Reverse type integrated miniature linear servo electric cylinder

Abstract

According to the reverse type integrated miniature linear servo electric cylinder, the open end of a rotor shell in a power transmission mechanism is fixedly connected with a planet retainer through a coupler, and the planet retainer is directly driven by adopting integrated treatment of the motor rotor shell and the planet retainer; after power transmission of the planet retainer, the output end is directly driven to realize linear motion without adding a speed reducing mechanism in a power transmission system of the electric cylinder, so that the internal space, occupied by the power transmission mechanism, of the electric cylinder is greatly reduced, the electric cylinder can be developed to a smaller and more compact structure, and the cost can also be saved; and moreover, the energy utilization rate of the electric cylinder is improved, the electric energy consumption of the electric cylinder is saved, and better economic benefits can be generated.

Description

Technical Field

[0001] This application relates to the field of mechanical technology, and more specifically, to a reverse-type integrated miniature linear servo electric cylinder. Background Technology

[0002] Electric cylinders (ECCs) are products specifically designed for continuous motion, low to high loads (usually high speeds), and capable of multiple cycles within their service life. These products offer extremely high positioning accuracy and controllability, enabling precise motion control under loads ranging from a few kilograms to 50 tons. Currently, the lead of the lead screw mechanism in ECCs remains relatively large. To reduce the output speed of the ECC drive motor, a reduction gear is sometimes added to the power transmission system. This results in the power transmission mechanism occupying a significant amount of internal space, leading to a larger structure and size, hindering miniaturization and micro-scale development. Summary of the Invention

[0003] To address the aforementioned issues, the purpose of this application is to provide a reverse-type integrated miniature linear servo electric cylinder.

[0004] In a first aspect, embodiments of this application provide a reverse-type integrated miniature linear servo electric cylinder, comprising: a sleeve housing and a stepped rod shaft, rollers, nuts, planetary cages, power transmission mechanisms, position sensors, and couplings located within the sleeve housing;

[0005] The sleeve housing includes: a pushing sleeve and an outer sleeve;

[0006] Both the push sleeve and the outer sleeve have an open end and a sealed end. The outer sleeve is sleeved on the outside of the push sleeve. The sealed end of the push sleeve is arranged in opposite directions to the sealed end of the outer sleeve. The push sleeve can reciprocate in the extending direction of the outer sleeve.

[0007] The nut is sleeved on the stepped rod shaft, the planetary cage is sleeved on the nut and the nut is located inside the planetary cage, the nut is rotatably connected to the stepped rod shaft, both ends of the planetary cage are rotatably connected to the stepped rod shaft, the push sleeve is sleeved on the planetary cage; the coupling is fixedly connected to the planetary cage; the power transmission mechanism is fixedly connected to the coupling.

[0008] The roller is arranged radially between the push sleeve and the nut, and the roller is located inside the planetary cage and rotatably connected to both ends of the planetary cage;

[0009] The roller includes: a first power transmission area and a second power transmission area, wherein the first power transmission area is connected to a portion of the push sleeve, and the second power transmission area is in contact with a portion of the nut; wherein the outer diameter of the first power transmission area is larger than the outer diameter of the second power transmission area;

[0010] The power transmission mechanism is provided with a rotor housing; one end of the rotor housing is a sealed end and the other end is an open end; the power transmission mechanism is fixedly connected to the stepped rod shaft; the open end of the rotor housing is fixedly connected to the planetary cage through the coupling;

[0011] One end of the stepped rod shaft passes through the sealed end of the rotor housing and is rotatably connected to the sealed end of the rotor housing.

[0012] The position sensor is disposed between the end of the stepped rod shaft that passes through the rotor housing and the circuit board mounting bracket;

[0013] When the electric cylinder is energized, the magnetic force generated by the power transmission mechanism drives the rotor housing to rotate. The rotor housing drives the planetary cage to rotate. After the planetary cage rotates, it drives the roller to revolve around the nut. Since a portion of the push sleeve is in contact with the first power transmission area of ​​the roller, the roller rotates. Since the second power transmission area of ​​the roller is in contact with a portion of the nut, the nut rotates under the action of the rotating roller. During this process, the push sleeve moves linearly in the axial direction.

