Kinetic energy actuator and method of operation

Abstract

The application belongs to the technical field of automation, and particularly relates to a kinetic energy actuator and a working method. The kinetic energy actuator comprises: a bearing, which serves as a mounting carrier; a motor, which is fixedly installed on the bearing and serves as a power source; a rotary output, which is rotatably installed on the bearing and outputs a rotary driving force externally; a speed reduction transmission group, which is connected in power between the rotary output and an output shaft of the motor, and transmits the rotary driving force of the motor to the rotary output after speed reduction and torque increase; an optical code disc, which is coaxially connected with the output shaft of the motor and rotates synchronously with the output shaft of the motor; and a photoelectric sensor, which is fixedly installed and detects the rotation of the optical code disc, and detects the rotation angle and rotation direction of the optical code disc. The kinetic energy actuator provided by the application has a compact structure, a regular shape, a large speed reduction ratio, and can simply and accurately control the rotation angle, and has wide adaptability to different application scenarios.

Description

Technical Field

[0001] This invention belongs to the field of automation technology, specifically relating to a kinetic actuator and its working method. Background Technology

[0002] In recent years, with the continuous development of new energy vehicles, the degree of vehicle electrification has become increasingly higher. Many fixed components and manually adjustable moving parts in traditional vehicles are gradually evolving into automatically controllable functional modules. For example, SAIC Volkswagen Automotive Co., Ltd. disclosed a central tunnel component in patent CN209051366U that can be adapted to various automated functional modules to meet different consumer needs; another example is BYD Co., Ltd., which disclosed a device that can automatically adjust the air conditioning vents in patent CN112440678A, eliminating the need for drivers and passengers to manually adjust the external blade assembly, thus improving the ease of operation.

[0003] Kinetic actuators are devices used to output power to drive the movement of moving parts, and are therefore core components for achieving vehicle automation and intelligence. However, the interior space of a car is very limited, and kinetic actuators used in automobiles must be compact in structure and cannot occupy a large amount of the limited passenger space. In addition, actuators in different functional modules of a vehicle often require separate control logic and control programs to be set according to specific usage scenarios. Taking rotary actuators as an example, the requirements for the starting and ending angles of the moving parts in different functional modules are often different. This means that the control parameters of each actuator need to be set individually and precisely in advance, which is labor-intensive and prone to errors. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a kinetic actuator and its operating method.

[0005] Kinetic actuators include:

[0006] The load-bearing component serves as the mounting carrier;

[0007] The motor is fixedly mounted on the support structure and serves as a power source.

[0008] A rotary output component, which is rotatably mounted on a carrier component, outputs rotary driving force to the outside;

[0009] The speed reduction transmission unit is connected between the rotary output component and the output shaft of the motor, and transmits the rotational driving force of the motor to the rotary output component after reducing the speed and increasing the torque.

[0010] The optical encoder disk is coaxially connected to the output shaft of the motor and rotates synchronously with the output shaft of the motor.

[0011] A photoelectric sensor is fixedly installed and detects the rotation of the optical encoder disk; the photoelectric sensor has at least two detection channels, and the rotation angle and direction of the optical encoder disk are determined based on the data measured by the two detection channels.

[0012] Furthermore, in the aforementioned kinetic actuator, the optical encoder is installed at the tail end of the motor's output shaft, and the photoelectric sensor is fixed at the tail end of the motor; the edge circumference of the optical encoder has multiple slots, and the photoelectric sensor has a detection area, which the slots pass through when rotating.

[0013] Furthermore, in the aforementioned kinetic actuator, a wiring port is led out from the tail end of the motor.

[0014] Furthermore, in the aforementioned kinetic actuator, the reduction transmission assembly includes a threaded shaft mounted on the motor output shaft, a first double gear driven by the threaded shaft, a second double gear driven by the first double gear, and an output gear driven by the second double gear.

