Rotary-linear actuation assembly
A rotary-linear actuation assembly is provided, in particular of a kind suitable to provide in independent manner at its output, either sequentially or simultaneously, a rotary movement and a linear translation movement. The assembly comprises a casing internally housing an output shaft arranged coaxial with an actuation axis (A) in a translationally and rotationally movable manner; and at least two electromagnetic actuators each comprising a respective electromagnetic stator and a respective magnetic rotor, a first of which being a linear actuator adapted to impart, at its output, a translational movement along the actuation axis (A), and a second of which being a rotary actuator adapted to impart, at its output, a rotary movement around the actuation axis (A). The electromagnetic stators of the electromagnetic actuators are arranged in a mutually coaxial and concentric manner, and each actuator independently acts on the output shaft.
1. A rotary-linear actuation assembly ( 10 ) comprising a casing ( 25 ) internally housing:
an output shaft ( 13 ) arranged coaxial with an actuation axis (A) in a translationally and rotationally movable manner; and
at least two electromagnetic actuators ( 11 , 12 ) each comprising a respective electromagnetic stator ( 16 , 15 ) and a respective magnetic rotor ( 18 , 17 ), a first of which is a linear actuator ( 11 ) adapted to impart, at its output, a translational movement along the actuation axis (A), and a second of which is a rotary actuator ( 12 ) adapted to impart, at its output, a rotary movement around the actuation axis (A),
wherein the electromagnetic stators ( 15 , 16 ) of the electromagnetic actuators ( 11 , 12 ) are arranged in a mutually coaxial and concentric manner, and each actuator ( 11 , 12 ) independently acts on the output shaft ( 13 ), and
wherein inside the casing ( 25 ), a central rod ( 14 ) extends coaxially with the output shaft ( 13 ) and partly inside the output shaft ( 13 ), a radially outermost electromagnetic stator ( 15 , 16 ) out of the first ( 16 ) and the second ( 15 ) electromagnetic stator being integrally constrained inside the casing ( 25 ) and one radially innermost electromagnetic stator ( 16 , 15 ) out of the first ( 16 ) and the second ( 15 ) electromagnetic stator being integrally constrained to the central rod ( 14 ).
2. The rotary-linear actuation assembly ( 10 ) according to claim 1 , wherein the magnetic rotors ( 17 , 18 ) have a larger axial size with respect to the axial size of the corresponding electromagnetic stators ( 15 , 16 ) by an amount at least equal to a maximum translational movement imparted by the first linear actuator ( 11 ) along the actuation axis (A) between a first and a second stroke end position.
3. The rotary-linear actuation assembly ( 10 ) according to claim 1 , wherein a first magnetic rotor ( 18 ) of the respective magnetic rotors associated with a first electromagnetic stator ( 16 ) of the respective electromagnetic stators comprises a plurality of coaxially arranged annular permanent magnets, with alternating polarities along an axial extension of the output shaft ( 13 ).
4. The rotary-linear actuation assembly ( 10 ) according to claim 3 , wherein the annular permanent magnets are coaxially arranged, with alternating polarities along the axial extension of the output shaft ( 13 ), by the interposition of annular elements ( 18 a ) suitable to promote the generation of a radial magnetic field.
5. The rotary-linear actuation assembly ( 10 ) according to claim 1 , wherein a second magnetic rotor ( 17 ) of the respective magnetic rotors associated with a second electromagnetic stator ( 15 ) of the respective electromagnetic stators comprises a plurality of permanent magnets with elongated shape, arranged parallel to the actuation axis (A), with alternating polarities along an axial extension of an outer jacket surface of the output shaft ( 13 ).
6. The rotary-linear actuation assembly ( 10 ) according to claim 1 , wherein an innermost portion ( 13 a ) of the output shaft ( 13 ) inside the casing ( 25 ) is hollow and houses at its interior the central rod ( 14 ) and the radially innermost electromagnetic stator ( 16 , 15 ) constrained to the same rod ( 14 ).
7. The rotary-linear actuation assembly ( 10 ) according to claim 6 , wherein a radially innermost magnetic rotor ( 18 , 17 ) out of the first ( 18 ) and the second ( 17 ) magnetic rotor, associated with the radially innermost electromagnetic stator ( 16 , 15 ), is mounted on an inner jacket surface of the hollow portion ( 13 a ) of the output shaft ( 13 ), and a radially outermost magnetic rotor ( 17 , 18 ) out of the first ( 18 ) and the second ( 17 ) magnetic rotor, associated with the radially outermost electromagnetic stator ( 15 , 16 ), is mounted on an outer jacket surface of the hollow portion ( 13 a ) of the output shaft ( 13 ).
8. The rotary-linear actuation assembly ( 10 ) according to claim 7 , wherein at least the inner jacket surface and/or at least the outer jacket surface of the hollow portion ( 13 a ) of the output shaft ( 13 ) is made of a ferromagnetic material.
9. The rotary-linear actuation assembly ( 10 ) according to claim 6 , wherein at least an inner jacket surface and/or at least an outer jacket surface of the hollow portion ( 13 a ) of the output shaft ( 13 ) is made of a ferromagnetic material.
10. The rotary-linear actuation assembly ( 10 ) according to claim 1 , wherein the output shaft ( 13 ) is guided inside the casing ( 25 ) by means of a guide element ( 19 ) adapted to allow both rotation and translation.
11. The rotary-linear actuation assembly ( 10 ) according to claim 1 , wherein the electromagnetic stators ( 15 , 16 ) have mutually different axial sizes.
12. The rotary-linear actuation assembly ( 10 ) according to claim 1 , wherein the magnetic rotors ( 17 , 18 ) have mutually different axial sizes.
13. The rotary-linear actuation assembly ( 10 ) according to claim 1 , wherein the magnetic rotor of the second, rotary actuator has a larger axial size than the magnetic rotor of the first, linear actuator.