[0014] In the solution provided by the first aspect of the embodiments of this application, in the reverse-type integrated miniature linear servo electric cylinder, the open end of the rotor housing in the power transmission mechanism is fixedly connected to the planetary cage through a coupling. Compared with the related technology, which requires the addition of a reduction mechanism in the power transmission system of the electric cylinder, resulting in the power transmission mechanism occupying a large amount of internal space of the electric cylinder, the integrated treatment of the motor rotor housing and the planetary cage directly drives the planetary cage. After power transmission through the planetary cage, the output end is directly driven to achieve linear motion without the need to add a reduction mechanism in the power transmission system of the electric cylinder. This greatly reduces the internal space occupied by the power transmission mechanism of the electric cylinder, allowing the electric cylinder to develop towards a smaller and more compact structure, and also saving costs. Moreover, it improves the energy utilization rate of the electric cylinder, saves the electric energy consumption of the electric cylinder, and can generate better economic benefits.

[0015] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This shows a schematic diagram of the reverse-type integrated miniature linear servo electric cylinder provided in Embodiment 1 of this application when the power transmission area is a ring groove structure;

[0018] Figure 2 This paper shows a schematic axial cross-sectional view of a reverse-type integrated miniature linear servo electric cylinder with a ring groove structure for the power transmission area provided in an embodiment of this application.

[0019] Figure 3 A three-dimensional structural schematic diagram of the reverse-type integrated miniature linear servo electric cylinder with a spiral structure for the power transmission area provided in the embodiments of this application is shown.

[0020] Figure 4 This paper shows a schematic axial cross-sectional view of a reverse-type integrated miniature linear servo electric cylinder with a spiral structure for the power transmission area provided in an embodiment of this application.

[0021] Figure 5 This paper presents a three-dimensional structural diagram of the planetary cage when the power transmission area provided in the embodiment of this application is an annular groove structure;

[0022] Figure 6 This illustration shows a three-dimensional structural diagram of the coupling provided in the embodiment of this application when the power transmission area is an annular groove structure;

[0023] Figure 7 This illustration shows a three-dimensional structural diagram of the coupling provided in the embodiment of this application when the power transmission area is an annular groove structure;

[0024] Figure 8 This paper shows a three-dimensional structural diagram of the planetary cage when the power transmission area provided in the embodiment of this application is a helical structure;

[0025] Figure 9 An exploded view of the planetary cage when the power transmission region provided in this embodiment of the application is a spiral structure is shown;

[0026] Figure 10 This shows a three-dimensional structural diagram of the second fixing part when the power transmission area provided in the embodiment of this application is a spiral structure;

[0027] Figure 11This illustration shows a three-dimensional structural diagram of the stepped rod shaft and the first gear when the power transmission area provided in the embodiment of this application is a spiral structure;

[0028] Figure 12 The embodiments provided in this application are shown. Figure 4 A cross-sectional schematic diagram of section AA in the middle;

[0029] Figure 13 This illustration shows a partial three-dimensional structural diagram of a reverse-type integrated miniature linear servo electric cylinder with a spiral structure for the power transmission area provided in an embodiment of this application. Detailed Implementation

[0030] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0031] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0032] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0033] Electric cylinders (ECCs) are products specifically designed for continuous motion, low to high loads (usually high speeds), and capable of multiple cycles within their service life. These products offer extremely high positioning accuracy and controllability, enabling precise motion control under loads ranging from a few kilograms to 50 tons. Currently, the lead of the lead screw mechanism in ECCs remains relatively large. To reduce the output speed and lead of the ECC drive motor, a reduction gear is sometimes added to the power transmission system. This results in the power transmission mechanism occupying a significant amount of internal space within the ECC, leading to a larger structure and size, hindering miniaturization and micro-scale development.

[0034] Based on this, the following embodiments of this application propose a reverse-type integrated miniature linear servo electric cylinder. In the reverse-type integrated miniature linear servo electric cylinder, the open end of the rotor housing in the power transmission mechanism is fixedly connected to the planetary cage through a coupling. The integrated treatment of the motor rotor housing and the planetary cage directly drives the planetary cage. After power transmission through the planetary cage, the output end is directly driven to achieve linear motion. There is no need to add a reduction mechanism to the power transmission system of the electric cylinder, which greatly reduces the internal space occupied by the power transmission mechanism of the electric cylinder. This allows the electric cylinder to develop towards a smaller and more compact structure, and also saves costs. Moreover, it improves the energy utilization rate of the electric cylinder, saves the electric energy consumption of the electric cylinder, and can generate better economic benefits.