[0015] The first double gear includes a first tooth section and a second tooth section that are coaxially and integrally connected; the first tooth section meshes with a threaded shaft, and the second tooth section has fewer teeth than the first tooth section.

[0016] The second double gear includes a third tooth section and a fourth tooth section that are coaxially and integrally connected; the third tooth section meshes with the second tooth section, and the fourth tooth section has fewer teeth than the third tooth section.

[0017] The output gear meshes with the third tooth section, and the output gear is connected to the rotating output component.

[0018] Furthermore, in the aforementioned kinetic actuator, the rotary output component is a rotating shaft with a spline hole, which is integrally connected with the output gear.

[0019] Furthermore, in the aforementioned kinetic actuator, the main body of the motor, the center of the first double gear, the center of the second double gear, and the center of the output gear are arranged in a quadrilateral on the carrier.

[0020] Furthermore, in the aforementioned kinetic actuator, the supporting component is a housing that forms a closed space when closed, with a lead wire hole on one side of the housing, which is directly opposite the wiring port; and several fixing ears are provided on the outer periphery of the housing.

[0021] Furthermore, the aforementioned kinetic actuator can adopt the following working method: both the motor and the photoelectric sensor are electrically connected to the electronic control unit, and the electronic control unit controls the rotation of the motor according to the input operation command, the signal of the photoelectric sensor and the detected motor current; the working method includes an initialization stage and a normal working stage.

[0022] Initialization Phase: The electronic control unit (ECU) commands the motor to rotate in a certain direction, denoted as the first direction. A photoelectric sensor monitors the motor's rotation angle in real time, and the ECU monitors the motor's actual current in real time. When the ECU detects a stall current in the motor, it commands the motor to stop rotating and records the angle of rotation in the first direction, denoted as the first limit angle. Then, the ECU commands the motor to rotate in the opposite direction, denoted as the second direction. A photoelectric sensor monitors the motor's rotation angle in real time, and the ECU monitors the motor's actual current in real time. When the ECU detects a stall current in the motor, it commands the motor to stop rotating and records the angle of rotation in the second direction, denoted as the second limit angle.

[0023] During normal operation: The electronic control unit controls the motor to rotate in the first or second direction according to the input command. The photoelectric sensor monitors the rotation angle of the motor in real time. When the motor rotates to the first or second limit angle, the unit commands the motor to stop running.

[0024] Furthermore, during normal operation, when the motor rotates in the first or second direction, the electronic control unit monitors the actual current of the motor in real time. If a stall current is detected, the unit commands the motor to stop rotating and updates the first or second limit angle.

[0025] Beneficial effects: Compared with the prior art, the kinetic actuator provided by the present invention has a compact structure, regular shape, large reduction ratio, and can easily and accurately control the rotation angle, and has a wide range of adaptability to different application scenarios. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of a kinetic actuator.

[0027] Figure 2 This is a schematic diagram of the internal structure of a kinetic actuator.

[0028] Figure 3 This is a schematic diagram of the motor structure.

[0029] Figure 4 This is a schematic diagram of the signal from the photoelectric sensor.

[0030] Figure 5 This is a schematic diagram of the optical encoder disk.

[0031] Figure 6 This is a schematic diagram of the photoelectric sensor.

[0032] Figure 7 and Figure 8 This is a schematic diagram of the speed reduction transmission assembly.

[0033] Figure 9 This is a schematic diagram of the electronic control logic.

[0034] In the figure, the components are: 1. Carrier; 2. Motor; 3. Rotary output component; 4. Reduction transmission group; 5. Optical encoder; 6. Photoelectric sensor; 51. Slot; 61. Detection area; 21. Wiring port; 41. Threaded shaft; 42. First double gear; 43. Second double gear; 44. Output gear; 421. First tooth; 422. Second tooth; 431. Third tooth; 432. Fourth tooth; 11. Lead hole; 12. Fixing lug. Detailed Implementation

[0035] The present invention is further illustrated below through embodiments, which are intended to more clearly illustrate the technical solutions of the present invention, and should not be construed as a limitation.

