Rotary actuator and method of operation

Abstract

The present application belongs to the technical field of actuators, and particularly relates to a rotary actuator and a working method. The rotary actuator comprises a power source, a rotary actuating member, and a transmission assembly connected between the power source and the rotary actuating member. The rotary actuating member has circumferentially arranged force receiving tooth segments, and the angle range occupied by the force receiving tooth segments is less than 360 degrees. The transmission assembly has a driving wheel, and the driving wheel circumferentially has at least one force applying tooth segment capable of engaging with the force receiving tooth segments. The part of the driving wheel circumferentially not occupied by the force applying tooth segment is referred to as a force applying tooth vacancy segment. The rotary actuating member is elastically blocked and limited in a rotation interval range. The rotary actuator realizes the switching between automatic operation and manual operation of the rotary actuator without using a high-cost and complex clutch, and has the advantages of smooth mode switching process, low noise, high reliability, compact structure, large output torque, strong adaptability, high safety and the like.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of actuators, and particularly relates to a rotary actuator and a working method. BACKGROUND

[0002] With the continuous development and progress of society, intelligent household products are increasingly popular in the market. The intelligence of products involves all aspects, and the automatic operation of moving parts in household products driven by electrically controlled rotary actuators to replace human operation is an important part of intelligence.

[0003] Taking a refrigerator as an example, a traditional refrigerator can only be turned on and off by a manual method, while an intelligent refrigerator, such as the refrigerator disclosed in patent CN114777385A, is configured with an actuator to drive the refrigerator door to automatically open and close. In this way, when the user takes or puts an object, the refrigerator door can be automatically opened and closed by voice control, avoiding the embarrassment of holding the object with both hands and being inconvenient to open and close the refrigerator door. In addition, in order to take into account the operation habits of users, the actuator driving the refrigerator door to open and close should not only have an automatic execution function, but also take into account the traditional manual operation method. In order to realize the switching of the actuator between automatic operation and manual operation, the current mainstream solution is mainly to connect an electromagnetic clutch or a mechanical clutch in the power transmission path of the actuator, and to control the on-off of power transmission through the clutch, so as to realize the switching between the automatic mode and the manual mode. However, the above-mentioned scheme needs to additionally add a clutch, which not only significantly increases the cost, but also has some defects that are difficult to solve by the current technology. At present, the mechanical clutch has a certain sticking feeling when switching, and the noise is relatively large; the electromagnetic clutch controls the friction plate to separate and combine through the electromagnetic coil, and the structure is complex and the clutch force is relatively small, which limits the miniaturization design of the actuator, and also affects the stability and reliability of the actuator as a whole. SUMMARY

[0004] In view of the deficiencies of the prior art, the present application provides a rotary actuator and a working method, aiming to eliminate or partially eliminate the problems of obvious sticking feeling, relatively large noise, relatively small clutch force, difficulty in miniaturization of the actuator, insufficient reliability, and relatively high cost of the existing scheme while realizing the actuator considering automatic operation and manual operation.

[0005] The first aspect of the present application provides a rotary actuator, which comprises a power source at an upstream end of power, a rotary actuator for outputting rotary driving force to an action object at a downstream end of power, and a transmission assembly connected between the power source and the rotary actuator for transmitting the driving force of the power source to the rotary actuator. In the present application, the upstream and downstream of the power are defined based on the transmission direction of the power in the transmission path. In the rotary actuator of the present application, the power is transmitted from the power source to the rotary actuator through the transmission assembly, so the power source is the upstream end, the direction tending to the power source is the upstream direction, the rotary actuator is the downstream end, and the direction tending to the rotary actuator is the downstream direction.

[0006] The rotary actuator has a plurality of force receiving tooth segments arranged circumferentially, and the angle range occupied by the force receiving tooth segments is less than 360°, and the part not occupied by the force receiving tooth segments is referred to as a force receiving tooth gap segment.

[0007] The transmission assembly has a driving wheel, and the driving wheel has at least one force applying tooth segment arranged circumferentially and capable of engaging with the force receiving tooth segment, and the part not occupied by the force applying tooth segment is referred to as a force applying tooth gap segment.

[0008] The rotary actuator is elastically blocked within a rotation interval range.

[0009] The rotary actuator is elastically blocked within a rotation interval range, which means that the rotation of the rotary actuator is limited within a rotation interval range, and the rotation interval range can be divided into three parts, the middle part is a free rotation interval, and the two ends of the free rotation interval to the two ends of the whole rotation interval are intervals that are hindered by elastic force but still can continue to rotate.

[0010] The rotary actuator is elastically blocked within a rotation interval range by the following scheme. Specifically, the rotary actuator further has a first blocking position and a second blocking position arranged circumferentially; a first limiting part is fixed in the rotation area of the first blocking position, and a second limiting part is fixed in the rotation area of the second blocking position; the first limiting part elastically abuts against the first blocking position, thereby limiting the limit angle of the rotary actuator in the first rotation direction, which is referred to as the first limit angle; the second limiting part elastically abuts against the second blocking position, thereby limiting the limit angle of the rotary actuator in the second rotation direction, which is referred to as the second limit angle.