[0035] In the following embodiments, the first power transmission area, the second power transmission area, and the nut power transmission area can be collectively referred to as the term: power transmission area.

[0036] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and embodiments.

[0037] Example 1

[0038] See Figure 1 The diagram shown is a schematic of a reverse-type integrated miniature linear servo electric cylinder with a ring groove structure for the power transmission area. (See attached diagram.) Figure 2 The diagram shown is a cross-sectional view of a reverse-type integrated miniature linear servo electric cylinder with a ring groove structure for the power transmission zone. (See attached image.) Figure 3 The diagram shown is a three-dimensional structural schematic of a reverse-type integrated miniature linear servo electric cylinder with a helical power transmission area. (See attached diagram.) Figure 4 The diagram shows a cross-sectional view of a reverse-type integrated miniature linear servo cylinder with a helical structure for the power transmission zone. The reverse-type integrated miniature linear servo cylinder is characterized by comprising: a sleeve housing and a stepped rod shaft 1, rollers 2, nuts 3, planetary cages 4, a power transmission mechanism 5, a position sensor 6, and a coupling 7 located within the sleeve housing.

[0039] The aforementioned sleeve housing includes: a push sleeve 8 and an outer sleeve 9.

[0040] Both the push sleeve 8 and the outer sleeve 9 have an open end and a sealed end, respectively. The outer sleeve 9 is disposed outside the push sleeve 8. The sealed end of the push sleeve 8 is arranged in the opposite direction to the sealed end of the outer sleeve 9. The push sleeve 8 can reciprocate in the extending direction of the outer sleeve 9.

[0041] The aforementioned nut 3 is sleeved on the aforementioned stepped rod shaft 1, the aforementioned planetary cage 4 is sleeved on the aforementioned nut 3 and the aforementioned nut 3 is located inside the aforementioned planetary cage 4, the aforementioned nut 3 is rotatably connected to the aforementioned stepped rod shaft 1, the two ends of the aforementioned planetary cage 4 are rotatably connected to the aforementioned stepped rod shaft 1, the aforementioned push sleeve 8 is sleeved on the aforementioned planetary cage 4; the aforementioned coupling 7 is fixedly connected to the aforementioned planetary cage 4; the aforementioned power transmission mechanism 5 is fixedly connected to the aforementioned coupling 7.

[0042] The roller 2 is arranged radially between the push sleeve 8 and the nut 3, and the roller 2 is located inside the planetary cage 4 and rotatably connected to both ends of the planetary cage 4.

[0043] The roller 2 includes a first power transmission area 201 and a second power transmission area 202. The first power transmission area 201 is connected to a portion of the push sleeve 8, and the second power transmission area 202 is in contact with a portion of the nut 3. The outer diameter of the first power transmission area 201 is larger than the outer diameter of the second power transmission area 202.

[0044] In one embodiment, there are multiple rollers 2.

[0045] The aforementioned power transmission mechanism 5 is provided with a rotor housing 504; one end of the rotor housing 504 is a sealed end and the other end is an open end; the aforementioned power transmission mechanism 5 is fixedly connected to the aforementioned stepped rod shaft 1; the open end of the aforementioned rotor housing 504 is fixedly connected to the aforementioned planetary cage 4 through the aforementioned coupling 7.

[0046] One end of the stepped rod shaft 1 passes through the sealing end of the rotor housing 504 and is rotatably connected to the sealing end of the rotor housing 504.

[0047] The position sensor 6 is located between the end of the stepped rod shaft 1 that passes through the rotor housing 504 and the circuit board mounting bracket 10.

[0048] When the electric cylinder is energized, the magnetic force generated by the power transmission mechanism 5 drives the rotor housing 504 to rotate. The rotor housing 504 drives the planetary cage 4 to rotate. After the planetary cage 4 rotates, it drives the roller 2 to revolve around the nut 3. Since a part of the push sleeve 8 is in contact with the first power transmission area 201 of the roller 2, the roller 2 rotates. Since the second power transmission area 202 of the roller 2 is in contact with a part of the nut 3, the nut 3 rotates under the action of the rotating roller 2. During this process, the push sleeve 8 moves linearly in the axial direction.

[0049] Specifically, nut 3 is rotatably connected to stepped rod shaft 1 via bearings, and both ends of planetary cage 4 are rotatably connected to stepped rod shaft 1 via bearings. The axes of stepped rod shaft 1, nut 3, push sleeve 8, and outer sleeve 9 coincide.