[0036] Unless otherwise defined, the technical or scientific terms used in this invention should be understood in the ordinary sense as understood by one of ordinary skill in the art. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0037] like Figure 1 and Figure 2 The kinetic actuator shown is a bidirectional rotary actuator that outputs rotary driving force, comprising:

[0038] The support component 1 consists of two shell halves that can be closed together, serving as a mounting carrier for other components and also protecting the internal structure.

[0039] Motor 2 is installed in the support member 1 by assembly and serves as a power source;

[0040] Rotary output component 3, which is a rotating shaft with a spline hole, is used to output rotational driving force externally. The rotary output component 3 is rotatably fitted onto the bearing component 1 through a bearing.

[0041] The reduction transmission group 4 is connected between the rotary output component 3 and the output shaft of the motor 2, and transmits the rotational driving force of the motor 2 to the rotary output component 3 after reducing the speed and increasing the torque.

[0042] Optical code disk 5 (e.g.) Figure 3As shown in the figure, it is coaxially connected to the output shaft of the motor 2 and rotates synchronously with the output shaft of the motor 2. Therefore, the rotation angle of the motor 2 can be accurately obtained by monitoring the rotation angle of the optical encoder 5.

[0043] Photoelectric sensor 6 (e.g.) Figure 3 As shown in the figure, it is fixedly installed and detects the rotation of the optical encoder 5; the photoelectric sensor 6 is a two-channel sensor, which determines the rotation angle and rotation direction of the optical encoder 5 based on the data measured by the two detection channels. Specifically, if the signals measured by the two detection channels are as follows... Figure 4 As shown in phases A and B, the rotation angle of the optical code disk 5 can be determined by the number of peaks and troughs appearing in the signal diagrams of phases A and B, and the rotation direction of the optical code disk 5 can be determined by the phase difference between phases A and B.

[0044] like Figure 3 As shown, a wiring port 21 extends from the tail end of the motor 2; the optical encoder 5 is mounted on the tail end of the output shaft of the motor 2, and the photoelectric sensor 6 is fixed to the tail end of the motor 2. The rotation of the motor 2's output shaft is not slowed down by the reduction gearbox 4, making it the fastest rotating position in the actuator. Installing the optical encoder 5 at this location provides the most accurate detection precision. Furthermore, the rapid rotation of the optical encoder 5 causes airflow, providing some heat dissipation for the nearby photoelectric sensor 6, wiring port 21, and their wiring, preventing these heat-generating components from overheating and being damaged in the confined space. Figure 5 As shown, the optical code disk 5 has multiple slots 51 distributed around its circumference; as Figure 6 As shown, the photoelectric sensor 6 has a detection area 61; the slot 51 passes through the detection area 61 when rotating. If there are 30 slots 51 on the edge of the optical encoder disk, the corresponding rotational accuracy at the motor 2 is 12°, which is better than the accuracy of a conventional stepper motor. Moreover, the rotation of the motor 2 is reduced by the reduction gearbox 4 with a large reduction ratio, so the accuracy of the rotation output component 3 will be tens of times higher than the rotational accuracy of the motor 2. Therefore, very high control accuracy can be achieved at the rotation output component 3.

[0045] like Figure 7 and Figure 8As shown, the reduction gear 4 includes a threaded shaft 41 mounted on the output shaft of the motor 2, a first double gear 42 driven by the threaded shaft 41, a second double gear 43 driven by the first double gear 42, and an output gear 44 driven by the second double gear 43. The first double gear 42 includes a first tooth portion 421 and a second tooth portion 422 coaxially and integrally connected. The first tooth portion 421 meshes with the threaded shaft 41, and the second tooth portion 422 has fewer teeth than the first tooth portion 421. The second double gear 43 includes a third tooth portion 431 and a fourth tooth portion 432 coaxially and integrally connected. The third tooth portion 431 meshes with the second tooth portion 422, and the fourth tooth portion 432 has fewer teeth than the third tooth portion 431. The output gear 44 meshes with the third tooth portion 431, and the output gear 44 is connected to the rotary output component 3, preferably the output gear 44 is integrally connected to the rotary output component 3.

