at the desired time. If required, the control SW controls the start-up time / velocity waveform of the rotary motor 2 for controlled start-up of the linear motion of the output member 110 and / or the run-up time / velocity waveform of the rotary motor 2 between startup and stop for controlling the linear motion of the output member 110 between start-up and stop and / or the stop-up time / velocity waveform of the rotary motor 2, including, where applicable, controlled braking of the rotary motor 2 motion, for controlled stopping and / or controlled braking of the linear motion of the output member 110. The control of the linear motion of the output member 110 and, in particular, the control of the course of the linear movement of the output member 110 is performed and regulated on the basis of continuous sensing of the position of the guide cube 30 by the sensors 1141 anywhere between the extreme positions K1 , K2. The termination of the movement of the output member 110 is detected by the control SW and it is thus confirmed that the output member 110 and the working organ connected thereto, e.g., the lever clamp mechanism, have assumed the desired position or the desired state.

[0045] The control software, further also only "SW1, further comprises means for collecting and exporting telemetric data on the operation of the device according to the invention, wherein the telemetric data includes, for example, the number of cycles performed, the total operating time, the so-called motor hours, data on power consumption, history of electrical voltage, current, temperature, percentage influence of the position sensors 1141 , history of positions of the output member 110 in mm and history of positions of the output shaft 20 in degrees (angles of rotation of the shaft 20).

[0046] The control SW comprises a graphical user interface with tabs, where one of the tabs is, e.g., "Basic configuration" tab, in which it is possible to easily and very quickly set, for example, the start and end times of the movement of the output member 110, e.g., in the form of clamping time and clamp release time of the parts, the range of movement of the output component 110, for example, in the form of the release angle of the clamp arms (e.g. 5° to 135°), correction of the position sensors 1141 , parameters of the mounting configuration of the position sensors 1141 , etc. Another tab in the control SW is, for example, "Advanced configuration" tab, in which the user can easily and very quickly set, for example, the acceleration of the rotary motor 2, braking of the rotary motor 2, the course of the rotation speed of the rotary motor_2 during acceleration and / or braking, the maximum permitted speed of the rotary motor 2, etc. Another tab in the control SW is, for example, "Protection" tab, in which the user can easily and very quickly set the protective parameters of the device, for example, the value of the permissible overcurrent for powering the rotary motor 2, the temperature protection limits according to the data of the temperature sensors in the device, etc.

[0047] The invention is not limited to the solutions and arrangements explicitly mentioned herein but is also applicable to other specific design implementations and solutions with knowledge of this description.

[0048] Industrial

[0049] The invention can be used for precise and economical drive of devices for production automation, especially for driving clamping, gripping, shifting, limiting, positioning and other devices in automated production, e.g., for driving an electrically powered gripper / clamp of parts in the production of car bodies, or other devices for the automation of production processes and other devices for production automation, etc.

[0050] List of references

[0051] 1 electric drive device

[0052] 10 motor cover

[0053] 100 lid

[0054] 11 housing

[0055] 110 output member

[0056] 1101 first end of the output member

[0057] 1102 second end of the output member

[0058] 1103 longitudinal cavity

[0059] 111 cover plate

[0060] 112 control and connection connectors

[0061] 113 optical signalling means

[0062] 114 base plate

[0063] 1140 rear side of the base plate

[0064] 1141 sensor of the position of the guide cube

[0065] 1142 front side of the base plate

[0066] 115 longitudinal recess

[0067] 116 mounting surface

[0068] 1160 locking ring

[0069] 117 guide countersurface

[0070] 2 rotary motor

[0071] 20 output shaft of the rotary motor

[0072] 21 external rotor

[0073] 22 internal stator

[0074] 3 device for converting rotational motion into linear motion

[0075] 30 guide cube

[0076] 300 longitudinal and non-rotating guide surface

[0077] 301 tubular extension

[0078] 302 central through opening

[0079] 3020 inner motion thread

[0080] 31 motion screw

[0081] 310 outer motion thread

[0082] 311 first end of the motion screw

[0083] 312 second end of the motion screw

[0084] 32 guide sleeve

[0085] 320 mounting surface

[0086] 33 roller bearing

[0087] 330 mounting surface for the roller bearing

[0088] 34 connecting spacer

[0089] 340 first functional shaping of the connecting spacer

[0090] 341 second functional shaping of the connecting spacer

[0091] 342 rotatable surface of the connecting spacer

[0092] 35 locating element of the guide cube

[0093] 4 mounting bracket

[0094] A driven mechanical device

[0095] B electrically driven and controlled tool

[0096] K1 first extreme position of the guide cube

[0097] K2 second extreme position of the guide cube

[0098] O longitudinal axis

Claims

PATENT CLAIMS1 . An electric drive device with a linearly reciprocating output member for driving automation devices in production, in particular for driving a clamping, gripping, shifting, limiting or positioning device, which comprises an electric rotary motor (2) which has an output shaft (20) which is coupled to a motion screw (31 ) of a device (3) for converting rotational motion into linear motion, the linearly movable output of which is coupled to an output element (110) of the electric drive device, wherein this output element (110) is linearly reciprocably slidably mounted in the housing (11 ) of the device and is provided with means for coupling to a driven mechanical device (A) and the electric drive device is provided with control electronics for the individual parts of the device, characterized in that the rotary motor (2) is formed by a BLDC or LSPMSM motor with an external rotor (21 ).