[0011] Thus, the rotating actuator is elastically blocked within a rotation range from the first limit angle to the second limit angle. The rotation range can be divided into three parts, the middle part is a free rotation range without elastic force, and the elastic rotation range at both ends of the free rotation range is blocked by elastic force but still can continue to rotate, which is respectively referred to as the first elastic rotation range and the second elastic rotation range. When the rotating actuator rotates to the first limit angle or the second limit angle, the force receiving tooth segment is just out of the sweeping range of the force applying tooth segment. When the rotating actuator rotates to the first elastic rotation range or the second elastic rotation range, the force receiving tooth segment is just in the sweeping range of the force applying tooth segment.

[0012] Further, the first stop position is embedded with a first spring, one end of the first spring is aligned with the first limiting part so as to be elastically abutted with the first limiting part; the second stop position is embedded with a second spring, one end of the second spring is aligned with the second limiting part so as to be elastically abutted with the second limiting part.

[0013] Further, the transmission assembly has a torque limiting wheel; the torque limiting wheel includes a force receiving gear and an output gear arranged on the same axis, and the force receiving gear and the output gear are magnetically connected. When the torque transmitted between the force receiving gear and the output gear exceeds the bearing range of the magnetic force, the force receiving gear and the output gear slip, thereby preventing the actuator from being damaged by overloading, and preventing the actuator from outputting too large torque to cause injury to the personnel.

[0014] Further, the output gear is coaxially fixedly connected with a magnetic suction disc, the force receiving gear is provided with a plurality of cavities, and the cavities are embedded with magnetic suction members, the magnetic suction members and the magnetic suction disc are attracted to each other, thereby transmitting the torque. In addition, the number of cavities can be large, and the number of magnetic suction members can be less than or equal to the number of cavities, so that the magnetic suction members can be selectively arranged in the cavities, and the maximum torque can be adjusted by changing the arrangement number and distribution state of the magnetic suction members, thereby a unified structure can be adopted to adapt to different torque requirements in application scenarios.

[0015] Further, the force receiving gear has a force receiving gear ring on the side, and the transmission assembly has a worm meshing with the force receiving gear ring, and the worm drives the force receiving gear to rotate. The power source directly drives the worm to rotate; the diameter of the force receiving gear is larger than the diameter of the output gear.

[0016] The above structure occupies a very small space, realizes a very large speed reduction ratio, and also realizes an adjustable torque limiting function. The magnetic torque limiting component is integrated in the force receiving gear ring, and the worm driving the torque limiting wheel is directly connected with the power source, so that the torque borne by the torque limiting wheel is minimized, facilitating the miniaturization of the torque limiting structure and hiding in the force receiving gear ring without occupying additional space.

[0017] Further, the rotary actuator further comprises an angular displacement sensor, the angular displacement sensor is driven to rotate by the transmission assembly.

[0018] Further, the driving wheel is provided with a synchronizing gear ring on the periphery thereof, and a transition wheel is connected to the detection shaft of the angular displacement sensor, the transition wheel is engaged with the synchronizing gear ring. The rotation of the driving wheel causes the rotation of the detection shaft of the angular displacement sensor, so that the angle of the driving wheel can be directly and accurately determined according to the detection data of the angular displacement sensor, thereby providing a basis for the electric control of the actuator.

[0019] The second aspect of the present application is to provide a working method of the rotary actuator.

[0020] Before specifically introducing the working method of the rotary actuator, the rotation range of the rotary actuator is described as follows: the rotation range of the rotary actuator from the first limit angle to the second limit angle is divided into three parts, the middle part is a free rotation range not affected by the elastic force, and the elastic rotation ranges are provided at both ends of the free rotation range, which are still able to continue to rotate but are hindered by the elastic force; wherein, the elastic rotation range close to the first limit angle is referred to as the first elastic rotation range, and the elastic rotation range close to the second limit angle is referred to as the second elastic rotation range; the boundary between the first elastic rotation range and the free rotation range is referred to as the first elastic contact angle, and the boundary between the second elastic rotation range and the free rotation range is referred to as the second elastic contact angle.

