Actuator with restoring springs

Abstract

The invention relates to an actuator (1; 1a; 1b) which can be moved from an initial position into a working position having at least one actuator element (2; 2a; 2b) whose dimensions can changed by an electrical signal, Appropriately, at least two restoring means (20, 30; 20a, 30a; 20b, 30b) acting on the actuator element (2; 2a; 2b) are provided for movement into the working position. With the at least two restoring means, a total restoring means characteristic curve, which is composed of portions of the individual, preferably preloaded restoring means as well as a portion of a variable stiffness of the actuator element, can be advantageously tailored.

Claims

1. Actuator which can be moved from an initial position into a working position having at least one actuator element whose dimensions can be changed by an electrical signal, wherein at least two restoring means acting on the actuator element are provided for movement into the working position, the at least one actuator element being floatingly mounted between the at least two restoring means acting on said actuator element, characterized in that one of the at least two restoring means is a spring with a non-linear characteristic that is movable by a force from a first equilibrium position to a second equilibrium position different from the first one or in that a first restoring means comprises a body formed of a magnetic material which is arranged at a variable distance from a plate formed of a metal or a further body formed of a magnetic material, wherein the magnetic body and the plate or the further magnetic body have opposite or equal polarity on surfaces facing each other.

2. Actuator according to claim 1, characterized in that a first restoring means comprises at least one snap spring, and/or a second restoring means comprises at least one helical spring.

3. Actuator according to claim 1, characterized in that one of the restoring means comprises at least one non-linear spring, designed as a snap spring, end sections of which are arranged obliquely, horizontally or perpendicularly to an actuator frame side part of an actuator frame.

4. Actuator according to claim 1, characterized in that the at least one actuator element is planar, cylindrical or frustoconical.

5. Actuator according to claim 1, characterized in that a length of the at least one actuator element can be changed by an electrical signal, a change in length taking place in an actuator element plane or along an axis of symmetry in a longitudinal direction.

6. Actuator according to claim 1, characterized in that the at least one actuator element is deflectable in a direction that is parallel or coaxial to an effective direction of a restoring force of at least one of the restoring means acting on the actuator element.

7. Actuator according to claim 1, characterized in that at least one of the two restoring means is arranged within the actuator frame or the actuator housing.

8. Actuator according to claim 1, characterized in that a first end portion of the at least one actuator element and a second end portion, opposite the first portion, are provided with retaining elements.

9. Actuator according to claim 1, characterized in that an actuating means is provided which is also set up for guiding a movement out of the initial position into the working position.

10. Actuator according to claim 1, characterized in that several planar actuator elements arranged parallel to one another are provided.

11. Actuator according to claim 1, characterized in that at least one cylindrical actuator element is provided, which is formed from a rolled-up actuator foil.

12. Actuator according to claim 1, characterized in that at least one of the two restoring means is preloaded and forms a component of an assembly to be actuated, or that an actuating means forms a component of an assembly to be actuated.

13. Actuator according to claim 1, characterized in that the actuator element comprises a dielectric foil or is formed of a shape memory alloy.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIGS. 1A-1E A first embodiment of the invention in several views,

(2) FIGS. 2A-2F a second embodiment of the invention in several views,

(3) FIGS. 3A-3C a particularly compact embodiment of the invention in several views.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

(4) An actuator (1) shown in FIG. 1A in an exploded view comprises two foil-shaped actuator elements (2) formed from a dielectric elastomer material, which are each provided with a retaining section (5, 6) on two opposite sides (3, 4) and are arranged parallel to one another. The first retaining sections (5) are fitted between a first clamping block (7) and outer first clamping rails (8, 9). The lower retaining sections (6) are fitted between a second clamping block (10) and outer further clamping rails (11, 12). Retaining pins (13) projecting from each clamping block (7, 10) in the direction of the clamping rails (8, 9, 11, 12) are provided for forming a plug-in connection with the clamping rails (8, 9, 11, 12) and are passed through openings (14) in the retaining sections (5, 6). A particularly good fixing can be advantageously achieved.

(5) The fact that the two actuator elements (2) are arranged at the same horizontal distance from a longitudinal axis of cylindrical guiding pins (16, 25) means that, particularly advantageously, no transverse forces occur when the actuator (1) moves from an initial position to a working position or to an end position.

(6) Although two actuator elements (2) are provided in this example, it is conceivable that a single or more than two actuator elements are provided. For example, three actuator elements may be provided, two of which are arranged at a horizontal distance from a longitudinal axis of the guiding pins (16, 25). A third actuator element can be arranged in such way that its deflection direction is coaxial to the longitudinal axis of the guiding pins (16, 25) during movement into the working position.

(7) A base (15) is formed on a side of the first clamping block (7) facing away from the actuator elements (2), from which base the first guiding pin (16) projects, which engages in a guiding channel (17) of a first actuator frame end part (18). Furthermore, the pin (16) is passed through an opening (19) of a symmetrical snap spring (20) having end portions (21) bent in the installed state. For fixing a central part (22) of the snap spring (20), a fixing element (23) is provided, which is set up with a side facing the snap spring (20) for forming a snap-in connection with a side of the clamping block (7) facing the snap spring (20).

