Actuator and assembly

Abstract

The invention relates to an actuator (1) for automation technology comprising: at least two rotary drives (10) each with a motor (11) with a motor drive, a gearbox (20) and an output (30), wherein the motor is, for example, an electric motor or a hydraulic motor, and is equipped to drive the associated output by means of the associated gearbox; at least one housing (40), wherein the gearboxes of the at least two rotary drives are arranged in at least one of the at least one housing, wherein at least one housing has two housing openings (41), wherein the outputs (30) each protrude from the associated housing through a housing opening and are rotatably mounted relative to the respective housing by the associated motor with respect to an axis of rotation, where the rotary drives are connected in series, where Rotation axes (12) of adjacent rotary drives in a projection onto a projection plane (P) an angle of exhibit 45 degrees, whereby the projection plane is spanned by direction vectors of the respective rotation axes.

Description

[0001] The invention relates to an actuator in automation technology and an assembly comprising such an actuator. Actuators in automation technology are frequently used to operate fittings such as valves. For example, in electric actuators, the rotational movements of a rotor of an electric motor are converted via a gear into a rotational movement or a linear movement of an output. An example of such an actuator can be found in DE102004048366B4.

[0002] For example, with actuators, several rotary actuators can be connected in series, allowing objects to be moved in space using rotary movements with different axes of rotation. In the current state of the art, adjacent rotary actuators typically have axes of rotation that are perpendicular to each other. A rotary actuator and a linear actuator can also be connected in series to align objects in space. State-of-the-art solutions generally feature exposed joints or bearing bushings, which increases the maintenance effort of such actuators.

[0003] The object of the invention is to propose a compact actuator with several rotary actuators, in which actuator maintenance effort is minimized.

[0004] The object is achieved by an actuator according to independent claim 1 and by an assembly according to independent claim 12.

[0005] An actuator according to the invention in automation technology comprises: at least two rotary drives, each having a motor with a motor drive, a gearbox and an output, wherein the motor is, for example, an electric motor or a hydraulic motor, and is designed to drive the associated output by means of the associated gearbox; at least one housing, wherein gears of the at least two rotary drives are arranged in the at least one housing, wherein the at least one housing has two housing openings, wherein the outputs each protrude through a housing opening from the associated housing and are rotatably mounted relative to the housing by the associated motor with respect to a rotation axis, where the rotary actuators are connected in series, where the axes of rotation of adjacent rotary drives in a projection onto a projection plane form an angle of at least 40 degrees and in particular at least 43 degrees and preferably 45 degrees and / or at most 50 degrees and in particular at most 47 degrees and preferably 45 degrees to each other, where the projection plane is spanned by direction vectors of the respective rotation axes of neighboring rotary drives.

[0006] In such an actuator with three rotary actuators, the first rotary actuator and the third rotary actuator are not adjacent.

[0007] With an angle of 45 degrees between the projections of adjacent rotation axes, the orientations and changes in the orientation of the rotation axes due to rotary drive operation can be mathematically described using relatively simple and elegant formulas derived from rotation matrices. The series connection of the rotary drives can be described by a chaining or sequential arrangement of three-dimensional rotation matrices.

[0008] In this way, for example, the influence of rounding errors on the calculation can be minimized. If the angle between the rotation axes deviates by a few degrees from 45 degrees, the calculations based on an assumed 45-degree angle are approximately valid.

[0009] The rotary drives of an actuator according to the invention can, for example, be controlled via an external control center or have an electronic operating circuit which is designed to operate the rotary drives.

[0010] The object according to the invention makes it possible to avoid exposed joints or bearing bushes and reduce maintenance costs, and additionally achieve a compact design of the actuator.

[0011] In one embodiment, the outputs each have a largest outer diameter, with the largest diameters forming an average diameter, wherein a distance between the rotation axes of adjacent rotary drives is less than 0.1 diameter mean values, and in particular less than 0.05 diameter mean values ​​and preferably less than 0.01 diameter mean values.

[0012] In this way, offset between individual rotary actuators can be minimized.

[0013] In one embodiment, the at least one housing and output shafts of the outputs of the rotary drives each have a through-opening, which through-openings form a through-channel of the actuator.

[0014] This means that, for example, power supply cables for supplying power to the rotary actuators and / or control cables of the rotary actuators for controlling the rotary actuators and / or media-carrying lines can be routed at least partially through the through-channel.

[0015] In one embodiment, power supply cables for supplying power to the rotary actuators and / or control cables of the rotary actuators for controlling the rotary actuators and / or media-carrying lines are guided at least partially through the through-channel.