[0021] The working method of the rotary actuator includes the following various optional operation modes:

[0022] M1: automatic execution mode

[0023] The initial state of the automatic execution mode: the rotary actuator is at the first elastic contact angle position, and the driving wheel is at the position where the force applying tooth gap segment is opposite to the rotary actuator;

[0024] The action process of the automatic execution mode: the driving force source is started to drive the transmission assembly to operate, the force applying tooth segment of the driving wheel is rotated to contact the force receiving tooth segment, the driving wheel continues to rotate to drive the rotary actuator to rotate to the second elastic contact angle, the driving wheel continues to rotate to make the rotary actuator enter the second elastic rotation range, the driving wheel continues to rotate to make the force applying tooth segment and the force receiving tooth segment disengage, and then the driving wheel is stopped;

[0025] The termination state of the automatic execution mode: the rotary actuator is at the second elastic contact angle position, and the driving wheel is at the position where the force applying tooth gap segment is opposite to the rotary actuator;

[0026] M2: automatic reset mode

[0027] The initial state of the automatic reset mode: the rotary actuator is at the second elastic contact angle position, and the driving wheel is at the position where the force applying tooth gap segment is opposite to the rotary actuator;

[0028] Action process of automatic reset mode: the power source is started to drive the transmission assembly to move in the opposite direction of the automatic execution mode, the force applying tooth segment of the driving wheel rotates to contact the force receiving tooth segment, the driving wheel continues to rotate to drive the rotating execution member to rotate to the first elastic contact angle, the driving wheel continues to rotate to make the rotating execution member enter the first elastic rotation interval, the driving wheel continues to rotate to make the force applying tooth segment and the force receiving tooth segment disengage, and stop;

[0029] Termination state of automatic reset mode: the rotating execution member is at the first elastic contact angle position, and the driving wheel is at the position where the force applying tooth gap segment is opposite to the rotating execution member;

[0030] M3: manual execution mode

[0031] Initial state of manual execution mode: the rotating execution member is at the first elastic contact angle position, and the driving wheel is at the position where the force applying tooth gap segment is opposite to the rotating execution member;

[0032] Action process of manual execution mode: the power source is not working, and the rotating execution member is manually rotated from the initial position to the second elastic contact angle position;

[0033] Termination state of manual execution mode: the rotating execution member is at the second elastic contact angle position, and the driving wheel is at the position where the force applying tooth gap segment is opposite to the rotating execution member;

[0034] M4: manual reset mode

[0035] Initial state of manual reset mode: the rotating execution member is at the second elastic contact angle position, and the driving wheel is at the position where the force applying tooth gap segment is opposite to the rotating execution member;

[0036] Action process of manual reset mode: the power source is not working, and the rotating execution member is manually rotated to the first elastic contact angle position;

[0037] Termination state of manual reset mode: the rotating execution member is at the first elastic contact angle position, and the driving wheel is at the position where the force applying tooth gap segment is opposite to the rotating execution member;

[0038] M5: atypical execution mode

[0039] Initial state of atypical execution mode: the rotating execution member is at any position in the free rotation interval, and the driving wheel is at the position where the force applying tooth gap segment is opposite to the rotating execution member;

[0040] The action process of the atypical execution mode: start the power source to drive the transmission assembly to operate, the force applying tooth segment of the driving wheel rotates to contact the force receiving tooth segment, the driving wheel continues to rotate to drive the rotating execution member to rotate to the second elastic contact angle, the driving wheel continues to rotate to make the rotating execution member enter the second elastic rotation interval, the driving wheel continues to rotate to make the end of the force applying tooth segment and the force receiving tooth segment slide under the elastic action, the driving wheel continues to rotate to make the force applying tooth segment and the force receiving tooth segment disengage, and stop;

[0041] The termination state of the atypical execution mode: the rotating execution member is at the position of the second elastic contact angle, and the driving wheel is at the position that the force applying tooth vacancy segment faces the rotating execution member;

[0042] M6: Atypical reset mode

[0043] The initial state of the atypical execution mode: the rotating execution member is at an arbitrary position in the free rotation interval, and the driving wheel is at the position that the force applying tooth vacancy segment faces the rotating execution member;

[0044] The action process of the atypical reset mode: start the power source to drive the transmission assembly to operate, the force applying tooth segment of the driving wheel rotates to contact the force receiving tooth segment, the driving wheel continues to rotate to drive the rotating execution member to rotate to the first elastic contact angle, the driving wheel continues to rotate to make the rotating execution member enter the first elastic rotation interval, the driving wheel continues to rotate to make the end of the force applying tooth segment and the force receiving tooth segment slide under the elastic action, the driving wheel continues to rotate to make the force applying tooth segment and the force receiving tooth segment disengage, and stop;

[0045] The termination state of the atypical reset mode: the rotating execution member is at the position of the first elastic contact angle, and the driving wheel is at the position that the force applying tooth vacancy segment faces the rotating execution member.

[0046] The above rotating actuator can theoretically drive the rotation of any rotating member, and the above multiple working modes can be adapted in different application scenarios. For the convenience and brevity of description, the following will introduce a feasible adaptation mode by taking the application scenario of opening and closing the refrigerator door as an example, but the actual application is not limited to this adaptation mode.

