Electric push rod with redundancy differential output

Abstract

The invention provides a multi-redundancy differential output electric push rod, which belongs to the technical field of electric actuators, and specifically comprises a motor, a planet wheel set, a differential mechanism, a first push rod assembly, a second push rod assembly and a switch assembly, when the external force borne by the output ends of the first push rod assembly and the second push rod assembly in the movement direction of the output ends of the first push rod assembly and the second push rod assembly exceeds a preset value, the planet carrier stops rotating, the motor is still in a forward rotation or reverse rotation starting state, the gear ring rotates reversely or forwards to drive the shifting fork to rotate, and the gear ring rotates forwards or backwards to drive the shifting fork to rotate. The acting force of the shifting fork on the convex shaft overcomes the elastic force of the spring and drives the sliding plate to move, the sliding plate drives the shifting piece to approach the microswitch and press the microswitch, the motor is turned off, and overload of the motor is avoided.

Description

Technical Field

[0001] The present application relates to the field of electric actuators, and in particular to an electric push rod with redundant differential output. Background Art

[0002] Electric linear actuators can realize automatic control and are applied in various fields. They are used as actuators in various simple or complex occasions. In the prior art, electric linear actuators are usually only used for electric unidirectional operation. They cannot work in power-off emergency conditions and have low reliability. In the field of aviation actuation, electric linear actuators are required to have bidirectional differential drive capabilities, uncertain motion positions, and overload protection within a specific load range. Traditional electric linear actuators cannot meet the use requirements. Summary of the invention

[0003] In view of this, the present application provides an electric push rod with redundant differential output to solve the problem that the prior art cannot meet the bidirectional differential drive capability and cannot provide overload protection within a specific load range.

[0004] The present application provides an electric linear actuator with redundant differential output, which adopts the following technical solution:

[0005] An electric push rod with redundant differential output comprises a motor, a planetary gear set, a differential, a first push rod assembly, a second push rod assembly and a switch assembly;

[0006] The output shaft of the motor is connected to the sun gear of the planetary gear set, the motor drives the sun gear to rotate, the output end of the planetary carrier of the planetary gear set and the input end of the differential are connected through a transmission structure, the rotation of the planetary carrier drives the input end of the differential to rotate, the input end of the first push rod assembly is connected to an output shaft of the differential, the output end of the second push rod assembly is connected to another output shaft of the differential, and the first push rod assembly and the second push rod assembly convert the rotational motion of the differential output shaft into linear motion;

[0007] The switch assembly comprises a fixed frame, a shift fork, a spring, a sliding plate, two shift paddles, and two opposite micro switches, wherein one end of the shift fork is open, and the other end of the shift fork is connected to the gear ring of the planetary gear set, the micro switch is mounted on the fixed frame, the two shift paddles are located between the two micro switches, the sliding plate is slidably mounted on the fixed frame, one side of the sliding plate is fixedly connected to the two shift paddles, the sliding plate is connected to one end of the spring, and the other end of the spring is fixedly connected to the fixed frame, a convex shaft is provided on the sliding plate, and the convex shaft is located in the opening of the shift fork, the moving direction of the sliding plate is parallel to the travel direction of the micro switch, and the micro switch is used to control the start and stop of the motor;

[0008] Among them, when the external force applied to the output ends of the first push rod assembly and the second push rod assembly along the movement direction of their own output ends exceeds a preset value, the planetary carrier stops rotating, and the motor is still in a forward or reverse starting state, then the ring gear reverses or rotates forward to drive the shift fork to rotate, and the force of the shift fork on the cam overcomes the elastic force of the spring, driving the sliding plate to move, and the sliding plate drives the paddle to approach the micro switch and press the micro switch to turn off the motor.

[0009] Optionally, a hexagonal hole is provided on the end face of the planetary carrier of the planetary gear set away from the sun gear, and the hexagonal hole is used to match a wrench. The planetary carrier is driven to rotate by inserting the wrench into the hexagonal hole, thereby driving the output shafts of the first push rod assembly and the second push rod assembly to perform linear motion.