[0016] In one embodiment, the actuator has three rotary drives.

[0017] The third rotary drive can be used to correct rotation or to operate another mechanism or object.

[0018] In one embodiment, the motors are arranged inside or outside an associated housing and in particular each have a motor housing.

[0019] Preferably, the motor housing and the associated actuator housing are connected in a dust-tight, water-tight or air-tight manner.

[0020] In one embodiment, motors and gears of two of the rotary drives are assigned in a housing of the at least one housing.

[0021] In one embodiment, the motor and gear of a rotary drive are each assigned to one of the housings.

[0022] In one embodiment, each rotary drive has a self-locking and in particular self-braking gear-motor combination or a non-self-braking gear-motor combination and a braking device.

[0023] In one embodiment, the gear of at least one rotary drive of the rotary drives is self-locking and in particular self-braking, wherein in particular the gear of all rotary drives are self-locking and in particular self-braking.

[0024] In one embodiment, the motors, gearboxes and outputs of the rotary drives are all designed identically.

[0025] An assembly according to the invention comprises: an actuator according to one of the preceding claims 1 to 11 with at least two rotary drives; an object such as a tool or device for generating mechanical or electrical power or energy; wherein the actuator is configured to rotate and / or tilt the object.

[0026] In one embodiment of the assembly, the actuator has three rotary drives, whereby the object can be actuated; wherein the assembly comprises an actuating device for actuating the object, wherein the third rotary drive is connected to the actuating device and is configured to drive the actuating device.

[0027] In one embodiment, the article comprises a group of solar modules, wherein the solar modules of the group can be opened and closed by means of the actuating device, wherein the actuator is configured to align the group of solar modules and / or to open or close them by means of the actuating device.

[0028] In one embodiment, power supply cables and / or control cables for supplying power or controlling the object are routed through the actuator passage channel.

[0029] In the following, the invention is described using exemplary embodiments. Fig. 1 a) and Fig. 1 b) outline an exemplary actuator according to the invention; Fig. 2 a) and Fig. 2 b) outline exemplary movement possibilities in the Fig. 1 a) and Fig. 1b) actuator shown. Fig. 3 a) to c) show an exemplary assembly according to the invention with an actuator according to the invention and a group of solar modules.

[0030] Fig. 1 a) shows an oblique view of an exemplary actuator 1 according to the invention and Fig. 1 b) shows a longitudinal section through the Fig. 1 a). The actuator comprises three rotary actuators 10, each of which has a motor 11 with a motor drive and a motor housing 11.1. The three rotary actuators are connected in series; a first rotary actuator 10.1 of the rotary actuators forms a base and supports the other two rotary actuators.

[0031] Fig. 1 b) shows a longitudinal section through the Fig. 1 a). Adjacent rotary actuators, i.e. here the first rotary actuator and a second rotary actuator 10.2 of the three rotary actuators, as well as the second rotary actuator and a third rotary actuator 10.3 of the three rotary actuators, have an angle of at least 40 degrees and in particular at least 43 degrees and preferably 45 degrees and / or at most 50 degrees and in particular at most 47 degrees and preferably 45 degrees to each other, where the projection plane is spanned by direction vectors of the respective rotation axes of the rotary drives.

[0032] For an angle of 45 degrees between the projections of adjacent rotation axes, the orientations and changes in the orientations of the rotation axes due to rotary drive operation can be mathematically described using relatively simple formulas. This allows, for example, the influence of rounding errors on the calculation to be minimized. For deviations of a few degrees from 45 degrees between the angles between the rotation axes, calculations based on an assumed 45-degree angle are approximately valid.

[0033] The rotary drives each additionally have a gearbox 20 and an output 30 with an output shaft 32, wherein the motor is, for example, an electric motor as shown here, or can be, for example, a hydraulic motor, and is designed to drive the associated output by means of the associated gearbox. The actuator 1 has housings 40, each with two housing openings 41, in which housings the outputs 30 of the rotary drives are arranged and rotatably mounted. Each housing 40 can mount one output, or, as shown here, one housing 40 can mount two outputs 30. A mechanical connection between two consecutive rotary drives can be made via at least one housing, as shown here between the first rotary drive 10.1 and the second rotary drive 10.2, or via a connection of a housing to an output of a subsequent rotary drive, as shown here between the second rotary drive and the third rotary drive.Alternatively, a connection can also be made via two outputs of adjacent rotary actuators. The outputs can protrude from the corresponding housing, as shown here. This makes it easier to establish a mechanical connection between the output and a device to be connected.