[0047] The above rotating actuator is installed on the refrigerator shell, and the rotating execution member is connected with the rotating shaft of the refrigerator door, so that the rotation of the rotating execution member directly drives the rotation of the refrigerator door. The M1 automatic execution mode can correspond to the automatic opening process of the refrigerator door, the M2 automatic reset mode can correspond to the automatic closing process of the refrigerator door, the M3 manual execution mode can correspond to the manual opening process of the refrigerator door, the M4 manual reset mode can correspond to the manual closing process of the refrigerator door, the M5 atypical execution mode can correspond to the process of automatically opening the refrigerator door from the incomplete opening state to the complete opening state, and the M6 atypical reset mode can correspond to the process of automatically closing the refrigerator door from the incomplete closing state to the complete closing state.

[0048] In summary, the present application has the following beneficial effects compared to the prior art:

[0049] (1) The rotary actuator of the present application, without using a high-cost and complex clutch, also realizes the switching between automatic operation and manual operation, and is also compatible with a variety of unconventional use states.

[0050] (2) The rotary actuator of the present application, through the cooperation of the drive wheel and the rotary actuator, not only realizes the switching between automatic operation and manual operation, but also has a smooth switching process, no obvious jamming feeling, low noise, and high reliability.

[0051] (3) The rotary actuator of the present application, with a compact structure and low cost, simultaneously realizes the large reduction ratio and torque limiting effect, obtains a large output torque, obtains wide adaptability, protects the structure itself, and also avoids unnecessary harm to the user. BRIEF DESCRIPTION OF DRAWINGS

[0052] Figure 1 is a perspective view of the rotary actuator.

[0053] Figure 2 is a schematic view of the internal structure of the rotary actuator of Example 1.

[0054] Figure 3 and Figure 4 is a schematic view of the structure of the rotary actuator.

[0055] Figure 5 is a schematic view of the structure of the drive wheel of Example 1.

[0056] Figure 6 is a schematic view of the assembly of the rotary actuator.

[0057] Figure 7 is a schematic view of the cooperation of the torque limiting wheel and the worm.

[0058] Figure 8 and Figure 9 is a schematic view of the cooperation of the angle displacement sensor and the transmission assembly.

[0059] Figure 10 is a schematic view of the internal structure of the rotary actuator of Example 2.

[0060] Figure 11 is a schematic view of the structure of the drive wheel of Example 2. DETAILED DESCRIPTION

[0061] The present application will be further illustrated by the following examples, which are intended to more clearly illustrate the technical solutions of the present application, and should not be understood as a limitation.

[0062] 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.

[0063] Example 1

[0064] like Figures 1 to 9 The rotary actuator shown includes a power source 1 located upstream of the power source, a rotary actuator 3 located downstream of the power source for outputting rotary driving force to the object being acted upon, and a transmission assembly connected between the power source 1 and the rotary actuator 3 for transmitting the force of the power source 1 to the rotary actuator 3; wherein, the power source 1 is a motor, the rotary actuator 3 is a hollow rotating shaft mounted on a housing via bearings, and the transmission assembly is a reduction gear set.

[0065] like Figure 3 and Figure 4 As shown, the rotary actuator 3 has circumferentially arranged force-bearing tooth segments 31, the angle range occupied by the force-bearing tooth segments 31 is less than 360°, and the part not occupied by the force-bearing tooth segments 31 is called the force-bearing tooth gap segment 32.

[0066] The transmission assembly includes a drive wheel 29, such as Figure 5 As shown, the drive wheel 29 has a force-applying tooth segment 291 in the circumferential direction that can mesh with the force-applying tooth segment 31, and the part of the drive wheel 29 that is not occupied by the force-applying tooth segment 291 in the circumferential direction is called the force-applying tooth gap segment 292.

[0067] The rotary actuator 3 is elastically confined within a rotation range. Specifically, as shown... Figure 3 and Figure 4 As shown, the rotary actuator 3 also has a first stop 33 and a second stop 34 distributed circumferentially; as Figure 6As shown, the first limiting portion 91 is fixed on the rotation area of the first stop position 33, and the second limiting portion 92 is fixed on the rotation area of the second stop position 34; the first limiting portion 91 elastically abuts against the first stop position 33, thereby limiting the limit angle of the rotation execution member 3 in the first rotation direction, which is recorded as the first limit angle; the second limiting portion 92 elastically abuts against the second stop position 34, thereby limiting the limit angle of the rotation execution member 3 in the second rotation direction, which is recorded as the second limit angle.

[0068] Therefore, the rotation interval of the rotation execution member 3 limited by the elastic stop is the range from the first limit angle to the second limit angle. The rotation interval can be divided into three parts, the middle part is the free rotation interval without elastic force, and there is a small elastic rotation interval on both ends of the free rotation interval, which is respectively recorded as the first elastic rotation interval and the second elastic rotation interval. When the rotation execution member 3 rotates to the first limit angle or the second limit angle, the force receiving tooth segment 31 just escapes from the sweeping range of the force applying tooth segment 291, and when the rotation execution member 3 rotates to the first elastic rotation interval or the second elastic rotation interval, the force receiving tooth segment 31 just enters the sweeping range of the force applying tooth segment 291.

