A manual-automatic switchable rotary actuator

Abstract

The present invention belongs to the technical field of rotary actuators, and specifically relates to a manual-automatic switchable rotary actuator. The manual-automatic switchable rotary actuator provided by the present invention includes: a carrier, an output shaft rotatably mounted on the carrier, a rotary power source fixed on the carrier, and a transmission assembly connected between the output shaft and the rotary power source and transmitting the power of the rotary power source to the output shaft. The transmission assembly has a first planetary gear set, and a pressure device controllably drives the friction member to squeeze and rub with the first ring gear in the first planetary gear set. The actuator can be controllably switched between manual mode and automatic mode, and the switching process is smooth and smooth, which improves the user experience and also prolongs the service life of the actuator. Moreover, the actuator has a high degree of integration, which is conducive to saving space.

Description

Technical Field

[0001] The present invention belongs to the technical field of rotary actuators, and in particular relates to a manual-automatic switchable rotary actuator. Background Art

[0002] The home appliance industry is rapidly evolving toward intelligentization, leading to a growing demand for automatic opening and closing of movable doors on appliances such as refrigerators, ovens, and disinfection cabinets. Considering power outages and users' long-standing habit of manual operation, appliances that offer both automatic and manual operation are increasingly competitive.

[0003] To accommodate both automatic and manual operation, the rotary actuator driving the sliding door needs to be able to switch freely between manual and automatic modes. The current mainstream solution involves installing a clutch, such as a mechanical clutch or electromagnetic clutch, between the upstream and downstream power sources. When electric operation is required, the clutch is switched to the connected state, allowing the driving force from the upstream to be transmitted downstream, rotating the sliding door. When manual operation is required, the clutch is switched to the disconnected state, separating the upstream and downstream power sources. The upstream power unit does not hinder the sliding door's rotation, allowing the sliding door to rotate freely.

[0004] However, mechanical clutches can feel sticky during operation, especially when switching from a power-disconnected state to a power-connected state. The sudden power input can cause a noticeable jerk and significantly impact the motor and transmission gear set, resulting in a poor user experience and shortening the lifespan of the motor and transmission gear set. While electromagnetic clutches switch relatively smoothly, they can still impact the motor and transmission gear set at the moment of power input, and due to their size limitations, their output torque is relatively low.

[0005] In addition, the clutch in the existing actuator usually needs to occupy a certain amount of space separately. For example, a rotary actuator proposed by our company in patent CN212752039U can well realize the switchable rotary execution function, but its clutch is connected to the transmission gear set as an independent functional unit, which occupies a large space. This is not conducive to reducing the volume of the actuator to save space. Summary of the Invention

[0006] In view of the deficiencies in the prior art, the present invention provides a manual-automatic switchable rotary actuator.

[0007] The manual-automatic switchable rotary actuator provided by the present invention includes: a carrier, an output shaft rotatably mounted on the carrier, a rotary power source fixed to the carrier, and a transmission assembly connected between the output shaft and the rotary power source and transmitting power from the rotary power source to the output shaft.

[0008] The transmission assembly has at least one planetary gear set, which is referred to as the first planetary gear set. The first planetary gear set includes: a rotatable first planet carrier, a group of first planetary gears circumferentially mounted on the first planet carrier, a first ring gear located on the outer periphery of the first planet carrier and meshing with the first planetary gears, and a first sun gear located in the center of the first planet carrier and meshing with the first planetary gears. The first sun gear is connected to the upstream of the power source, and the first planet carrier is connected to the downstream of the power source.

[0009] The manual-automatic switchable rotary actuator also includes: a friction member close to the first ring gear, and a pressure device that drives the friction member to move; the first ring gear has a first friction surface in the circumferential direction, and the friction member has a second friction surface, and the pressure device can controllably drive the second friction surface to squeeze the first friction surface.

[0010] Furthermore, in the above-mentioned manual-automatic switchable rotary actuator, the friction member has an arc-shaped recess facing the first gear ring, the second friction surface is located on the inner wall of the arc-shaped recess, and the first friction surface is the outer peripheral surface of the first gear ring.

[0011] Furthermore, in the above-mentioned manual-automatic switchable rotary actuator, the pressure-applying device is a push-pull electromagnet; the friction member is installed at the end of the push-pull electromagnet, and when the push-pull electromagnet is energized, it pushes the friction member to squeeze the first gear ring.