[0046] like Figure 2 As shown, on the support member 1, the main body of the motor 2, the center of the first double gear 42, the center of the second double gear 43, and the center of the output gear 44 are arranged in a quadrilateral shape, thereby obtaining a very compact spatial layout and making the shape of the support member 1 more regular, which is conducive to saving space.

[0047] like Figure 1 and Figure 2 As shown, the carrier 1 forms a closed space inside, and a lead wire hole 11 is provided on one side of the carrier 1, which is directly opposite the wiring port 21; a number of fixing ears 12 are provided on the outer periphery of the carrier 1.

[0048] The above-mentioned kinetic actuator can be operated in the following way: both the motor 2 and the photoelectric sensor 6 are electrically connected to the electronic control unit, and the electronic control unit controls the rotation of the motor 2 according to the input operation command, the signal of the photoelectric sensor 6 and the detected current of the motor 2.

[0049] The operating method includes an initialization phase and a normal operating phase. The initialization phase determines the maximum allowable rotation angle of the kinetic actuator in its actual working environment, automatically adapting to different application scenarios. The normal operating phase, based on the data from the initialization phase, accurately controls the actuator to rotate to the appropriate angle without frequent checks for motor stall, thus extending the actuator's lifespan.

[0050] Initialization phase: The electronic control unit commands motor 2 to rotate in a certain direction, which is denoted as the first direction. The photoelectric sensor 6 monitors the rotation angle of motor 2 in real time, and the electronic control unit monitors the actual current of motor 2 in real time. When the electronic control unit detects that motor 2 generates a stall current, it commands motor 2 to stop rotating and records the rotation angle of motor 2 in the first direction, which is denoted as the first limit angle. Then, the electronic control unit commands motor 2 to rotate in the opposite direction, which is denoted as the second direction. The photoelectric sensor 6 monitors the rotation angle of motor 2 in real time, and the electronic control unit monitors the actual current of motor 2 in real time. When the electronic control unit detects that motor 2 generates a stall current, it commands motor 2 to stop rotating and records the rotation angle of motor 2 in the second direction, which is denoted as the second limit angle.

[0051] During normal operation: The electronic control unit controls motor 2 to rotate in the first or second direction according to the input command. The photoelectric sensor 6 monitors the rotation angle of motor 2 in real time. When motor 2 rotates to the first or second limit angle, it commands motor 2 to stop. During normal operation, if the working environment changes, the actuator can also adapt accordingly. Specifically, when motor 2 rotates in the first or second direction, the electronic control unit monitors the actual current of motor 2 in real time. If a stall current is detected in motor 2, it commands motor 2 to stop rotating and updates the first or second limit angle. The operating logic during normal operation is as follows: Figure 9 As shown, Figure 9 The forward and reverse rotations in the diagram correspond to rotations in the first and second directions, respectively.