[0069] As shown in the figure, Figure 6 the first spring 35 is embedded on the first stop position 33, one end of the first spring 35 is aligned with the first limiting portion 91 so as to elastically abut against the first limiting portion 91; and the second spring 36 is embedded on the second stop position 34, one end of the second spring 36 is aligned with the second limiting portion 92 so as to elastically abut against the second limiting portion 92.

[0070] As shown in the figure, Figure 2 the transmission assembly has a torsion limiting wheel 22; as shown in the figure, Figure 7 the torsion limiting wheel 22 includes a force receiving gear 221 and an output gear 222 arranged on the same axis, and the force receiving gear 221 and the output gear 222 are magnetically transmissionally connected. Specifically, the output gear 222 is fixedly connected with a magnetic suction disc 223 made of iron in a coaxial manner; the force receiving gear 221 is provided with a plurality of cavities 2211, and a magnetic suction member 2212 is embedded in each cavity 2211, and the magnetic suction member 2212 and the magnetic suction disc 223 are attracted to each other, thereby transmitting the torque.

[0071] As shown in the figure, Figure 7 the force receiving gear 221 has a force receiving gear ring 2213 on the circumference, and the transmission assembly has a worm 21 engaged with the force receiving gear ring 2213, and the worm 21 drives the force receiving gear 221 to rotate. The power source 1 directly drives the worm 21 to rotate; the diameter of the force receiving gear 221 is greater than the diameter of the output gear 222.

[0072] As shown in the figure, Figure 8 and Figure 9As shown, the rotary actuator further comprises an angular displacement sensor 4, which is driven to rotate by the transmission assembly; a transition wheel 5 is connected to the detection shaft of the angular displacement sensor 4. As shown, the driving wheel 29 has a synchronizing gear ring 293 on the side thereof. The transition wheel 5 is in mesh with the synchronizing gear ring 293. Figure 5

[0073] The working method of the rotary actuator of the embodiment will be described below. Before the description, the rotation range of the rotary actuating member will be described as follows: the rotation range of the rotary actuating member 3 from the first limit angle to the second limit angle is divided into three parts, the middle part is a free rotation range not subjected to elastic force, and the elastic rotation ranges subjected to elastic force but still capable of continuing rotation are provided at both ends of the free rotation range; the elastic rotation range adjacent to the first limit angle is referred to as the first elastic rotation range, and the elastic rotation range adjacent to the second limit angle is referred to as the second elastic rotation range; the boundary between the first elastic rotation range and the free rotation range is referred to as the first elastic contact angle, and the boundary between the second elastic rotation range and the free rotation range is referred to as the second elastic contact angle.

[0074] The working method has the following multiple optional operation modes:

[0075] M1: automatic execution mode

[0076] The initial state of the automatic execution mode: the rotary actuating member 3 is at the first elastic contact angle position, and the driving wheel 29 is at the position where the force applying tooth gap segment 292 faces the rotary actuating member 3.

[0077] The action process of the automatic execution mode: the force source 1 is started to drive the transmission assembly to operate, the force applying tooth segment 291 of the driving wheel 29 is rotated to contact the force receiving tooth segment 31, the driving wheel 29 continues to rotate to drive the rotary actuating member 3 to rotate to the second elastic contact angle, the driving wheel 29 continues to rotate to make the rotary actuating member 3 enter the second elastic rotation range, the driving wheel 29 continues to rotate to make the force applying tooth segment 291 and the force receiving tooth segment 31 disengage, and then the operation is stopped.

[0078] The termination state of the automatic execution mode: the rotary actuating member 3 is at the second elastic contact angle position, and the driving wheel 29 is at the position where the force applying tooth gap segment 292 faces the rotary actuating member 3.

[0079] M2: automatic reset mode

[0080] The initial state of the automatic reset mode: the rotary actuating member 3 is at the second elastic contact angle position, and the driving wheel 29 is at the position where the force applying tooth gap segment 292 faces the rotary actuating member 3.

[0081] ​Action process of automatic reset mode: start power source 1 drives transmission assembly to run in the opposite direction of automatic execution mode, driving wheel 29 rotates force tooth segment 291 to contact force tooth segment 31, driving wheel 29 continues to rotate to drive rotating execution member 3 to rotate to the first elastic contact angle, driving wheel 29 continues to rotate to make rotating execution member 3 enter the first elastic rotation interval, driving wheel 29 continues to rotate to make force tooth segment 291 and force tooth segment 31 disengage, and stop;

[0082] Termination state of automatic reset mode: rotating execution member 3 is at the first elastic contact angle position, and driving wheel 29 is at the position where force tooth vacancy segment 292 is opposite to rotating execution member 3;

[0083] M3: manual execution mode

[0084] Initial state of manual execution mode: rotating execution member 3 is at the first elastic contact angle position, and driving wheel 29 is at the position where force tooth vacancy segment 292 is opposite to rotating execution member 3;

[0085] Action process of manual execution mode: power source 1 does not work, and rotating execution member 3 is manually rotated from the initial position to the second elastic contact angle position;