[0034] As shown here, the output of the first rotary actuator 10.1 can be configured to be connected to a foundation or base to support the actuator. The output of the first rotary actuator is fixedly mounted relative to the foundation. It is also rotatably mounted relative to the housing 40.

[0035] The approximately 45-degree arrangement according to the invention eliminates exposed joints or bearing bushings and reduces maintenance requirements. Furthermore, the design can be kept compact.

[0036] The first rotary actuator and the second rotary actuator serve to adjust the orientation of the third rotary actuator or, in a configuration of the actuator with two rotary actuators, an end face or connecting flange of the output of the second rotary actuator. The output shaft 32 of the third rotary actuator can, for example, be configured to actuate an object, see also Fig. 3 a) to 3 c).

[0037] In one embodiment, the axes of rotation, whose direction vectors span the respective projection plane P, are spaced apart by a maximum distance. The output drives 30 each have a largest outer diameter 31, with the largest outer diameters forming an average diameter, with a distance between the axes of rotation of adjacent rotary drives being less than 0.1 average diameters, and in particular less than 0.05 average diameters, and preferably less than 0.01 average diameters. In this way, a pivoting movement of the actuator during actuation can be minimized.

[0038] In one embodiment, the at least one housing 40 and output shafts 32 of the outputs 30 of the rotary actuators each have a through-channel 50, which through-channels form an actuator through-channel 60. In this regard, the housings each have two housing openings 41, between which the through-channel 50 runs. Correspondingly, output shafts have two shaft openings 32.1. In this way, we can Fig. As shown in Figure 1 b), power supply cables 71 or control cables 72 for supplying power or controlling the rotary actuators run through the actuator through-duct. This protects these cables from adverse weather conditions or damage.

[0039] As shown here, the motors of the rotary actuators can be arranged outside the housing 40 and have a motor housing 11.2. Housing 40 and motor housing 11.2 can be connected in a dust-, water-, or airtight manner. Alternatively, the motors can also be arranged within a dedicated housing 40. This provides better protection for the motors, but also results in larger actuator housings.

[0040] Each of the rotary drives 10 can comprise a self-locking and, in particular, self-braking gear-motor combination or a non-self-braking gear-motor combination and a braking device. The gear 20 of at least one rotary drive 10 of the rotary drives can be self-locking and, in particular, self-braking, with the gears of all rotary drives being self-locking and, in particular, self-braking.

[0041] Fig. 2 a) and b) outline two different ways of aligning the third actuator 10.3 from a horizontal position to a vertical position. Fig. 2 a) shows how the alignment of the third rotary drive is achieved by moving the first rotary drive 10.1 and the second rotary drive 10.2. If all three axes of rotation intersect at one point, the alignment of the third rotary drive can be achieved within one plane, so that a pure tilting or tilting movement is performed. The angle shown in the diagrams of the Fig. The arrow shown in Figure 2 a) or the third rotational axis moves in one plane. If the rotational axis of the third rotary actuator does not pass through an intersection point of the rotational axes of the first rotary actuator and the second rotary actuator, a linear offset perpendicular to the third rotational axis will occur when the actuator performs the movement described here, in addition to the rotation of the arrow or the third rotary actuator.

[0042] Fig. 2 b) outlines how the alignment of the third rotary drive is achieved by moving only the second rotary drive 10.2.

[0043] When the third rotary drive is aligned without moving the first rotary drive, the arrow shown or the third axis of rotation sweeps over the surface of a cone.

[0044] Fig. 3 a) to c) outline an exemplary assembly 100 according to the invention comprising an actuator 1 according to the invention as in Fig. 1 a) and Fig. 1 b), an actuatable object 110, and an actuating device 120.

[0045] The actuatable object 110 comprises, for example, a group 111 of solar modules 112, which solar modules can be actuated by means of the actuating device 120 (see Fig. 3 c)) as in Fig. 3 a) shown opened and as in Fig.3 b). In this way, the solar modules can be closed at night or during storms to protect them from the elements. The actuating device 120 can, for example, be designed such that the driving third rotary drive moves a first of the solar modules 112, and each solar module carries a downstream adjacent solar module with a movement offset. When the group of solar modules is closed, the group of solar modules can be transferred to the closed state, for example, by means of a spring mechanism of the actuating device or by being carried along.