(8) A base (24) is formed on a side of the second clamping block (10) facing away from the actuator elements (2), from which base the second guiding pin (25) projects, which is guided through a guiding channel (26) of a second actuator frame end part (27) out of an actuator frame (28) surrounding the actuator elements (2). Between an outer side of the actuator frame end part (27) and a disc-shaped end piece (29), a preloaded helical spring (30) surrounds the guiding pin (25), which has an end facing away from the second clamping block (10), which is provided for connection to the end piece (29).

(9) The actuator frame (28) also has two actuator frame side parts (31, 32) connecting the first and second actuator frame end parts (18, 27). The end portions (21) of the snap spring (20) are connected to the actuator frame (28) between the actuator frame side parts (31, 32) and the actuator frame end part (18). In this embodiment, they are arranged obliquely to each of the actuator frame side parts (31, 32).

(10) Electrical contacting of the foil elements and their control is carried out by means known to the skilled person and is not shown in FIG. 1.

(11) The actuator (1) is shown in FIG. 1B in an initial position in which no tension is applied to the actuator elements (2) and in FIG. 1C in an end position in which the end piece (29) is lifted off a base plate (33) shown in FIGS. 1B and C and the actuator elements (2) are deflected.

(12) Furthermore, the snap spring (20) has changed from a first equilibrium position in the initial position of the actuator (19) to a second equilibrium position in the end position. Each actuator position between an initial position shown in FIG. 1B, for example, and an end position shown in FIG. 1C is a working position. Each working position can be controlled by a suitable choice of an electrical signal. When the actuator (1) is moved from the initial position to the end position or to a working position, the clamping rails (8, 11) shown in FIGS. 1B and C are moved from a position shown in FIG. 1B to a position shown in FIG. 1C, which is different from that shown in FIG. 1B, due to the floating bearing. A fixed abutment is not provided.

(13) If the actuator (1) according to the invention is used, for example, to control a valve, the valve can be closed in the initial position of the actuator (1) and open in the working position. A maximum possible open position is shown in FIG. 1C in simplified form by lifting the end piece (29) off the base plate (33).

(14) It is also conceivable that the actuator (1) is used to control a brake. A brake position corresponds to the initial position of the actuator and a maximum release position corresponds to the end position of the actuator. For this purpose, the end piece (29) can be designed, for example, as a brake lining that presses against a base plate (33) designed as a brake disk in the braking position.

(15) In a force-displacement diagram shown schematically in FIG. 1D, a constant force F.sub.S is shown which corresponds to the pretensioning force of the spring (30) and which must be overcome, for example, to open a valve or to open a brake.

(16) Furthermore, the two characteristic curves of the snap spring (20) K.sub.SF are shown, as well as those characteristic curves K.sub.S1 and K.sub.S2 of a system consisting of the actuator elements (2) and the spring (30), where K.sub.S1 is the characteristic curve at a voltage of 0 V applied to the actuator element and K.sub.S2 is the characteristic curve at a voltage greater than 0 V, for example 2000 V, applied to the actuator element. Both the initial position of the actuator and the end position of the actuator are equilibrium positions of the system. The initial position is a first equilibrium position (34), which in FIG. 1D is an intersection of characteristic K.sub.SF with K.sub.S1, while a second equilibrium position (35) is an intersection of characteristic K.sub.SF with K.sub.S2. A snap spring is characterized by the characteristic K.sub.SF.

(17) The fact that the actuator elements (2) are mounted between the spring (30) and the snap spring (20) means that the actuator can provide a high force F.sub.max, which can be used, for example, to open a valve or to press a brake lining against a brake disk. A curve of the actuator force as a function of the elongation of the actuator elements (2) is shown schematically in FIG. 1E.

(18) Reference is now made to FIG. 2, where identical or like-acting parts with the same reference number as in FIG. 1 and the letter a is added to the respective reference number.

(19) An actuator (1a) shown in FIG. 2A differs from that shown in FIG. 1A in that an actuator element (2a) is formed of a shape memory alloy (SMA), in particular a shape memory alloy comprising nickel and titanium, and is wire-shaped. Further, an actuator frame of the actuator element has a U-shaped actuator frame base (36), the base leg (37) of which is adapted to be connected to a spring (30a).

(20) In an initial position of the actuator (1a) shown in FIG. 2B, the actuator element (2a) is in an elongated, deformed state. In an end position shown in FIG. 2C, the actuator element (2a) is in an original basic state in which it is shorter than in the initial position of the actuator (1a). A change from the elongated to the basic state can affected, for example, by heating, which is possible by applying a current I.