[0086] Termination state of manual execution mode: rotating execution member 3 is at the second elastic contact angle position, and driving wheel 29 is at the position where force tooth vacancy segment 292 is opposite to rotating execution member 3;

[0087] M4: manual reset mode

[0088] Initial state of manual reset mode: rotating execution member 3 is at the second elastic contact angle position, and driving wheel 29 is at the position where force tooth vacancy segment 292 is opposite to rotating execution member 3;

[0089] Action process of manual reset mode: power source 1 does not work, and rotating execution member 3 is manually rotated to the first elastic contact angle position;

[0090] Termination state of manual reset mode: rotating execution member 3 is at the first elastic contact angle position, and driving wheel 29 is at the position where force tooth vacancy segment 292 is opposite to rotating execution member 3;

[0091] M5: atypical execution mode

[0092] Initial state of atypical execution mode: rotating execution member 3 is at any position in the free rotation interval, and driving wheel 29 is at the position where force tooth vacancy segment 292 is opposite to rotating execution member 3;

[0093] The action process of the atypical execution mode: start the power source 1 to drive the transmission assembly to operate, the force applying tooth segment 291 of the driving wheel 29 rotates to contact the force receiving tooth segment 31, the driving wheel 29 continues to rotate to drive the rotary actuator 3 to rotate to the second elastic contact angle, the driving wheel 29 continues to rotate to make the rotary actuator 3 enter the second elastic rotation interval, the driving wheel 29 continues to rotate to make the force applying tooth segment 291 and the end of the force receiving tooth segment 31 slide under the elastic action, the driving wheel 29 continues to rotate to make the force applying tooth segment 291 and the force receiving tooth segment 31 disengage, and stop;

[0094] The termination state of the atypical execution mode: the rotary actuator 3 is at the second elastic contact angle position, and the driving wheel 29 is at the position where the force applying tooth vacancy segment 292 faces the rotary actuator 3.

[0095] M6: Atypical reset mode

[0096] The initial state of the atypical execution mode: the rotary actuator 3 is at an arbitrary position in the free rotation interval, and the driving wheel 29 is at the position where the force applying tooth vacancy segment 292 faces the rotary actuator 3.

[0097] The action process of the atypical reset mode: start the power source 1 to drive the transmission assembly to operate, the force applying tooth segment 291 of the driving wheel 29 rotates to contact the force receiving tooth segment 31, the driving wheel 29 continues to rotate to drive the rotary actuator 3 to rotate to the first elastic contact angle, the driving wheel 29 continues to rotate to make the rotary actuator 3 enter the first elastic rotation interval, the driving wheel 29 continues to rotate to make the force applying tooth segment 291 and the end of the force receiving tooth segment 31 slide under the elastic action, the driving wheel 29 continues to rotate to make the force applying tooth segment 291 and the force receiving tooth segment 31 disengage, and stop.

[0098] The termination state of the atypical reset mode: the rotary actuator 3 is at the first elastic contact angle position, and the driving wheel 29 is at the position where the force applying tooth vacancy segment 292 faces the rotary actuator 3.

[0099] Embodiment 2

[0100] The rotary actuator provided in the embodiment is different from the rotary actuator of the embodiment 1 in the driving wheel 29, and other structures are the same. Figure 10

[0101] The driving wheel 29 in the rotary actuator of the embodiment is as shown in Figure 11 The driving wheel 29 is uniformly distributed with three force applying tooth segments 291 which can engage with the force receiving tooth segment 31 in the circumferential direction, and each two force applying tooth segments 291 are not occupied, which is recorded as a force applying tooth vacancy segment 292.

[0102] ​The driving wheel 29 of the embodiment is actually equivalent to that of the embodiment 1, i.e. the force applying tooth segment 291 rotates in any direction to meet the force applying tooth vacancy segment 292, so the working method can also be optionally executed in the following modes according to the embodiment 1: M1 automatic execution mode, M2 automatic reset mode, M3 manual execution mode, M4 manual reset mode, M5 atypical execution mode, and M6 atypical reset mode.

[0103] The rotating actuator of the embodiment has the following advantages compared with the rotating actuator of the embodiment 1, because the driving wheel 29 is circumferentially distributed with multiple force applying tooth segments 291 and force applying tooth vacancy segments 292: in the atypical operation mode, whether the atypical execution operation or the atypical reset operation is performed, the force applying tooth segment 291 of the driving wheel 29 can quickly contact the force receiving tooth segment 31 of the rotating actuator 3, thereby quickly returning the rotating actuator 3 to the first elastic contact angle or the second elastic contact angle. Because the force applying tooth vacancy segment 292 of the embodiment 1 occupies a larger angle, the rotating actuator of the embodiment 1 may consume a longer time when completing the above-mentioned action.