[0050] Specifically, the first power transmission area 201 is located in the middle of the roller 2, and the second power transmission area 202 is located on both sides of the roller 2; the inner wall of the push sleeve 8 is provided with a push sleeve thread area 801 that contacts the first power transmission area 201; the outer wall of the nut 3 is provided with nut power transmission areas 301 that engage with the second power transmission area 202 at both ends, and between the nut power transmission areas 301 at both ends of the nut 3, the outer wall of the nut 3 is also provided with an annular wall area 302 that is opposite to the first power transmission area 201; wherein the first power transmission area 201 does not contact the annular wall area 302, and the second power transmission area 202 does not contact the push sleeve thread area 801.

[0051] Here, the threaded area 801 of the push sleeve is the part of the push sleeve 8 that contacts the first power transmission area 201 of the roller 2.

[0052] The nut power transmission area 301 is the portion of the nut 3 that contacts the second power transmission area 202 of the roller 2.

[0053] The first power transmission area 201, the second power transmission area 202 and the nut power transmission area 301 are all annular groove structures without helix angle.

[0054] Specifically, see Figure 5 The diagram shown is a three-dimensional structural schematic of the planetary cage with an annular groove structure for the power transmission region. (See attached diagram.) Figure 6 The power transmission zone shown is a three-dimensional structural diagram of the coupling when the power transmission zone is an annular groove structure. See [link / reference]. Figure 7The power transmission area shown is a three-dimensional structural diagram of the coupling when the power transmission area is a ring groove structure. In the reverse integrated micro linear servo electric cylinder proposed in this embodiment, the planetary cage includes: a first end 401, a second end 402, and a cage connecting rod 4021 disposed between the first end 401 and the second end 402. The second end 402 is provided with a plurality of snap-fit ​​parts 4022 on the side away from the first end 401.

[0055] The other end of the cage link 4021 is fixedly connected to the first end 401 by a plug-in connection.

[0056] A locking groove 701 is provided on the end face of the coupling 7 that is fixedly connected to the planetary cage 4. The planetary cage 4 and the coupling 7 are fixedly connected by the locking part 4022 engaging with the locking groove 701, allowing the coupling 7 to drive the planetary cage 4 to rotate synchronously. Furthermore, both the locking part 4022 and the locking groove 701 are provided with chamfers, which serve as guides during assembly, facilitating assembly.

[0057] The two ends of the roller 2 are rotatably connected to the first end 401 and the second end 402, respectively, and the roller 2 is located in the straight through groove 403 formed between adjacent cage connecting rods 4021.

[0058] See Figure 8 The diagram shown is a three-dimensional structural illustration of the planetary cage with a helical configuration for the power transmission region. (See attached diagram.) Figure 9 The diagram shown illustrates an explosion of the planetary cage when the power transmission region is a helical structure, and see also... Figure 10 The diagram shows a three-dimensional structure of the second fixing part when the power transmission area is a spiral structure. In the integrated micro linear servo electric cylinder proposed in this embodiment, when the first power transmission area 201 and the push sleeve thread area 801 are spiral structures with the same pitch and the same helix angle, and the spiral direction of the push sleeve thread area 801 and the first power transmission area 201 are opposite, the integrated micro linear servo electric cylinder also includes a power transmission coupling member 11.

[0059] The second end 402 of the aforementioned planetary cage 4 includes: a first fixing part 4023 and a second fixing part 4024. The first fixing part 4023 and the second fixing part 4024 are respectively provided with a plurality of fixing protrusions of the same number at intervals. Each fixing protrusion is provided with a threaded hole. After aligning the threaded holes of each fixing protrusion in the first fixing part 4023 with the threaded holes of each fixing protrusion in the second fixing part 4024, the first fixing part 4023 and the second fixing part 4024 are fixedly connected by screws. A first groove 40231 is formed between adjacent fixing protrusions in the first fixing part 4023. A second groove 40241 is formed between adjacent fixing protrusions in the second fixing part 4024. The positions of the first groove 40231 and the second groove 40241 are corresponding. The power transmission coupling member 11 is fixed in the receiving space formed by the first groove 40231 and the second groove 40241.

[0060] The number of the first groove 40231 and the number of the second groove 40241 are the same as the number of rollers 2.