[0010] Optionally, the electric push rod with redundant differential output includes a first shell, a handle and a control switch, the first shell wraps the planetary gear set and the differential, the first shell is fixedly connected to the shell of the motor, the first shell has a hollow area aligned with the hexagonal hole, and the shell of the motor is provided with a through hole on a first end face away from the planetary gear set, the through hole extends toward one side of the motor, the length direction of the through hole is parallel to the length direction of the motor shaft, the handle includes a rotating rod located in the through hole and a handle connected to the end of the rotating rod, the inner wall of the through hole is provided with a strip groove and an annular groove extending along the length direction of the through hole, the annular groove and the strip groove are connected at one end away from the motor, the rotating rod is provided with a protrusion, the protrusion slides along the strip groove and slides along the circumferential direction of the annular groove;

[0011] An arc groove is provided on the first end surface, the arc groove and the through hole are coaxially arranged, one end of the handle away from the rotating rod is located in the arc groove and a pressure block slides along the arc groove, and a control switch is provided on the inner wall of one end of the arc groove, and the control switch is used to control the start and stop of the motor;

[0012] The handle is pulled to make the protrusion slide along the strip groove into the annular groove, and the handle is rotated to make the protrusion slide along the annular groove, and the pressing block on the handle presses the control switch in the arc groove.

[0013] Optionally, the first push rod assembly and the second push rod assembly each include a ball screw, a telescopic shaft and a second shell, the second shell and the first shell are fixedly connected, the screw of the ball screw is rotatably installed on the second shell, the telescopic shaft is slidably installed on the second shell, the screw of the ball screw is connected to the output shaft of the differential, the nut of the ball screw is fixedly connected to one end of the telescopic shaft, and the other end of the telescopic shaft is connected to a joint assembly, the telescopic shaft serves as the output shaft of the first push rod assembly and the second push rod assembly, and the joint assembly is used to connect external accessories.

[0014] Optionally, the first push rod assembly and the second push rod assembly both further include a displacement detection assembly, and the displacement detection assembly is used to detect the displacement of the joint assembly.

[0015] Optionally, the displacement detection assembly includes a first gear, a second gear, a first screw rod, a first nut and a linear sliding potentiometer, the first gear and the screw rod of the ball screw are coaxially connected, the second gear and the first screw rod are coaxially connected, the first gear and the second gear are meshed, the first screw rod is rotatably installed on the second housing, the first screw rod and the screw rod of the ball screw are parallel, the first nut is threadedly connected to the first screw rod, the first nut is slidably installed on the second housing, the linear sliding potentiometer is arranged along the length direction of the first screw rod, and the first nut is connected to a slider of the linear sliding potentiometer.

[0016] Optionally, the axial directions of the output shaft of the motor, the planetary gear set, the output shaft of the differential, the output shaft of the first push rod assembly and the output shaft of the second push rod assembly are parallel to each other, the differential includes a ring gear sleeved on the outer periphery of the output shaft of the differential, the ring gear is connected to the two planetary bevel gears of the differential, the ring gear of the differential and the axial directions of the planet carrier are parallel, and the output end of the planet carrier and the ring gear of the differential are transmitted through a transmission gear set.

[0017] In summary, this application includes the following beneficial technical effects:

[0018] When the external force applied to the output ends of the first push rod assembly and the second push rod assembly along the direction of movement of the output ends thereof exceeds a preset value, the planetary carrier stops rotating and the motor is still in a forward or reverse starting state. Then, the ring gear reverses or rotates forward to drive the shift fork to rotate. The force of the shift fork on the cam overcomes the elastic force of the spring to drive the sliding plate to move. The sliding plate drives the paddle to approach the micro switch and press the micro switch to turn off the motor and avoid overloading the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 This is a schematic diagram of the overall structure of the electric push rod with redundant differential output in this application;

[0021] Figure 2This is a schematic diagram of the connection structure of the motor, planetary gear set, first push rod assembly and second push rod assembly of the differential in this application;

[0022] Figure 3 This is a detailed structural diagram of the connection between the motor, planetary gear set, first push rod assembly and second push rod assembly of the differential in this application;

[0023] Figure 4 This is a schematic diagram of the structure of the switch assembly of this application;

[0024] Figure 5 This is a schematic diagram of the structure of the paddle and micro switch of this application;

[0025] Figure 6 This is a schematic diagram of the structure of the handle of this application;

[0026] Figure 7 This is a schematic diagram of the internal structure of the second push rod assembly of the present application;

[0027] Figure 8 This is a schematic diagram of the structure of the displacement detection component of this application.