2. The electric drive device according to claim 1 , characterized in that the rotary motor (2) is formed by a BLDC or LSPMSM motor with an external rotor (21 ) and with electronic phase switching.

3. The electric drive device according to claim 1 or 2, characterized in that the rotary motor (2) is mounted on the housing (11 ) by its internal stator (22).

4. The electric drive device according to any of claims 1 to 3, characterized in that the rotary motor (2) is by its output shaft (20) coupled directly and without an intermediate reduction gear to the motion screw (31 ) of the device (3) for converting rotational motion into linear motion.

5. The electric drive device according to claim 4, characterized in that the device (3) for converting rotational motion into linear motion comprises a guide cube (30) which is fixedly mounted at the first end (1101 ) of the output member (110), wherein the guide cube (30) is mounted with its outer circumference in the housing (11 ) so that it can be slid back and forth in the direction of the longitudinalaxis (0) and at the same time not rotated around the longitudinal axis (0), and the guide cube (30) is provided with a central through opening (302) in the direction of the longitudinal axis (O), which connects to a central longitudinal cavity (1103) which is formed in the direction of the longitudinal axis (0) in the first end (1101 ) of the output member (110), wherein the central through opening (302) is provided with an internal motion thread (3020), into which the motion screw (31 ) fits with its external motion thread (310), whose first end (311 ), in the assembled state of the device, is situated in the central longitudinal cavity (1103) of the output member (110), wherein the second end (312) of the motion screw (31 ) is directly and without a reduction intermediate gear coupled to the output shaft (20) of the motor (2), wherein on the outer circumference of the first end (1101 ) of the output member (110), a guide sleeve (32) is mounted by its inner mounting surface (320) between the second end (1102) of the output member (110) and the guide cube (30), which is fixedly mounted in the housing (11 ) without the possibility of movement in the direction of the longitudinal axis (O).

6. The electric drive device according to claim 5, characterized in that the second end (312) of the motion screw (31 ) is coupled to the output shaft (20) of the rotary motor (2) directly and without a reduction intermediate gear either by means of a connecting spacer (34), which is mounted in the housing (11 ) rotatably about the longitudinal axis (O), or the second end (312) of the motion screw (31 ) is directly connected to the output shaft (20) of the rotary motor (2) or the motion screw (31 ) is an integral part of the output shaft (20) of the rotary motor (2).

7. The electric drive device according to any of claims 1 to 6, characterized in that the rotary motor (2) is connected to the control electronics which are arranged on the control electronics base plate (114), which is, parallel to the longitudinal axis (O), mounted in a longitudinal recess (115) in the housing (11 ) of the device, wherein it is covered by a cover plate (111 ) and the control, power supply and driving electronics of the device are arranged on it.

8. The electric drive device according to claim 7, characterized in that the control electronics base plate (114) is with its rear side (1140) facing the guide cube (30), which is in a reciprocating manner mounted between two extreme positions (K1 , K2) in the guide in the housing (11 ), wherein on the rear side (1140) of the base plate (114), a row of sensors (1141 ) of the position of the guide cube (30) is arranged along the longitudinal axis (O), the row of sensors being located parallel to the longitudinal axis (O), wherein the sensors (1141 ) of the position of the guide cube (30) are connected to the electrical and electronic means of the base plate (114), which are provided with means for evaluating the signal of the sensors (1141 ) of the position of the guide cube (30) and for determining the position of the guide cube (30) continuously anywhere between the extreme positions (K1 , K2) of the guide cube (30).

9. The electric drive device according to claim 7 or 8, characterized in that control, power supply and driving electronics of the device on the control electronics base plate (114) is coupled to control and connection connectors (112) of the device and to the optical signalling means (113) of the device.

10. The electric drive device according to claim 9, characterized in that control and connection connectors (112) comprise a main power connector for powering the rotary motor (2), for powering the control, power supply and driving electronics on the base plate (114) and for powering the optical signalling devices (113), the control and connection connectors (112) further comprise at least one standardized data-supplying connector for uploading control SW values to the device memory on the base plate (114), furthermore, the control and connection connectors (112) comprise at least one connector for connecting electrical and electronic means on the base plate (114) with the control device of the workstation and, if necessary, the control and connection connectors (112) comprise at least one connector for interconnecting two or more electric drive devices to form a functionally coordinated group of electric drive devices.

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