[0061] Optionally, the first groove 40231 is provided with a first gear through hole 40232 and a roller hole 40233, and the second groove 40232 is provided with a second gear through hole 40242. The positions of the first gear through hole 40232 and the second gear through hole 40242 correspond to each other.

[0062] The roller 2 has a roller extension (not shown in the figure) formed at the end of the roller hole 40233.

[0063] See Figure 11 The diagram shown is a three-dimensional structural diagram of the stepped shaft and the first gear in a helical configuration of the power transmission zone. (See attached diagram.) Figure 12 shown Figure 4 A cross-sectional schematic diagram at point AA, and see also... Figure 13The diagram shows a partial three-dimensional structure of a reverse-type integrated miniature linear servo electric cylinder with a helical power transmission area. The power transmission coupling 11 includes a first gear 1101, a second gear 1102, a third gear 1103, and a fourth gear 1104. The first gear 1101 is fixedly connected to the outer wall of the stepped rod shaft 1. The roller extension of the roller 2 is fixedly connected to the second gear 1102. The second gear 1102 meshes with the third gear 1103. After the third gear 1103 and the fourth gear 1104 are fixed, they are rotatably connected to the planetary cage 4. The third gear 1103 and the fourth gear 1104 rotate synchronously, and the fourth gear 1104 meshes with the first gear 1101. The axial ends of the fixed third gear 1103 and the fourth gear 1104 are rotatably connected to the first gear through hole 40232 and the second gear through hole 40242 respectively through bearings.

[0064] The synchronously rotating third gear 1103 and fourth gear 1104 mainly serve to change the direction of power transmission, making it possible for the power transmission coupling 11 to rotate, thereby ensuring that the ratio of the rotational speed to the revolution speed of the roller 2, and the ratio of the revolution speed of the roller 2 to the rotational speed of the nut 3 are all constant values.

[0065] In the reverse-type integrated miniature linear servo electric cylinder, the power transmission mechanism 5 further includes: a stator core 501, a coil winding 502, and a magnetic ring 503. The stator core 501 is fixedly connected to the stepped rod shaft 1. The coil winding 502 is wound around the stator core 501. The rotor housing 504 is sleeved on the stator core 501 and is fixedly connected to the magnetic ring 503. The rotor housing 504 and the magnetic ring 503 can rotate relative to the stator core 501. The axes of the stator core 501, the magnetic ring 503, and the rotor housing 504 are all the same.

[0066] The outer diameter of the rotor housing 504 is smaller than the inner diameter of the push sleeve 8; the inner circumferential sidewall of the stator core 501 is fixedly connected to the outer circumferential sidewall of the stepped rod shaft 1; and the inner circumferential sidewall of the rotor housing 504 is fixedly connected to the outer circumferential surface of the magnetic ring 503.

[0067] In order to install the sensor, the reverse-type integrated miniature linear servo electric cylinder proposed in this embodiment also includes: a circuit board mounting bracket 10; one end of the circuit board mounting bracket 10 is fixedly connected to the end of the stepped rod shaft 1 that passes through the sealed end of the rotor housing 504, and the other end is fixedly connected to the sealed end of the outer sleeve 9.

[0068] The aforementioned position sensor can be a Hall effect-based sensor; the position sensor includes: a magnetic grating 601, a chip 602, and a circuit board 603; the magnetic grating 601 is embedded in the sealed end of the rotor housing 504, the circuit board 603 is fixed on the circuit board holder 10, and the circuit board 603 is positioned between the sealed end of the rotor housing 504 and the circuit board holder 10; the chip 602 is disposed on the surface of the circuit board 603 facing the magnetic grating 601. The magnetic grating 601 has a ring-shaped structure.

[0069] Of course, in addition to sensors based on the Hall effect, position sensor 6 can also be, but is not limited to: photoelectric position sensor, capacitive position sensor, and fiber optic position sensor.

[0070] Furthermore, the reverse-type integrated miniature linear servo cylinder also includes: a linear sensor 12; the linear sensor 12 includes: a grating ruler 1201, a reading head 1202, and a mounting plate 1203; the stepped rod shaft 1 has a through hole 101, the through hole 101 is coaxial with the stepped rod shaft 1; one end of the grating ruler 1201 is fixedly connected to the sealing end of the push sleeve 8, and the other end is inserted into the through hole 101; the mounting plate 1203 is located in the through hole 101 and one end is fixed to the stepped shaft 1, the reading head 1202 is fixed on the mounting plate 1203 and is electrically connected to the circuit board 603.