[0104] The different embodiments complete the above-mentioned action process, and there is a certain difference in the completion time, which is not important in many application scenarios, but in time-sensitive application scenarios, the scheme of the embodiment 2 is preferred. For example, the opening and closing of the refrigerator door, if the preparation stage before the action execution is too long, not only affects the user's experience and feeling, but also causes a large amount of cold source to be lost in the refrigerator, increasing the energy consumption of the refrigerator. Therefore, the scheme of the embodiment 2 can well solve the above-mentioned problems.

[0105] The above embodiments are exemplary, and the purpose is to illustrate the technical concept and characteristics of the present application, so that those skilled in the art can understand the content of the present application and implement it, and the protection scope of the present application cannot be limited thereto. Any equivalent changes or modifications made according to the spirit and essence of the present application shall be covered within the protection scope of the present application.

Claims

1. A rotary actuator, characterized by: The transmission assembly comprises a power source (1) at an upstream end of power, a rotating actuator (3) for outputting rotational driving force to an acting object at a downstream end of power, and a transmission assembly connected between the power source (1) and the rotating actuator (3) for transmitting the acting force of the power source (1) to the rotating actuator (3); The rotating actuator (3) has a circumferentially arranged force receiving tooth segment (31), and the force receiving tooth segment (31) occupies an angle range less than 360°, and the part not occupied by the force receiving tooth segment (31) is recorded as a force receiving tooth gap segment (32); The transmission assembly has a driving wheel (29), and the driving wheel (29) circumferentially has at least a force applying tooth segment (291) which can engage with the force receiving tooth segment (31), and the part not occupied by the force applying tooth segment (291) in the circumferential direction of the driving wheel (29) is recorded as a force applying tooth gap segment (292); The rotating actuator (3) is elastically stopped within a rotation range; The rotating actuator (3) further has circumferentially distributed first stop positions (33) and second stop positions (34); a first limiting part (91) is fixed in the rotation area of the first stop position (33), and a second limiting part (92) is fixed in the rotation area of the second stop position (34); the first limiting part (91) elastically abuts against the first stop position (33), thereby limiting the limit angle of the rotating actuator (3) in the first rotation direction, which is recorded as a first limit angle; the second limiting part (92) elastically abuts against the second stop position (34), thereby limiting the limit angle of the rotating actuator (3) in the second rotation direction, which is recorded as a second limit angle; The rotation range of the rotating actuator (3) from the first limit angle to the second limit angle is divided into three parts, the middle part is a free rotation range without elastic force, and the elastic rotation ranges which are hindered by elastic force but still can continue to rotate are arranged at both ends of the free rotation range; wherein, the elastic rotation range close to the first limit angle is recorded as a first elastic rotation range, and the elastic rotation range close to the second limit angle is recorded as a second elastic rotation range; The rotating actuator further comprises an angular displacement sensor (4) which is driven to rotate by the transmission assembly; The driving wheel (29) has a synchronous gear ring (293) on the circumferential side, a transition wheel (5) is connected on the detection shaft of the angular displacement sensor (4), and the transition wheel (5) is engaged with the synchronous gear ring (293).

2. The rotary actuator of claim 1, wherein: The first stop position (33) is embedded with a first spring (35), one end of the first spring (35) is aligned with the first limiting part (91) so as to elastically abut against the first limiting part (91); the second stop position (34) is embedded with a second spring (36), one end of the second spring (36) is aligned with the second limiting part (92) so as to elastically abut against the second limiting part (92).

3. A rotary actuator according to claim 1 or 2, characterized in that: The transmission assembly has a torsion limiting wheel (22); the torsion limiting wheel (22) comprises a force receiving gear (221) and an output gear (222) arranged on the same axis, and the force receiving gear (221) and the output gear (222) are magnetically connected in transmission.

4. The rotary actuator of claim 3, wherein: The output gear (222) is coaxially fixedly connected with a magnetic suction disc (223), the force receiving gear (221) is provided with a plurality of cavities (2211), the cavities (2211) are embedded with magnetic suction members (2212), the magnetic suction members (2212) and the magnetic suction disc (223) are attracted to each other, thereby transmitting torque.

5. The rotary actuator of claim 4, wherein: The force receiving gear (221) has a force receiving gear ring (2213) on the periphery, the transmission assembly has a worm (21) engaged with the force receiving gear ring (2213), and the worm (21) drives the force receiving gear (221) to rotate.

6. The rotary actuator of claim 5, wherein: The power source (1) directly drives the worm (21) to rotate; the diameter of the force receiving gear (221) is greater than the diameter of the output gear (222).