[0028] Explanation of the reference numerals: 1. motor; 2. planetary gear set; 21. planetary carrier; 22. hexagonal hole; 3. differential; 31. ring gear; 32. transmission gear set; 4. first push rod assembly; 5. second push rod assembly; 6. switch assembly; 61. fixing frame; 62. shift fork; 63. spring; 64. sliding plate; 65. paddle; 66. micro switch; 67. limit block; 7. first housing; 8. second housing; 9. handle; 91. handle; 92. arc groove; 93. control switch; 101. ball screw; 102. telescopic shaft; 103. joint assembly; 104. first screw; 105. first nut; 106. linear sliding potentiometer. DETAILED DESCRIPTION

[0029] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0030] The following describes the implementation methods of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the following embodiments and the features in the embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0031] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present application, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this device and / or practice this method.

[0032] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. The illustrations only show the components related to the present application rather than being drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0033] Additionally, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects described may be practiced without these specific details.

[0034] An embodiment of the present application provides an electric linear actuator with redundant differential output.

[0035] like Figure 1 , Figure 2 and Figure 3 As shown, an electric push rod with redundant differential output includes a motor 1, a planetary gear set 2, a differential 3, a first push rod assembly 4, a second push rod assembly 5 and a switch assembly 6.

[0036] like Figure 2 and Figure 3 As shown, the output shaft of the motor 1 is connected to the sun gear of the planetary gear set 2, and the motor 1 drives the sun gear to rotate. The output end of the planetary carrier 21 of the planetary gear set 2 and the input end of the differential 3 are connected through a transmission structure. The rotation of the planetary carrier 21 drives the input end of the differential 3 to rotate. The input end of the first push rod assembly 4 is connected to an output shaft of the differential 3, and the output end of the second push rod assembly 5 is connected to another output shaft of the differential 3. The first push rod assembly 4 and the second push rod assembly 5 convert the rotational motion of the output shaft of the differential 3 into linear motion.

[0037] like Figure 4 and Figure 5As shown, the switch assembly 6 includes a fixed frame 61, a shift fork 62, a spring 63, a sliding plate 64, two paddles 65, and two opposite micro switches 66. One end of the shift fork 62 is open, and the other end of the shift fork 62 is connected to the ring gear of the planetary gear set 2. The micro switch 66 is installed on the fixed frame 61, and the two paddles 65 are located between the two micro switches 66. The sliding plate 64 is slidably installed on the fixed frame 61, one side of the sliding plate 64 is fixedly connected to the two paddles 65, the sliding plate 64 is connected to one end of the spring 63, and the other end of the spring 63 is fixedly connected to the fixed frame 61. A cam is fixedly provided on the sliding plate 64, and the cam is located in the opening of the shift fork 62. The rotation of the ring gear drives the shift fork 62 to rotate, thereby shifting the cam, driving the cam and the sliding plate 64 to slide, and the moving direction of the sliding plate 64 is parallel to the stroke direction of the micro switch 66. The micro switch 66 is used to control the start and stop of the motor 1. In the embodiment of the present application, the ring gear is rotatably arranged relative to the housing of the motor 1 .