(21) In a force-displacement diagram schematically shown in FIG. 2D, a maximum possible stroke H is shown. Furthermore, the two characteristic curves of the snap spring (20a) K.sub.SFa are shown, as well as those characteristic curves K.sub.S1a and K.sub.S2a of a system consisting of the actuator element (2a) and the spring (30a), where K.sub.S2a is the characteristic curve in an elongated state of the actuator element and K.sub.S1a is the characteristic curve when the actuator element is heated. Both an initial position of the actuator and an end position are equilibrium positions of the system. The initial position is a first equilibrium position (34a), which in FIG. 2D is an intersection of the characteristic curve K.sub.SFa with K.sub.S2a, while a second equilibrium position (35a) is an intersection of the characteristic curve K.sub.SFa with K.sub.S1a.

(22) Because the actuator element (2a) is supported between the spring (30a) and the snap spring (20a), a small change in length of the actuator element (2a) can cause a high stroke H. This is shown schematically in FIG. 2E. A force dF shown in FIG. 2D denotes a maximum force that can be generated with the actuator according to the invention.

(23) In a particular embodiment of an actuator (1a) shown in FIG. 2F, end sections (21a) of a snap spring (20a) are arranged perpendicular to legs (38) of an actuator frame base (36). Furthermore, the actuator (1a) comprises another preloaded coil spring (39) surrounding a guiding means (16a) and abutting against an end piece (29a). This arrangement of three restoring means (20, 30a, 39) allows an total restoring means characteristic curve of the actuator (1a) to be adjusted in such way that snapping back of the snap spring (20a) from the working position to the initial position and beyond the initial position is advantageously prevented.

(24) In addition, the total restoring means characteristic curve is comparable to that of the actuator shown in FIGS. 2A to C.

(25) Without the additional spring (39), an total restoring means characteristic curve would be altered such that the snap spring (20a) could snap toward a spring (30a) as well as away from a spring (30a).

(26) While an actuator (1) shown in FIG. 1 is particularly suitable for generating a large force that can be used on a side facing a base plate (33), an actuator (1a) shown in FIG. 2 is suitable for generating a particularly large stroke.

(27) Reference is now made to FIG. 3, where identical or like-acting parts with the same reference number as shown in FIGS. 1 and 2, and the letter b is added to the respective reference number.

(28) A particular embodiment of an actuator (1b) shown in an exploded view in FIG. 3 differs from that shown in FIG. 1 in that a rotationally symmetrical, diaphragm-shaped, dielectric actuator element (2b) can be deflected out of a diaphragm plane.

(29) A snap spring (20b) has four spring arms with barb-shaped ends (40), with which the snap spring (20b) can be connected to an actuator frame (28b) in a force-fitting, form-fitting and/or material-fitting manner. While in this embodiment the actuator frame (28b) can be moved from an initial position to a working position when the actuator (1b) is moved, a retaining element (41) that connects the snap spring (20b) to a helical spring (30b) and which is provided as an abutment for the two springs (20b, 30b) is arranged in a stationary manner and can be fastened, for example, to a retaining frame not shown in FIG. 3. For this purpose, a pin (45) projecting from a side of the retaining element (41) facing away from the coil spring (30b) and passing through an opening (19b) in the snap spring (20b) can be provided with an external thread into which a retaining tube of the retaining frame is screwed with an internal thread.

(30) The actuator element (2b) is further formed as a dielectric elastomer sheet and is inserted into a two-part actuator element holding frame (42) attached to the actuator frame (28b) in such way that a deflection of the actuator element (2b) can be effected in a membrane-like manner, i.e. by a curvature parallel or preferably coaxial to a deflection direction of the coil spring (30b). An end piece (29b) is fixedly connected to the actuator element (2b) and causes flattening of its outer side. The coil spring (30b) is arranged between the stationary retaining element (41) and the end piece (29b). The movable actuator frame (28b) and the actuator element (2b) form part of a movable actuator housing.

(31) FIG. 3B shows a perspective view of the actuator shown in FIG. 3A.

(32) In an initial position of the actuator (1b), which is shown in FIG. 3C in section A-A, a side (43) of the end piece (29b) facing a base plate (33b) rests against the base plate (33b) and covers an opening (44). When the actuator (1b) is moved to an end position, i.e. to a maximum possible working position, the end piece (29b) and the movable actuator frame (28b) are moved vertically away from the base plate (33b). The four spring arms of the snap spring (20b) connected to the movable actuator frame (28b), whose longitudinal axes are arranged at right angles to each other, enable a guided linear movement.

(33) A force-displacement characteristic curve of the actuator (1b) shown in FIG. 3 is qualitatively identical to that shown in FIG. 1D.

(34) The embodiment shown in FIG. 3 advantageously makes a compact design of the actuator possible.

(35) Although two restoring means (20, 30; 20a, 30a; 20b, 30b) are provided in the embodiments shown in FIGS. 1, 2A to 2E and FIG. 3, it is conceivable that an actuator element (2, 2a; 2b) is arranged between a plurality of restoring means acting on the actuator element, which restoring means may further be of different designs and may have restoring means characteristics different from each other.