[0052] The above embodiments are exemplary and are intended to illustrate the technical concept and features of the present invention, so that those skilled in the art can understand the content of the present invention and implement it accordingly. They should not be construed as limiting the scope of protection of the present invention. All equivalent changes or modifications made according to the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A kinetic actuator, characterized in that: The kinetic actuator includes: The carrier (1) serves as the installation carrier; The motor (2) is fixedly mounted on the support (1) and serves as a power source; A rotating output component (3) is rotatably mounted on the support component (1) and outputs a rotational driving force to the outside. The speed reduction transmission group (4) is connected between the output shaft of the rotary output component (3) and the motor (2), and transmits the rotational driving force of the motor (2) to the rotary output component (3) after speed reduction and torque increase. The optical encoder (5) is coaxially connected to the output shaft of the motor (2) and rotates synchronously with the output shaft of the motor (2); A photoelectric sensor (6) is fixedly installed and detects the rotation of the optical code disk (5); the photoelectric sensor (6) has at least two detection channels, and the rotation angle and rotation direction of the optical code disk (5) are known based on the data measured by the two detection channels. The optical encoder (5) is installed at the tail end of the output shaft of the motor (2), and the photoelectric sensor (6) is fixed at the tail of the motor (2); the optical encoder (5) has multiple slots (51) distributed around its edge, and the photoelectric sensor (6) has a detection area (61). The slots (51) pass through the detection area (61) when rotating; the tail of the motor (2) leads out a wiring port (21); the optical encoder (5) rotates rapidly, causing the surrounding air to flow, which generates heat dissipation for the nearby photoelectric sensor (6), wiring port (21) and its circuit. The carrier (1) is a shell that is closed to form a closed space. A lead hole (11) is provided on one side of the shell, and the lead hole (11) is directly opposite the wiring port (21). The working method of the kinetic actuator includes: Both the motor (2) and the photoelectric sensor (6) are electrically connected to the electronic control unit. The electronic control unit controls the rotation of the motor (2) according to the input operation command, the signal of the photoelectric sensor (6) and the detected current of the motor (2). The working method includes an initialization stage and a normal working stage. Initialization phase: The electronic control unit commands the motor (2) to rotate in a certain direction, which is recorded as the first direction. The photoelectric sensor (6) monitors the rotation angle of the motor (2) in real time, and the electronic control unit monitors the actual current of the motor (2) in real time. When the electronic control unit detects that the motor (2) generates a stall current, it commands the motor (2) to stop rotating and records the rotation angle of the motor (2) in the first direction, which is recorded as the first limit angle. Then, the electronic control unit commands the motor (2) to rotate in the opposite direction, which is recorded as the second direction. The photoelectric sensor (6) monitors the rotation angle of the motor (2) in real time, and the electronic control unit monitors the actual current of the motor (2) in real time. When the electronic control unit detects that the motor (2) generates a stall current, it commands the motor (2) to stop rotating and records the rotation angle of the motor (2) in the second direction, which is recorded as the second limit angle. During normal operation: The electronic control unit controls the motor (2) to rotate in the first or second direction according to the input command. The photoelectric sensor (6) monitors the rotation angle of the motor (2) in real time. When the motor (2) rotates to the first or second limit angle, it commands the motor (2) to stop running.

2. The kinetic actuator according to claim 1, characterized in that: The speed reduction transmission group (4) includes a threaded shaft (41) mounted on the output shaft of the motor (2), a first double gear (42) driven by the threaded shaft (41), a second double gear (43) driven by the first double gear (42), and an output gear (44) driven by the second double gear (43). The first double gear (42) includes a first tooth (421) and a second tooth (422) that are coaxially and integrally connected; the first tooth (421) meshes with the threaded shaft (41), and the second tooth (422) has fewer teeth than the first tooth (421). The second double gear (43) includes a third tooth (431) and a fourth tooth (432) that are coaxially and integrally connected; the third tooth (431) meshes with the second tooth (422), and the fourth tooth (432) has fewer teeth than the third tooth (431). The output gear (44) meshes with the third tooth (431), and the output gear (44) is connected to the rotary output member (3).

3. The kinetic actuator according to claim 2, characterized in that: The rotary output component (3) is a rotating shaft with a spline hole, which is integrally connected with the output gear (44).

4. The kinetic actuator according to claim 2, characterized in that: On the carrier (1), the main body of the motor (2), the center of the first double gear (42), the center of the second double gear (43), and the center of the output gear (44) are arranged in a quadrilateral.

5. The kinetic actuator according to claim 1, characterized in that: During normal operation, when the motor (2) rotates in the first or second direction, the electronic control unit monitors the actual current of the motor (2) in real time. If the motor (2) is detected to generate a stall current, the unit commands the motor (2) to stop rotating and updates the first or second limit angle.

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