[0046] Alternatively, the object or group of solar modules can also be aligned by an actuator according to the invention with two rotary drives. In this case, no actuating device can be driven by the actuator due to the lack of the third rotary drive, so that the actuating device must be dispensed with or a separate drive mechanism must be installed. For normal vectors to the solar modules, the same applies as for the third axis of rotation: in a projection onto a projection plane P, the normal vectors and the second axis of rotation form an angle of at least 40 degrees and in particular at least 43 degrees and preferably 45 degrees and / or at most 50 degrees and in particular at most 47 degrees and preferably 45 degrees to each other. List of reference symbols 1 actuator 10 rotary drive 10.1 first rotary drive 10.2 second rotary drive 10.3 third rotary drive 11 Engine 11.1 Engine housing 12 axes of rotation 20 gearboxes 30 downforce 31 outer diameter 32 Output shaft 32.1 Shaft opening 40 housings 41 housing openings 50 through channel 60 Actuator passage channel 71 Power supply cable 72 control cables 100 assembly 110 operable object 111 group of solar modules 112 solar modules 120 Actuating device P Projection plane QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] DE 102004048366B4

[0001]

Claims

[1] Actuator (1) of automation technology comprising: at least two rotary drives (10), each having a motor (11) with a motor drive, a gear (20) and an output (30), wherein the motor is in each case, for example, an electric motor or a hydraulic motor, and is designed to drive the associated output by means of the associated gear; at least one housing (40), wherein the gears of the at least two rotary drives are arranged in at least one of the at least one housing, wherein the at least one housing has at least two housing openings (41), wherein the outputs (30) are mounted by the associated motor so as to be rotatable relative to the respective housing with respect to a rotational axis, and in particular protrude from the associated housing through a housing opening, where the rotary actuators are connected in series, characterized by , that Rotation axes (12) of adjacent rotary drives in a projection onto a projection plane (P) form an angle of at least 40 degrees and in particular at least 43 degrees and preferably 45 degrees and / or at most 50 degrees and in particular at most 47 degrees and preferably 45 degrees to each other, where the projection plane is spanned by direction vectors of the respective rotation axes. [2] Actuator according to claim 1, wherein the outputs (30) each have a largest outer diameter (31), wherein the largest diameters form an average diameter value, wherein a distance between the rotation axes of adjacent rotary drives is less than 0.1 diameter mean values, and in particular less than 0.05 diameter mean values ​​and preferably less than 0.01 diameter mean values. [3] Actuator according to claim 1 or 2, wherein the at least one housing (40) and output shafts (32) of the outputs (30) of the rotary drives each have a through-channel (50), which through-channels form an actuator through-channel (60). [4] Actuator according to claim 3, wherein power supply cables (71) for supplying power to the rotary drives and / or control cables (72) of the rotary drives for controlling the rotary drives and / or media-carrying lines are guided at least in sections through the actuator through-channel. [5] Actuator according to one of the preceding claims, wherein the actuator has three of the rotary drives (10). [6] Actuator according to one of the preceding claims, wherein the motors (11) are arranged inside or outside an associated housing (40), and in particular each have a motor housing (11.1). [7] Actuator according to claim 6, wherein motors (11) and gears (20) of two of the rotary drives (10) are assigned in a housing (40) of the at least one housing. [8] Actuator according to one of claims 1 to 6, wherein the motor (11) and gear (20) of a rotary drive (10) are each assigned to one of the housings (40). [9] Actuator according to one of the preceding claims, wherein each rotary drive (10) has a self-locking and in particular self-braking gear-motor combination or a non-self-braking gear-motor combination and a braking device (80). [10] Actuator according to claim 9, wherein the gear (20) of at least one rotary drive (10) of the rotary drives is self-locking and in particular self-braking, wherein in particular the gears of all rotary drives are self-locking and in particular self-braking. [11] Actuator according to one of the preceding claims, wherein the motors (11), the gears (20) and the outputs (30) of the rotary drives are each of the same design. [12] Assembly (100) comprising: an actuator (1) according to one of the preceding claims 1 to 11 with at least two rotary drives; an object such as a tool or device for generating mechanical or electrical power or energy; wherein the actuator is configured to rotate and / or tilt the object. [13] Assembly (100) according to claim 12 comprising: an actuator (1) according to one of claims 1 to 11 with three rotary drives (10); wherein the object (110) is operable, an actuating device (120) for actuating the object, wherein the third rotary drive is connected to the actuating device and is configured to drive the actuating device. [14] Assembly (100) according to claim 12 or 13, wherein the article comprises a group (111) of solar modules (112), wherein the solar modules of the group can be opened and closed by means of the actuating device, wherein the actuator is configured to align the group of solar modules and / or to open or close them by means of the actuating device. [15] Assembly according to one of claims 12 to 14, when dependent on claim 4, wherein power supply cables (71) and / or control cables (72) for supplying power or controlling the object are guided through the actuator passageway (60).

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