[0012] Furthermore, in the above-mentioned manual-automatic switchable rotary actuator, the transmission assembly also has a second planetary gear set arranged downstream of the first planetary gear set; the second planetary gear set includes: a rotatable second planetary carrier, a group of second planetary gears circumferentially installed on the second planetary carrier, a second ring gear located on the outer periphery of the second planetary carrier and meshing with the second planetary gears, and a second sun gear located in the center of the second planetary carrier and meshing with the second planetary gears; the second sun gear is fixed in the center of the first planetary carrier, and the second planetary carrier is connected downstream of the power.

[0013] The manual-automatic switchable rotary actuator also includes: a clamp assembly elastically engaged with the second gear ring; it rotates when the torque of the second gear ring exceeds the limit torque generated by the clamp assembly, and stops when the torque of the second gear ring does not exceed the limit torque generated by the clamp assembly.

[0014] Furthermore, in the above-mentioned manual-automatic switchable rotary actuator, the clamp assembly has a pair of half clamp bodies that embrace each other, and an adjusting bolt is passed through the connection between the two half clamp bodies for connection. Compression springs are sleeved at both ends of each adjusting bolt, and the compression springs apply compression force to the half clamp bodies from both ends.

[0015] Furthermore, in the above-mentioned manual-automatic switchable rotary actuator, the clamp assembly and the bearing member are in floating cooperation; the bearing member is provided with a floating groove; the two sides of each half of the clamp body are parallel and slidingly cooperate in the floating groove.

[0016] Furthermore, in the above-mentioned manual-automatic switchable rotary actuator, the end of the floating groove is open to form a channel for tightening the adjusting bolt to adjust the tightness.

[0017] Furthermore, in the above-mentioned manual-automatic switchable rotary actuator, the outer periphery of the second gear ring has wavy undulating lines, and the inner wall of the half hoop also has wavy undulating lines.

[0018] Furthermore, in the above-mentioned manual-automatic switchable rotary actuator, the transmission assembly also has a reduction gearbox; the input end of the reduction gearbox is connected to the second planetary carrier, and the output end of the reduction gearbox has a first bevel gear; the output shaft has a second bevel gear; the first bevel gear and the second bevel gear are meshed and transmitted.

[0019] Furthermore, the above-mentioned manual-automatic switchable rotary actuator further includes an angular displacement measuring unit for measuring the rotation angle of the output shaft.

[0020] Beneficial effects

[0021] The manual-automatic switchable rotary actuator provided by the present invention is provided with a first planetary gear set in the transmission assembly, and the first ring gear, friction member and pressure device of the first planetary gear set cooperate with each other, thereby realizing the following beneficial functions: first, the actuator has both manual mode and automatic mode; second, controllable switching between manual mode and automatic mode is realized; third, the switching process has a certain flexibility, making the switching process smooth and smooth, improving the user experience, and also extending the service life of the actuator; fourth, its clutch structure is formed based on the deceleration mechanism, which itself has the function of deceleration and torque increase, which is conducive to improving integration and saving space.

[0022] The manual-automatic switchable rotary actuator provided by the present invention further provides a second planetary gear set in the transmission assembly, and the second planetary gear set is coordinated with the floating clamp assembly, thereby realizing the following beneficial functions: first, the torque limiting function is realized, which can protect the internal structure of the actuator when it is subjected to abnormally large torque; second, its limit torque is easy to adjust according to actual needs; third, the limit torque set during long-term use has good stability.

[0023] The manual-automatic switchable rotary actuator provided by the present invention is further provided with an angular displacement measurement unit, and can also accurately monitor the rotation angle of the output shaft (2) in real time, providing a basis for automated control. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a structural diagram of a manual-automatic switchable rotary actuator.

[0025] Figure 2 and Figure 3 Schematic diagram of the internal structure of a manual-automatic switchable rotary actuator.

[0026] Figure 4 This is a schematic diagram of the transmission structure inside the actuator.

[0027] Figure 5 This is an exploded schematic diagram of the transmission structure inside the actuator.

[0028] Figure 6 This is a schematic diagram of the coordination of the first planetary gear set, friction parts, and pressure device.