[0038] Among them, after the motor 1 starts to rotate forward, when the output shafts of the first push rod assembly 4 and the second push rod assembly 5 are not restricted, the ring gear of the planetary gear set 2 does not rotate under the action of the elastic force of the spring 63, but the planetary carrier 21 rotates to drive the output shaft of the differential 3 to rotate. When the output shafts of the first push rod assembly 4 and the second push rod assembly 5 reach a specific position, the movement of the output shafts of the first push rod assembly 4 and the second push rod assembly 5 is restricted. The specific position here can be the formation end point of the first push rod assembly 4 and the second push rod assembly 5, or it can be the output shaft of the first push rod assembly 4 and the second push rod assembly 5 reaches When the external force received by the output ends of the first push rod assembly 4 and the second push rod assembly 5 along the direction of movement of their own output ends exceeds a preset value, the rotation of the planetary carrier 21 is restricted and stops rotating, and the motor 1 is still in the forward starting state, then the gear ring reverses to drive the shift fork 62 to rotate, and the force of the shift fork 62 on the cam overcomes the elastic force of the spring 63, driving the sliding plate 64 to move in the first direction, and the sliding plate 64 drives one of the paddles 65 to approach one of the micro switches 66 and press the micro switch 66 to turn off the motor 1. When the motor 1 starts to reverse, the output shaft movement direction of the first push rod assembly 4 and the second push rod assembly 5 is opposite to the output shaft movement direction of the first push rod assembly 4 and the second push rod assembly 5 when the motor 1 rotates forward. When the motor 1 starts to reverse, after the output shaft movement of the first push rod assembly 4 and the second push rod assembly 5 is limited, the gear ring rotates forward to drive the sliding plate 64 to move toward the second direction, the first direction and the second direction are opposite, and the sliding plate 64 drives another paddle 65 to approach another micro switch 66, and presses the micro switch 66 to turn off the motor 1. That is, when the output shafts of the first push rod assembly 4 and the second push rod assembly 5 move to the right position and are limited in movement, the motor 1 is turned off to avoid overloading of the motor 1.

[0039] In the embodiment of the present application, the axial directions of the output shaft of the motor 1, the planetary gear set 2, the output shaft of the differential 3, the output shaft of the first push rod assembly 4 and the output shaft of the second push rod assembly 5 are parallel to each other. The differential 3 includes a ring gear 31 sleeved on the outer periphery of the output shaft of the differential 3. The ring gear 31 is connected to the two planetary bevel gears of the differential 3. The ring gear 31 of the differential 3 and the axial directions of the planet carrier 21 are parallel. The output end of the planet carrier 21 and the ring gear 31 of the differential 3 are transmitted through a transmission gear set 32, that is, a gear is sleeved on the output end of the planet carrier 21, and one or more mutually meshing gears are arranged between the gear and the ring gear 31, so as to transmit the power of the planet to the ring gear 31. In the embodiment of the present application, the ring gear 31 serves as the input end of the differential 3. In other embodiments, the annular gear 31 of the differential 3 is an annular bevel gear, and the differential 3 also includes an input shaft. The output shaft of the differential 3 and the annular bevel gear are transmitted through a bevel gear. The input shaft of the differential 3 is perpendicular to the axial direction of the planet carrier 21, and the output end of the planet carrier 21 and the input shaft of the differential 3 are transmitted through a bevel gear set. At this time, the input shaft of the differential 3 serves as the input end of the differential 3.

[0040] like Figure 5 As shown, in the embodiment of the present application, a limit block 67 is provided on the fixing frame 61 , and when the paddle 65 presses the micro switch 66 , the paddle 65 abuts against the limit block 67 to prevent the paddle 65 from exerting too much force on the micro switch 66 .

[0041] like Figure 1 and Figure 3 As shown, a hexagonal hole 22 is provided on the end face of the planetary carrier 21 of the planetary gear set 2 away from the sun gear, and the hexagonal hole 22 is used to match a wrench. The planetary carrier 21 is driven to rotate by inserting the wrench into the hexagonal hole 22, and the output shaft of the first push rod assembly 4 and the second push rod assembly are driven to make a linear motion, thereby realizing the manual drive of the electric push rod with redundant differential output.

[0042] like Figure 1 and Figure 6As shown, the electric push rod with redundant differential output includes a first housing 7, a handle 9 and a control switch 93. The first housing 7 encloses the planetary gear set 2 and the differential 3, and the first housing 7 is fixedly connected to the housing of the motor 1. The first housing 7 has a hollow area aligned with the hexagonal hole 22, and the housing of the motor 1 is provided with a through hole on the first end face away from the planetary gear set 2, the through hole extends to one side of the motor 1, and the length direction of the through hole is parallel to the length direction of the motor 1 shaft. The handle 9 includes a rotating rod located in the through hole and a handle 91 connected to the end of the rotating rod. The inner wall of the through hole is provided with a strip groove and an annular groove extending along the length direction of the through hole, and the annular groove is connected to the end of the strip groove away from the motor 1. The rotating rod is provided with a protrusion, and the protrusion slides along the strip groove and slides along the circumferential direction of the annular groove. Wherein, the gear ring is rotatably installed in the first housing 7 through a bearing.