[0071] Optionally, a guide groove 102 is also provided inside the stepped rod shaft 1. The guide groove 102 is connected to the through hole 101. A guide block 15 is provided on the grating ruler 1201. The guide block 15 can slide back and forth along the guide groove 102.

[0072] In one implementation, the optical grating ruler 1201 can be replaced by a magnetic grating ruler.

[0073] The reverse-type integrated miniature linear servo electric cylinder proposed in this embodiment further includes a locking nut 14; the locking nut 14 is fixed to the end of the stepped rod shaft 1 facing the sealing end of the push sleeve 8. The locking nut 14 facilitates load transmission and makes the structure more stable.

[0074] A bearing spacer ring 16 is provided between the bearings of the nut 3 and the stepped rod shaft 1. A bearing spacer ring 16 is also provided between the side of the stator core 501 facing the planetary cage 4 and the stepped rod shaft 1. The bearing spacer ring 16 facilitates the transfer of load and makes the structure more stable.

[0075] Furthermore, an annular groove 901 is provided on the inner side wall of the outer sleeve 9, and a dustproof ring 13 is engaged in the annular groove 901. The inner wall of the dustproof ring 13 contacts the outer side wall of the push sleeve 8.

[0076] The reverse-type integrated miniature linear servo electric cylinder proposed in this embodiment has the following characteristics:

[0077] 1. When the power transmission area is a ring groove structure: its lead is the same as that of the existing differential planetary roller screw, and a smaller lead than that of the standard planetary roller screw pair can be obtained.

[0078] 2. When the first power transmission zone is a spiral structure: Since the spiral direction of the push sleeve thread area 801 of the push sleeve 8 is opposite to that of the spiral line of the first power transmission zone 201, a smaller lead can be obtained during operation than when all power transmission zones are annular groove structures, thus expanding the application range to the field of micro-lead.

[0079] Furthermore, when the power transmission area is a spiral structure, its power transmission coupling component 11 will also rotate. During the rotation of the roller 2, the second gear 1102 fixedly connected to it will rotate, thereby driving the third gear 1103 meshing with the second gear 1102 to rotate. Since the fourth gear 1104 and the third gear 1103 transmit power synchronously, the fourth gear 1104 will rotate, and the fourth gear 1104 will rotate around the first gear 1101, thereby maintaining the positional relationship between the roller 2 and the stepped rod shaft 1 and preventing the roller 2 from tilting due to slippage. Since there is no rotation between the stepped rod shaft 1 and the push sleeve 8, no slippage occurs between the roller 2 and the stepped rod shaft 1, thus achieving no slippage between the roller 2 and the push sleeve 8.

[0080] 3. In the operation of the reverse-type integrated miniature linear servo electric cylinder, when the push sleeve is subjected to axial load, the load is transferred from the push sleeve to the roller, then from the roller to the nut, then from the nut to the bearing, and finally from the bearing to the stepped rod shaft. This structural feature not only improves the axial load capacity of the system, but also allows the nut to rotate freely around the bearing during system operation. The rotation of the bearing disperses the frictional force generated at the meshing point of the roller and the nut along the circumferential direction, further reducing frictional force, improving the power transmission efficiency of the system, reducing the noise generated during the operation of the roller and the push sleeve, and improving the service life and maximum allowable rotational speed of the electric cylinder.

[0081] 4. The reverse-type integrated miniature linear servo electric cylinder features a helical structure in the first power transmission zone. A power transmission coupling element exists between the stepped rod shaft and the planetary cage, structurally coupling the roller and the push sleeve. This prevents slippage during rotation, ensuring that the ratio of roller rotation speed to revolution speed, and the ratio of roller revolution speed to nut rotation speed, remain constant. This improves the service life of the roller and push sleeve and increases the maximum permissible rotational speed. Simultaneously, it reduces noise generated during cylinder operation, and the output lead is unaffected by nut load, screw speed, or preload.

[0082] 6. The reverse-type integrated miniature linear servo cylinder, through the setting of linear sensors, can achieve precise and effective positioning of the servo cylinder. The circuit board can determine the position state of the push sleeve based on the position information measured by the linear sensor, ensuring the stability and reliability of the servo cylinder's working state. It has a compact structure, is easy to install and use, has a high degree of automation, and is safe and reliable. Compared with related technologies, this detection method has no angular hysteresis, effectively reducing the deviation between the determined push sleeve position and the actual push sleeve position, thereby improving control accuracy. Furthermore, the design of the guide groove and guide block can prevent the push sleeve from slightly rotating due to force during operation, which would cause changes in the relative position of the reading head and the grating ruler, thus preventing measurement errors.