[0029] Figure 7 This is a schematic diagram of the cooperation between the second planetary gear set and the clamp assembly.

[0030] Figure 8 It is a structural diagram of the clamp assembly.

[0031] Figure 9 Schematic diagram of the structure of the angular displacement measurement unit.

[0032] In the figure, the carrier 1, the output shaft 2, the rotating power source 3, the first planetary gear set 41, the first planetary carrier 411, the first planetary gear 412, the first ring gear 413, the first sun gear 414, the friction member 51, the pressure device 52, the first friction surface 4131, the second friction surface 513, the second planetary gear set 42, the second planetary carrier 421, the second planetary gear 422, the second ring gear 423, the second sun gear 424, the hoop assembly 6, the half hoop body 61, the adjusting bolt 62, the compression spring 63, the floating groove 11, the reduction gear box 43, the first bevel gear 44, the second bevel gear 45, the angular displacement sensor 71, the first synchronous gear 72, and the second synchronous gear 73. DETAILED DESCRIPTION

[0033] The present invention is further illustrated by the following examples, which are intended to more clearly illustrate the technical solutions of the present invention and should not be construed as limiting the present invention.

[0034] Unless otherwise defined, technical or scientific terms used in this disclosure should be understood to have the ordinary meanings understood by persons of ordinary skill in the art. The terms "first," "second," and similar expressions used in this disclosure do not denote any order, quantity, or importance, but are simply used to distinguish different components. Terms such as "include" or "comprising" mean that the elements or objects preceding the term include the elements or objects listed after the term, and their equivalents, without excluding other elements or objects. Terms such as "connected" or "connected" are not limited to physical or mechanical connections but may 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.

[0035] like Figures 1 to 3 The illustrated manual-automatic switchable rotary actuator comprises a carrier 1, an output shaft 2 rotatably mounted on the carrier 1, a rotary power source 3 fixed to the carrier 1, and a transmission assembly connected between the output shaft 2 and the rotary power source 3 and transmitting power from the rotary power source 3 to the output shaft 2. The carrier 1 can be a structural component such as a bracket or a housing, serving as a carrier for mounting and securing other components. Figure 1 and Figure 2 The carrier 1 shown in the figure is a housing consisting of two parts, one above the other. It not only serves as a mounting surface but also protects the internal transmission structure and circuitry. The output shaft 2, the actuator of the rotary actuator, is used to output a rotational driving force. For example, in a smart refrigerator, it can drive the refrigerator door. The rotational power source 3, typically a motor, generates the rotational driving force when powered. The transmission assembly transfers power from the power source 3 to the output shaft 2.

[0036] This application relates to transmission structures. For ease of description, for any transmission component, the direction closer to the power source is defined as upstream, and the direction farther from the power source is defined as downstream. Therefore, when describing the specific structure of the transmission assembly, the direction closer to the rotating power source 3 is the upstream direction, and the direction closer to the output shaft 2 is the downstream direction. The direction of power refers to the front-to-back direction along the power transmission path, and does not necessarily correspond to a spatial direction.

[0037] like Figure 4 and Figure 5 As shown, the transmission assembly has a first planetary gear set 41. Figure 6As shown, the first planetary gear set 41 includes: a rotatable first planet carrier 411, a set of first planetary gears 412 circumferentially mounted on the first planet carrier 411, a first ring gear 413 located on the periphery of the first planet carrier 411 and meshing with the first planetary gears 412, and a first sun gear 414 located in the center of the first planet carrier 411 and meshing with the first planetary gears 412. The first sun gear 414 is connected to the upstream side of the power source and can be directly connected to the output end of the rotating power source 3 as shown, or it can be connected to the output end of the rotating power source 3 through other transmission structures. The first planet carrier 411 is connected to the downstream side of the power source and can be directly or indirectly connected to the output shaft 2. For example, it can indirectly drive the output shaft 2 to rotate as shown. Alternatively, if the first planet carrier 411 and the output shaft 2 are located on the same axis, the first planet carrier 411 can also directly drive the output shaft 2 to rotate.