[0043] An arc groove 92 is provided on the first end face, and the arc groove 92 and the through hole are coaxially arranged. The end of the handle 91 away from the rotating rod is located in the arc groove 92 and is a pressure block that slides along the arc groove 92. A control switch 93 is provided on the inner wall of one end of the arc groove, and the control switch 93 is used to control the start and stop of the motor 1.

[0044] The handle 91 is pulled to make the protrusion slide along the strip groove into the annular groove, and the handle 91 is rotated to make the protrusion slide along the annular groove, and the pressing block on the handle 91 presses the control switch 93 in the arc groove 92 .

[0045] When the protrusion of the rotating rod is located at the end of the strip groove away from the annular groove, the handle 9 cannot rotate. After the protrusion enters the annular groove, the handle 9 can rotate. Turning the handle 91 presses the control switch 93 to turn off the motor 1. When using the handle 9, it is necessary to pull the handle to move before turning the handle to avoid accidental operation of turning off the control switch 93.

[0046] In other embodiments, the handle 9 may not be provided, and a control switch that can be pressed by a hand is directly provided on the side of the motor 1 to control the start and stop of the motor 1.

[0047] like Figure 2 and Figure 7As shown, the first push rod assembly 4 and the second push rod assembly 5 both include a ball screw 101, a telescopic shaft 102 and a second housing 8, the second housing 8 and the first housing 7 are fixedly connected, the screw of the ball screw 101 is rotatably mounted on the second housing 8, the telescopic shaft 102 is slidably mounted on the second housing 8, the screw of the ball screw 101 is connected to the output shaft of the differential 3, the nut of the ball screw 101 is fixedly connected to one end of the telescopic shaft, the other end of the telescopic shaft 102 is connected to the joint assembly 103, the telescopic shaft 102 serves as the output shaft of the first push rod assembly 4 and the second push rod assembly 5, and the joint assembly 103 is used to connect external accessories. In one embodiment, rubber washers are provided at both ends of the second housing 8, and when the output shafts of the first push rod assembly 4 and the second push rod assembly 5 reach the end of the stroke, the rubber washers are used to abut against the nut of the ball screw 101 to buffer the impact of the output shafts of the first push rod assembly 4 and the second push rod assembly 5. In the embodiment of the present application, the output shafts of the first push rod assembly 4 and the second push rod assembly 5 move in opposite directions.

[0048] The first push rod assembly 4 and the second push rod assembly 5 both further include a displacement detection assembly, and the displacement detection assembly is used to detect the displacement of the joint assembly 103 .

[0049] like Figure 8 As shown, the displacement detection assembly includes a first gear, a second gear, a first screw rod 104, a first nut 105 and a linear sliding potentiometer 106, and the first gear and the second gear are located on a side close to the output shaft of the differential. The first gear is coaxially connected to the screw rod of the ball screw 101, the second gear is coaxially connected to the first screw rod 104, the first gear and the second gear are meshed, the first screw rod 104 is rotatably mounted on the second housing 8, the first screw rod 104 is parallel to the screw rod of the ball screw 101, the first nut 105 is threadedly connected to the first screw rod 104, the first nut 105 is slidably mounted on the second housing 8, the linear sliding potentiometer 106 is arranged along the length direction of the first screw rod 104, and the first nut 105 is connected to the slider of the linear sliding potentiometer 106.

[0050] The ball screw rotates, the output shafts of the first push rod assembly 4 and the second push rod assembly 5 extend and retract, and the first nut 105 drives the slider of the linear sliding potentiometer 106 to change the voltage as the output shaft stroke of the first push rod assembly 4 and the second push rod assembly 5 changes, and the output shaft displacement of the first push rod assembly 4 and the second push rod assembly 5 is fed back to the host computer.

[0051] The working states of the electric push rod of this application include:

[0052] When manual operation is required, the handle 9 is pulled outward along the axis, and the handle 9 is turned along the arc groove 92 set on the first housing 7 to the action button position of the control switch 93, and the button of the control switch 93 is pressed to disconnect the electrical circuit of the motor 1, and the product cannot be operated electrically. At this time, a universal hexagonal wrench or a hand drill can be inserted into the hexagonal hole on the planet carrier 21 for manual operation, so that the joint assembly 103 on the first push rod assembly 4 and the second push rod assembly 5 moves to the specified position.