7. The working method of the rotary actuator according to any one of claims 1 to 6, characterized in that: the boundary between the first elastic rotation interval and the free rotation interval is denoted as a first elastic contact angle, and the boundary between the second elastic rotation interval and the free rotation interval is denoted as a second elastic contact angle; the working method has the following operation modes: M1: automatic execution mode the initial state of the automatic execution mode: the rotary actuator (3) is at the first elastic contact angle position, and the driving wheel (29) is at the position where the force applying tooth vacancy segment (292) faces the rotary actuator (3); the action process of the automatic execution mode: start the power source (1) to drive the transmission assembly to operate, the force applying tooth segment (291) of the driving wheel (29) rotates to contact the force receiving tooth segment (31), the driving wheel (29) continues to rotate to drive the rotary actuator (3) to rotate to the second elastic contact angle, the driving wheel (29) continues to rotate to make the rotary actuator (3) enter the second elastic rotation interval, the driving wheel (29) continues to rotate to make the force applying tooth segment (291) and the force receiving tooth segment (31) disengage, and stop; the termination state of the automatic execution mode: the rotary actuator (3) is at the second elastic contact angle position, and the driving wheel (29) is at the position where the force applying tooth vacancy segment (292) faces the rotary actuator (3); M2: automatic reset mode the initial state of the automatic reset mode: the rotary actuator (3) is at the second elastic contact angle position, and the driving wheel (29) is at the position where the force applying tooth vacancy segment (292) faces the rotary actuator (3); the action process of the automatic reset mode: start the power source (1) to drive the transmission assembly to operate in the direction opposite to the automatic execution mode, the force applying tooth segment (291) of the driving wheel (29) rotates to contact the force receiving tooth segment (31), the driving wheel (29) continues to rotate to drive the rotary actuator (3) to rotate to the first elastic contact angle, the driving wheel (29) continues to rotate to make the rotary actuator (3) enter the first elastic rotation interval, the driving wheel (29) continues to rotate to make the force applying tooth segment (291) and the force receiving tooth segment (31) disengage, and stop; the termination state of the automatic reset mode: the rotary actuator (3) is at the first elastic contact angle position, and the driving wheel (29) is at the position where the force applying tooth vacancy segment (292) faces the rotary actuator (3); M3: manual execution mode Initial state of manual execution mode: the rotating executor (3) is at the first elastic contact angle position, and the driving wheel (29) is at the position where the force applying tooth vacancy section (292) is opposite to the rotating executor (3); Action process of manual execution mode: the power source (1) is not working, and the rotating executor (3) is manually rotated from the initial position to the second elastic contact angle position; Termination state of manual execution mode: the rotating executor (3) is at the second elastic contact angle position, and the driving wheel (29) is at the position where the force applying tooth vacancy section (292) is opposite to the rotating executor (3); M4: manual reset mode Initial state of manual reset mode: the rotating executor (3) is at the second elastic contact angle position, and the driving wheel (29) is at the position where the force applying tooth vacancy section (292) is opposite to the rotating executor (3); Action process of manual reset mode: the power source (1) is not working, and the rotating executor (3) is manually rotated to the first elastic contact angle position; Termination state of manual reset mode: the rotating executor (3) is at the first elastic contact angle position, and the driving wheel (29) is at the position where the force applying tooth vacancy section (292) is opposite to the rotating executor (3); M5: atypical execution mode Initial state of atypical execution mode: the rotating executor (3) is at any position in the free rotation interval, and the driving wheel (29) is at the position where the force applying tooth vacancy section (292) is opposite to the rotating executor (3); Action process of atypical execution mode: the power source (1) is started to drive the transmission assembly to rotate, the force applying tooth section (291) of the driving wheel (29) is rotated to contact the force receiving tooth section (31), the driving wheel (29) continues to rotate to drive the rotating executor (3) to rotate to the second elastic contact angle, the driving wheel (29) continues to rotate to make the rotating executor (3) enter the second elastic rotation interval, the driving wheel (29) continues to rotate to make the force applying tooth section (291) and the force receiving tooth section (31) slide under the elastic action, the driving wheel (29) continues to rotate to make the force applying tooth section (291) and the force receiving tooth section (31) disengage, and then stop; Termination state of atypical execution mode: the rotating executor (3) is at the second elastic contact angle position, and the driving wheel (29) is at the position where the force applying tooth vacancy section (292) is opposite to the rotating executor (3); M6: atypical reset mode Initial state of atypical reset mode: the rotating executor (3) is at any position in the free rotation interval, and the driving wheel (29) is at the position where the force applying tooth vacancy section (292) is opposite to the rotating executor (3); The action process of the atypical reset mode: start the power source (1) to drive the transmission assembly to operate, the force applying tooth segment (291) of the driving wheel (29) rotates to contact the force receiving tooth segment (31), the driving wheel (29) continues to rotate to drive the rotary execution member (3) to rotate to a first elastic contact angle, the driving wheel (29) continues to rotate to make the rotary execution member (3) enter a first elastic rotation interval, the driving wheel (29) continues to rotate to make the force applying tooth segment (291) and the end of the force receiving tooth segment (31) slide under the elastic action, the driving wheel (29) continues to rotate to make the force applying tooth segment (291) and the force receiving tooth segment (31) disengage, and stop; The termination state of the atypical reset mode: the rotary execution member (3) is at a first elastic contact angle position, and the driving wheel (29) is at a position where the force applying tooth gap segment (292) faces the rotary execution member (3).

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