[0038] In the above transmission assembly, if the movement of the first ring gear 413 is not restricted, the first ring gear 413 can rotate freely, and at this time the rotation power source 3 is not actually connected to the output shaft 2. The manual-automatic switchable rotary actuator of the present application also includes a device for controlling the degree of freedom of the first ring gear 413, such as Figure 6 As shown, it specifically includes: a friction member 51 adjacent to the first ring gear 413, and a pressure device 52 for driving the friction member 51. The first ring gear 413 has a first friction surface 4131 in the circumferential direction, and the friction member 51 has a second friction surface 513. The pressure device 52 controllably drives the second friction surface 513 to press against the first friction surface 4131.

[0039] When the automatic manual-switchable rotary actuator is in automatic operation, the pressure-applying device 52 can be activated to cause the first friction surface 4131 and the second friction surface 513 to press against each other, restricting the rotation of the first ring gear 413. The first planetary gear set 41 then transmits the power received from the first sun gear 414 to the first planetary carrier 411 by reducing speed and increasing torque, thereby transmitting upstream power to downstream power. When the automatic manual-switchable rotary actuator is in manual operation, the pressure-applying device 52 can be deactivated, allowing the first ring gear 413 to rotate freely. The upstream power is not transmitted to the downstream power, and the blocking effect of the rotary power source 3 does not affect the free rotation of the output shaft 2.

[0040] Controlling the rotation of the first ring gear 413 by means of the mutual compression between the first friction surface 4131 and the second friction surface 513 is a relatively flexible control method that prevents instantaneous locking of the first ring gear 413. Therefore, during automatic operation, the motor is not subjected to excessive loads during startup, and the gear train and other transmission structures are not subjected to excessive impact. This helps extend the service life, improves startup smoothness, and reduces jerking.

[0041] like Figure 6 As shown, the portion for restraining the first gear ring 413 preferably employs the following structure. The friction member 51 has an arcuate recess facing the first gear ring 413. The second friction surface 513 is located on the inner wall of the arcuate recess. The first friction surface 4131 is the outer circumferential surface of the first gear ring 413. The pressure-applying device 52 is a push-pull electromagnet; the friction member 51 is mounted at the end of the push-pull electromagnet. When energized, the push-pull electromagnet pushes against the friction member 51, squeezing the first gear ring 413.

[0042] The connection between the first sun gear 414 and the rotary power source 3, as described above, can be either direct or indirect. If coordination with the pressure-applying device 52 is considered, the first sun gear 414 is preferably directly connected to the rotary power source 3. This allows the first ring gear 413 to be closer to the rotary power source 3 along the power transmission path. The most common rotary power source 3 is a motor. The transmission process from the motor to the output shaft 2 requires a deceleration and torque increase. Therefore, the torque is minimal near the rotary power source 3. The pressure-applying device 52 only needs to output a very small thrust to limit the rotation of the first ring gear 413. Therefore, a smaller pressure-applying device 52 can be used, which helps save component costs and space.

[0043] like Figure 7 As shown, the transmission assembly also includes a second planetary gearset 42, located downstream of the first planetary gearset 41. The second planetary gearset 42 comprises a rotatable second planetary carrier 421, a set of second planetary gears 422 circumferentially mounted on the second planetary carrier 421, a second ring gear 423 located on the periphery of the second planetary carrier 421 and meshing with the second planetary gears 422, and a second sun gear 424 located at the center of the second planetary carrier 421 and meshing with the second planetary gears 422. The second sun gear 424 is fixed to the center of the first planetary carrier 411, and the second planetary carrier 421 is connected downstream of the power source. Furthermore, the manual-automatic switchable rotary actuator also includes a hoop assembly 6 elastically engaged with the second ring gear 423. When the torque of the second ring gear 423 exceeds the limit torque generated by the engagement of the hoop assembly 6, the second ring gear 423 rotates relative to the hoop assembly 6. When the torque of the second ring gear 423 does not exceed the limit torque generated by the engagement of the hoop assembly 6, the second ring gear 423 remains stationary relative to the hoop assembly 6.