[0053] The screw threads of the ball screws 101 on the first push rod assembly 4 and the second push rod assembly 5 are arranged oppositely. During electric operation, if the output shafts of the first push rod assembly 4 and the second push rod assembly 5 are subjected to uniform force, the electric push rods can extend or retract to both sides at the same time.

[0054] When the screw rods of the ball screw 101 on the first push rod assembly 4 and the second push rod assembly 5 are subjected to uneven force, the planetary bevel gears of the differential 3 will both revolve along the screw rod axis of the ball screw 101 and rotate along their own axis, forcing the planetary bevel gears on both sides to move differentially. The screw rod of the ball screw 101 on the side subjected to greater force moves slower, while the screw rod of the ball screw 101 on the side subjected to less force moves faster, thereby preventing the joint assemblies 103 on both sides from damaging the contacting equipment.

[0055] During electric operation, when the output shafts of the first push rod assembly 4 and the second push rod assembly 5 are subjected to excessive force, the ring gear overcomes the elastic force of the spring 63 on the switch assembly 6, driving the sliding plate 64 to move, and the paddle 65 installed on the sliding plate 64 presses the micro switch 66, disconnecting the electrical circuit of the motor 1 and forcing the product to stop at this position.

[0056] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. An electric linear actuator with redundant differential output, characterized in that: It comprises an electric motor (1), a planetary gear set (2), a differential (3), a first push rod assembly (4), a second push rod assembly (5) and a switch assembly (6); The output shaft of the motor (1) is connected to the sun gear of the planetary gear set (2), and the motor (1) drives the sun gear to rotate. The output end of the planetary carrier (21) of the planetary gear set (2) and the input end of the differential (3) are connected via a transmission structure. The rotation of the planetary carrier (21) drives the input end of the differential (3) to rotate. The input end of the first push rod assembly (4) is connected to an output shaft of the differential (3), and the output end of the second push rod assembly (5) is connected to another output shaft of the differential (3). The first push rod assembly (4) and the second push rod assembly (5) convert the rotational motion of the output shaft of the differential (3) into linear motion. The switch assembly (6) comprises a fixed frame (61), a shift fork (62), a spring (63), a sliding plate (64), two shifting pieces (65), and two micro switches (66) facing each other. One end of the shift fork (62) is open, and the other end of the shift fork (62) is connected to the gear ring of the planetary gear set (2). The micro switches (66) are mounted on the fixed frame (61), the two shifting pieces (65) are located between the two micro switches (66), and the sliding plate (64) is slidably mounted on the fixed frame (61). The sliding plate (64) is fixedly connected to the frame (61), one side of the sliding plate (64) is fixedly connected to two paddles (65), the sliding plate (64) is connected to one end of a spring (63), the other end of the spring (63) is fixedly connected to the fixed frame (61), the sliding plate (64) is provided with a convex shaft, the convex shaft is located in the opening of the shift fork (62), the moving direction of the sliding plate (64) is parallel to the travel direction of the micro switch (66), and the micro switch (66) is used to control the start and stop of the motor (1); When the external force applied to the output ends of the first push rod assembly (4) and the second push rod assembly (5) in the direction of movement of the output ends thereof exceeds a preset value, the planet carrier (21) stops rotating, and the motor (1) is still in a forward or reverse starting state. Then, the gear ring reverses or rotates forward to drive the shift fork (62) to rotate. The force of the shift fork (62) on the cam overcomes the elastic force of the spring (63), driving the sliding plate (64) to move. The sliding plate (64) drives the shifting piece (65) to approach the micro switch (66) and press the micro switch (66), thereby turning off the motor (1).

2. The electric linear actuator with redundant differential output according to claim 1, characterized in that: A hexagonal hole (22) is provided on the end surface of the planet carrier (21) of the planetary gear set (2) away from the sun gear. The hexagonal hole (22) is used to match a wrench. The wrench is inserted into the hexagonal hole (22) to drive the planet carrier (21) to rotate, thereby driving the output shafts of the first push rod assembly (4) and the second push rod assembly to perform linear motion.