[0083] In summary, this embodiment proposes a reverse-type integrated miniature linear servo electric cylinder. In this cylinder, the open end of the rotor housing in the power transmission mechanism is fixedly connected to the planetary cage via a coupling. Compared with related technologies that require adding a reduction gear mechanism to the power transmission system, resulting in the power transmission mechanism occupying a large amount of internal space, this embodiment directly drives the planetary cage by integrating the motor rotor housing with the planetary cage. After power transmission through the planetary cage, the output end is directly driven to achieve linear motion without the need for a reduction gear mechanism in the power transmission system. This significantly reduces the internal space occupied by the power transmission mechanism, allowing the electric cylinder to develop into a smaller and more compact structure, while also saving costs. Furthermore, it improves the energy utilization rate of the electric cylinder, saves on electrical energy consumption, and generates good economic benefits.

[0084] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A reverse-type integrated miniature linear servo electric cylinder, characterized in that, Includes: a sleeve housing and a stepped rod shaft, rollers, nuts, planetary cage, power transmission mechanism, position sensor and coupling located within the sleeve housing; The sleeve housing includes: a pushing sleeve and an outer sleeve; Both the push sleeve and the outer sleeve have an open end and a sealed end. The outer sleeve is sleeved on the outside of the push sleeve. The sealed end of the push sleeve is arranged in opposite directions to the sealed end of the outer sleeve. The push sleeve can reciprocate in the extending direction of the outer sleeve. The nut is sleeved on the stepped rod shaft, the planetary cage is sleeved on the nut and the nut is located inside the planetary cage, the nut is rotatably connected to the stepped rod shaft, both ends of the planetary cage are rotatably connected to the stepped rod shaft, the push sleeve is sleeved on the planetary cage; the coupling is fixedly connected to the planetary cage; the power transmission mechanism is fixedly connected to the coupling. The roller is arranged radially between the push sleeve and the nut, and the roller is located inside the planetary cage and rotatably connected to both ends of the planetary cage; The roller includes: a first power transmission area and a second power transmission area, wherein the first power transmission area is connected to a portion of the push sleeve, and the second power transmission area is in contact with a portion of the nut; wherein the outer diameter of the first power transmission area is larger than the outer diameter of the second power transmission area; The power transmission mechanism is provided with a rotor housing; one end of the rotor housing is a sealed end and the other end is an open end; the power transmission mechanism is fixedly connected to the stepped rod shaft; the open end of the rotor housing is fixedly connected to the planetary cage through the coupling; One end of the stepped rod shaft passes through the sealed end of the rotor housing and is rotatably connected to the sealed end of the rotor housing. The position sensor is disposed between the end of the stepped rod shaft that passes through the rotor housing and the circuit board mounting bracket; When the electric cylinder is energized, the magnetic force generated by the power transmission mechanism drives the rotor housing to rotate. The rotor housing drives the planetary cage to rotate. After the planetary cage rotates, it drives the roller to revolve around the nut. Since a portion of the push sleeve is in contact with the first power transmission area of ​​the roller, the roller rotates. Since the second power transmission area of ​​the roller is in contact with a portion of the nut, the nut rotates under the action of the rotating roller. During this process, the push sleeve moves linearly in the axial direction.

2. The reverse-type integrated miniature linear servo electric cylinder according to claim 1, characterized in that, The first power transmission area is located in the middle of the roller, and the second power transmission area is located on both sides of the roller; The inner sidewall of the push sleeve is provided with a push sleeve threaded area that contacts the first power transmission area; both ends of the outer sidewall of the nut are provided with nut power transmission areas that mesh with the second power transmission area, and between the nut power transmission areas at both ends of the nut, the outer sidewall of the nut is also provided with an annular wall area that is opposite to the first power transmission area; wherein, the first power transmission area does not contact the annular wall area, and the second power transmission area does not contact the push sleeve threaded area.

3. The reverse-type integrated miniature linear servo electric cylinder according to claim 2, characterized in that, The first power transmission area, the second power transmission area, and the nut power transmission area are all annular groove structures without helix angle.