[0044] The reason for adding the second planetary gear set 42 to the already existing first planetary gear set 41 is to enhance the torque limiting function. Consider a scenario where the manual-automatic switchable rotary actuator is used to open and close a refrigerator door. If the refrigerator door suddenly encounters resistance during automatic operation, or the user suddenly pushes or pulls the door manually, a torque limiting mechanism within the rotary actuator is necessary; otherwise, damage to the motor and gear set is likely. The cooperation between the first ring gear 413 and the friction member 51 also serves as a torque limiter. When the transmission assembly is subjected to abnormally high torque, the first friction surface 4131 and the second friction surface 513 slip, thereby protecting the internal structure. However, the torque at the first ring gear 413 is low, resulting in a correspondingly high slipping speed. To ensure torque protection, the first and second friction surfaces 4131 and 513 should be made of high-performance, wear-resistant materials. A more optimal approach is to place the second planetary gear set 42 downstream of the first planetary gear set 41, achieving torque limiting through the aforementioned clamp assembly 6. The slip rotation speed of the second ring gear 423 is low, so the requirements for the wear resistance and durability of the hoop assembly 6 are relatively low.

[0045] like Figure 8 As shown, the clamp assembly 6 comprises a pair of mutually embracing half-clamp bodies 61. Adjustment bolts 62 are threaded through the joints of the two clamp halves 61 to connect them. Each adjustment bolt 62 is fitted with compression springs 63 at both ends, which apply a compressive force to the half-clamp bodies 61. By tightening or loosening the adjustment bolts 62, the clamping force of the clamp assembly 6 can be adjusted, thereby adjusting the actuator's limit torque.

[0046] like Figure 7 As shown, the outer periphery of the second gear ring 423 has wavy patterns, such as Figure 8 As shown, the inner wall of the half hoop body 61 also has wavy texture. The clamp assembly 6 is in floating fit with the support member 1; the support member 1 has a floating groove 11; the two sides of each half hoop body 61 are parallel and slidingly fit in the floating groove 11. The end of the floating groove 11 is open, forming a channel for screwing the adjusting bolt 62 to adjust the tightness, so that the adjusting bolt 62 can be adjusted externally. The above structure can improve the stability of the torque limit. When the texture on the outer periphery of the second gear ring 423 and the texture on the inner wall of the half hoop body 61 slip against each other, the half hoop body 61 can float adaptively in the floating groove 11. In this way, the distance of the half hoop body 61 lifted each time the texture slips is relatively stable, and the corresponding limit torque is also relatively stable.

[0047] like Figure 3 and Figure 4As shown, the transmission assembly also includes a reduction gearbox 43; the input end of the reduction gearbox 43 is connected to the second planetary carrier 421, and the output end of the reduction gearbox 43 has a first bevel gear 44. A second bevel gear 45 is mounted on the output shaft 2, and the first bevel gear 44 and the second bevel gear 45 are meshed and connected. In this way, the rotational driving force from the second planetary carrier 421 is transmitted to the bevel gear set through the reduction gearbox 43, which then drives the output shaft 2 to rotate. Furthermore, if the reduction ratio of the first planetary gear set 41 and / or the second planetary gear set 42 already meets the required reduction ratio, the reduction gearbox 43 may be omitted.

[0048] In order to monitor the actual rotation angle of the output shaft 2 and provide a basis for automatic control, the above-mentioned manual-automatic switchable rotary actuator also includes an angular displacement measurement unit for measuring the rotation angle of the output shaft 2. Figure 9 As shown, the angular displacement measurement unit includes an angular displacement sensor 71 fixed to the carrier 1, a first synchronous gear 72 mounted at the input end of the angular displacement sensor 71, and a second synchronous gear 73 mounted on the output shaft 2. The first synchronous gear 72 meshes with the second synchronous gear 73. This creates a one-to-one correspondence between the actual rotation angle of the output shaft 2 and the monitoring data from the angular displacement sensor 71, allowing the accurate determination of the rotation angle of the output shaft 2.