3. The electric linear actuator with redundant differential output according to claim 2, characterized in that: The electric push rod with redundant differential output comprises a first housing (7), a handle (9) and a control switch (93), wherein the first housing (7) encloses the planetary gear set (2) and the differential (3), the first housing (7) is fixedly connected to the housing of the motor (1), the first housing (7) has a hollow area aligned with the hexagonal hole (22), and the housing of the motor (1) is provided with a through hole on a first end face away from the planetary gear set (2), the through hole extends toward one side of the motor (1), and the length direction of the through hole is parallel to the length direction of the motor (1) shaft, the handle (9) comprises a rotating rod located in the through hole and a handle (91) connected to the end of the rotating rod, the inner wall of the through hole is provided with a strip groove and an annular groove extending along the length direction of the through hole, the annular groove and the strip groove are connected at one end away from the motor (1), the rotating rod is provided with a protrusion, the protrusion slides along the strip groove and slides along the circumferential direction of the annular groove; An arc groove (92) is provided on the first end surface, the arc groove (92) and the through hole are coaxially arranged, an end of the handle (91) away from the rotating rod is located in the arc groove (92) and a pressure block slides along the arc groove (92), and a control switch (93) is provided on the inner wall of one end of the arc groove, and the control switch (93) is used to control the start and stop of the motor (1); The handle (91) is pulled to cause the protrusion to slide along the strip groove into the annular groove, and the handle (91) is rotated to cause the protrusion to slide along the annular groove, and the pressing block on the handle (91) presses the control switch (93) in the arc groove (92).

4. The electric linear actuator with redundant differential output according to claim 1, characterized in that: The first push rod assembly (4) and the second push rod assembly (5) both comprise a ball screw (101), a telescopic shaft (102) and a second housing (8); the second housing (8) and the first housing (7) are fixedly connected; the screw of the ball screw (101) is rotatably mounted on the second housing (8); the telescopic shaft (102) is slidably mounted on the second housing (8); the screw of the ball screw (101) is connected to the output shaft of the differential (3); the nut of the ball screw (101) is fixedly connected to one end of the telescopic shaft; the other end of the telescopic shaft (102) is connected to a joint assembly (103); the telescopic shaft (102) serves as the output shaft of the first push rod assembly (4) and the second push rod assembly (5); and the joint assembly (103) is used to connect external accessories.

5. The electric linear actuator with redundant differential output according to claim 4, characterized in that: The first push rod assembly (4) and the second push rod assembly (5) both further include a displacement detection assembly, and the displacement detection assembly is used to detect the displacement of the joint assembly (103).

6. The electric linear actuator with redundant differential output according to claim 5, characterized in that: The displacement detection component comprises a first gear, a second gear, a first screw rod (104), a first nut (105) and a linear sliding potentiometer (106); the first gear is coaxially connected to the screw rod of the ball screw (101); the second gear is coaxially connected to the first screw rod (104); the first gear and the second gear are meshed; the first screw rod (104) is rotatably mounted on the second housing (8); the first screw rod (104) and the screw rod of the ball screw (101) are parallel; the first nut (105) and the first screw rod (104) are threadedly connected; the first nut (105) is slidably mounted on the second housing (8); the linear sliding potentiometer (106) is arranged along the length direction of the first screw rod (104); and the first nut (105) is connected to a slider of the linear sliding potentiometer (106).

7. The electric linear actuator with redundant differential output according to claim 1, characterized in that: The axial directions of the output shaft of the motor (1), the planetary gear set (2), the output shaft of the differential (3), the output shaft of the first push rod assembly (4) and the output shaft of the second push rod assembly (5) are parallel to each other; the differential (3) comprises a ring gear (31) sleeved thereon; the ring gear (31) is sleeved on the outer periphery of the output shaft of the differential (3); the ring gear (31) is connected to two planetary bevel gears of the differential (3); the axial directions of the ring gear (31) of the differential (3) and the planet carrier (21) are parallel to each other; the output end of the planet carrier (21) and the ring gear (31) of the differential (3) are driven by a transmission gear set (32).

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