4. The reverse-type integrated miniature linear servo electric cylinder according to claim 2, characterized in that, The planetary cage includes: a first end, a second end, and a cage link disposed between the first end and the second end, wherein the second end has a plurality of snap-fit ​​parts on the side away from the first end; A snap-fit ​​groove is provided on the end face of the coupling that is fixedly connected to the planetary cage; the planetary cage is fixedly connected to the coupling by means of snap-fitting the snap-fit ​​part and the snap-fit ​​groove, so that the coupling can drive the planetary cage to rotate synchronously. The two ends of the roller are rotatably connected to the first end and the second end, respectively, and the roller is located in a straight through groove formed between adjacent cage links.

5. The reverse-type integrated miniature linear servo electric cylinder according to claim 4, characterized in that, In the case that the first power transmission area and the push sleeve thread area are respectively helical structures with the same pitch and the same helix angle, and the direction of the helix of the push sleeve thread area and the first power transmission area is opposite, the integrated micro linear servo electric cylinder further includes: a power transmission coupling component. The second end of the planetary cage includes: a first fixing part and a second fixing part, wherein the first fixing part and the second fixing part are respectively provided with a plurality of fixing protrusions of the same number at intervals, and each fixing protrusion is provided with a threaded hole. After aligning the threaded holes of each fixing protrusion in the first fixing part with the threaded holes of each fixing protrusion in the second fixing part, the first fixing part and the second fixing part are fixedly connected by screws. In the first fixing part, a first groove is formed between adjacent fixing protrusions; in the second fixing part, a second groove is formed between adjacent fixing protrusions; the first groove and the second groove are positioned correspondingly, and the power transmission coupling member is fixed in the receiving space formed by the first groove and the second groove.

6. The reverse-type integrated miniature linear servo electric cylinder according to claim 4, characterized in that, The first groove has a first gear through hole and a roller hole, and the second groove has a second gear through hole. The positions of the first gear through hole and the second gear through hole correspond to each other. The roller has a roller extension at the end of the roller hole; The power transmission coupling includes: a first gear, a second gear, a third gear, and a fourth gear; The first gear is fixedly connected to the outer wall of the stepped rod shaft; the roller extension of the roller is fixedly connected to the second gear, the second gear meshes with the third gear, and after the third gear and the fourth gear are fixed, they are rotatably connected to the planetary cage. The third gear and the fourth gear rotate synchronously, and the fourth gear meshes with the first gear. The axial ends of the third gear and the fourth gear after they are fixed are respectively rotatably connected to the through holes of the first gear and the second gear through bearings.

7. The reverse-type integrated miniature linear servo electric cylinder according to claim 1, characterized in that, The power transmission mechanism further includes: a stator core, a coil winding, and a magnetic ring. The stator core is fixedly connected to the stepped rod shaft. The coil winding is wound around the stator core. The rotor housing is sleeved on the stator core and fixedly connected to the magnetic ring. The rotor housing and the magnetic ring are capable of relative rotation with respect to the stator core. The axes of the stator core, the magnetic ring, and the rotor housing are all the same.

8. The reverse-type integrated miniature linear servo electric cylinder according to claim 1, characterized in that, Also includes: Circuit board mounting bracket; One end of the circuit board mounting bracket is fixedly connected to the end of the stepped rod shaft that passes through the sealed end of the rotor housing, and the other end is fixedly connected to the sealed end of the outer sleeve. The position sensor includes: a magnetic grating, a chip, and a circuit board; The magnetic grating is embedded in the sealed end of the rotor housing, the circuit board is fixed on the circuit board holder, and the circuit board is positioned between the sealed end of the rotor housing and the circuit board holder. The chip is disposed on the surface of the circuit board facing the magnetic grating.

9. The reverse-type integrated miniature linear servo electric cylinder according to claim 1, characterized in that, Also includes: Linear sensor; The linear sensor includes: a grating ruler, a reading head, and a mounting plate; The stepped rod shaft has a through hole, and the through hole is coaxial with the stepped rod shaft; One end of the grating ruler is fixedly connected to the sealing end of the push sleeve, and the other end is inserted into the through hole; The mounting plate is located inside the through hole and one end is fixed to the stepped shaft. The reading head is fixed to the mounting plate and is electrically connected to the circuit board.

10. The reverse-type integrated miniature linear servo electric cylinder according to claim 1, characterized in that, Also includes: Tighten the nut; The locking nut is fixed to the end of the stepped rod shaft facing the sealing end of the push sleeve.

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