[0049] The above embodiments are exemplary and intended to illustrate the technical concepts and features of the present invention so that those skilled in the art can understand the present invention and implement it accordingly. They are not intended to limit the scope of protection of the present invention. Any equivalent changes or modifications made in accordance with the spirit of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A manual-automatic switchable rotary actuator, characterized in that: include: A carrier (1), an output shaft (2) rotatably mounted on the carrier (1), a rotary power source (3) fixed to the carrier (1), and a transmission assembly connected between the output shaft (2) and the rotary power source (3) and transmitting power from the rotary power source (3) to the output shaft (2); The transmission assembly has at least one planetary gear set, which is referred to as a first planetary gear set (41); the first planetary gear set (41) includes: a rotatable first planet carrier (411), a group of first planetary gears (412) circumferentially mounted on the first planet carrier (411), a first ring gear (413) located on the outer periphery of the first planet carrier (411) and meshed with the first planetary gears (412), and a first sun gear (414) located at the center of the first planet carrier (411) and meshed with the first planetary gears (412); the first sun gear (414) is connected to the upstream of the power source, and the first planet carrier (411) is connected to the downstream of the power source; The manual-automatic switchable rotary actuator further comprises: a friction member (51) close to the first gear ring (413), and a pressure device (52) for driving the friction member (51) to move; the first gear ring (413) has a first friction surface (4131) in a circumferential direction, the friction member (51) has a second friction surface (513), and the pressure device (52) controllably drives the second friction surface (513) to press the first friction surface (4131); The rotating power source (3) is a motor; The transmission assembly also includes a second planetary gear set (42) arranged downstream of the first planetary gear set (41); the second planetary gear set (42) includes: a rotatable second planetary carrier (421), a group of second planetary gears (422) circumferentially mounted on the second planetary carrier (421), a second ring gear (423) located on the outer periphery of the second planetary carrier (421) and meshed with the second planetary gears (422), and a second sun gear (424) located at the center of the second planetary carrier (421) and meshed with the second planetary gears (422); the second sun gear (424) is fixed at the center of the first planetary carrier (411), and the second planetary carrier (421) is connected to the downstream of the power; The manual-automatic switchable rotary actuator further comprises: a hoop assembly (6) elastically engaged with the second gear ring (423); the hoop assembly (6) rotates when the torque of the second gear ring (423) exceeds the limit torque generated by the engagement of the hoop assembly (6); and stops when the torque of the second gear ring (423) does not exceed the limit torque generated by the engagement of the hoop assembly (6).

2. The manual-automatic switchable rotary actuator according to claim 1, characterized in that: The friction member (51) has an arc-shaped recess facing the first gear ring (413); the second friction surface (513) is located on the inner wall of the arc-shaped recess; and the first friction surface (4131) is the outer peripheral surface of the first gear ring (413).

3. The manual-automatic switchable rotary actuator according to claim 2, characterized in that: The pressure-applying device (52) is a push-pull electromagnet; the friction member (51) is mounted on the end of the push-pull electromagnet, and when the push-pull electromagnet is energized, it pushes the friction member (51) to squeeze the first gear ring (413).

4. The manual-automatic switchable rotary actuator according to claim 1, characterized in that: The hoop assembly (6) comprises a pair of half hoop bodies (61) that embrace each other. An adjusting bolt (62) is provided at the connection between the two half hoop bodies (61) for connection. Both ends of each adjusting bolt (62) are sleeved with a compression spring (63). The compression spring (63) applies a compressive force to the half hoop bodies (61) from both ends.

5. The manual-automatic switchable rotary actuator according to claim 4, characterized in that: The hoop assembly (6) is in floating engagement with the bearing member (1); the bearing member (1) is provided with a floating groove (11); the two sides of each half hoop body (61) are parallel and slidingly engaged in the floating groove (11).

6. The manual-automatic switchable rotary actuator according to claim 5, characterized in that: The end of the floating groove (11) is open, forming a channel for screwing the adjusting bolt (62) to adjust the tightness.

7. The manual-automatic switchable rotary actuator according to claim 5, characterized in that: The outer periphery of the second gear ring (423) has wavy undulating patterns, and the inner wall of the half hoop body (61) also has wavy undulating patterns.

8. The manual-automatic switchable rotary actuator according to claim 1, characterized in that: The transmission assembly further comprises a reduction gearbox (43); the input end of the reduction gearbox (43) is connected to the second planetary carrier (421), and the output end of the reduction gearbox (43) comprises a first bevel gear (44); the output shaft (2) comprises a second bevel gear (45); the first bevel gear (44) and the second bevel gear (45) are meshed and transmission-connected.

9. The manual-automatic switchable rotary actuator according to claim 1, characterized in that: It also includes an angular displacement measuring unit for measuring the rotation angle of the output shaft (2).

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