Self-locking device of actuating system and actuating system

Abstract

The invention discloses a self-locking device of an actuating system and the actuating system, the self-locking device comprises an input part and an output part, and the output part is provided with self-locking angles which synchronously rotate; the retaining ring is provided with a brake block, the retaining ring surrounds the outer side of the coupling transmission unit, the brake ring relatively and fixedly surrounds the outer side of the retaining ring, the brake block and the retaining ring synchronously rotate in the circumferential direction, and at least one of the brake block and the self-locking angle is provided with a gradual change face gradually away from the axis of the rotating component in the first direction; when actuating torque in the first direction is applied to the input component, the retaining ring and the output component are driven to rotate synchronously. When load torque in the second direction is applied to the output component, the self-locking angle is driven to rotate in the second direction relative to the retaining ring, and the brake block is extruded by the self-locking angle to move outwards in the radial direction to be in friction joint to the brake ring for friction braking. When actuating torque in the second direction is applied to the input component, the retaining ring is driven to rotate in the second direction relative to the self-locking angle, and the friction braking state is relieved in advance; the first direction is opposite to the second direction.

Description

[Technical field]

[0001] The present invention relates to the technical field of actuation systems, and in particular to a self-locking device of an actuation system and an actuation system. [Background technology]

[0002] The actuating system in the prior art includes an actuating motor, a variable speed transmission chain, a screw and a telescopic assembly. The actuating motor drives the screw to rotate through the variable speed transmission chain, and the telescopic assembly is driven by the screw to perform linear telescopic motion. A self-locking device is usually provided on the actuating system to prevent the screw from rotating when subjected to external force after the actuating motor stops running, resulting in the actuating system being unlocked. The existing self-locking device is basically implemented in a torsion spring manner, which includes an active torsion spring seat, a driven torsion spring seat and a friction plate sleeved on the outside of the screw, wherein the active torsion spring seat rotates synchronously with the screw, and the friction plate abuts against the side of the driven torsion spring seat away from the active torsion spring seat and is fixedly arranged. The torsion spring is sleeved on the outside of the active torsion spring seat and the driven torsion spring seat. When the screw is reversed under the action of load, the torsion spring can be driven to rotate by driving the active torsion spring seat to hold the driven torsion spring seat tightly, so as to drive the driven torsion spring seat to rotate. The rotation of the driven torsion spring seat will generate friction resistance with the friction plate, and the screw can be braked by the friction resistance.

[0003] In order to ensure the self-locking force between the two ends of the torsion spring and the active torsion spring seat and the driven torsion spring seat so that the torsion spring can transmit torque, it is necessary to have a sufficient number of turns between the torsion spring and the two torsion spring seats. This increases the axial space occupied by the self-locking device. For linear brakes, the increase in axial space occupied will lead to an increase in the length of the screw rod, thereby increasing the difficulty of screw rod processing. In addition, since the performance of the torsion spring is greatly affected by the material and processing technology, and process problems often lead to inconsistent self-locking force of the torsion spring, which in turn leads to uncontrollable self-locking, which will affect the normal use of the product. [Summary of the invention]

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a self-locking device and an actuating system of an actuating system. A brake block is arranged on the retaining ring, and the brake block is radially moved outward to achieve self-locking performance by friction braking with the brake ring. Compared with torsion spring braking, not only is the axial space occupied smaller, but the processing technology of the brake ring and the brake block is also more convenient, thereby ensuring the controllability of the performance of the brake ring and the brake block, and thus achieving better self-locking controllability.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] The self-locking device of the actuating system is used to brake the rotating parts of the actuating system, and the self-locking device comprises:

[0007] A coupling transmission unit, comprising an input component for receiving an actuating torque and an output component transmission-connected to a rotating component, wherein the output component is provided with a self-locking angle for synchronous rotation; and,

[0008] A friction brake unit, comprising a brake ring and a retaining ring with a brake block installed, the retaining ring surrounds the outer side of the coupling transmission unit, the brake ring relatively fixedly surrounds the outer side of the retaining ring, the brake block rotates synchronously with the retaining ring in the circumferential direction, and at least one of the brake block and the self-locking angle has a gradual surface gradually away from the axis of the rotating component along a first direction;

[0009] When the input component is applied with an actuating torque in a first direction, the retaining ring and the output component are driven to rotate synchronously;

[0010] When the output component is applied with a load torque in a second direction, the self-locking angle is driven to rotate relative to the retaining ring in the second direction, and the brake block is squeezed by the self-locking angle and moves radially outward to frictionally engage with the brake ring to implement friction braking;

[0011] When the input component is applied with an actuating torque in a second direction, the retaining ring is driven to rotate in the second direction relative to the self-locking angle, thereby releasing the friction braking state in advance;

[0012] The first direction is opposite to the second direction.

[0013] The actuating torque in the present invention refers to the torque provided by a power source (such as an actuating motor). When the actuating torque causes the input component to rotate in a first direction, it will drive the retaining ring and the output component to rotate synchronously, and then drive the rotating component to rotate. The rotating component is generally connected to a load, and the load can be driven to achieve linear displacement through the rotation of the rotating component. When the actuating torque is stopped from being transmitted to the input component, since the load will apply a reverse torque to the rotating component, the output component will rotate in the second direction under the action of the load torque, and the self-locking angle will rotate in the second direction relative to the retaining ring. At this time, the brake block is squeezed by the self-locking angle and moves radially outward, so that it frictionally engages with the brake ring to implement friction braking, so as to prevent the output component from continuing to rotate in the second direction, and then prevent the rotating component from rotating, thereby ensuring the accuracy of the load position; in addition, when the input component is applied with an actuating torque in the second direction, the friction braking state is released in advance by driving the retaining ring to rotate in the second direction relative to the self-locking angle, that is, there is no friction resistance between the brake block and the brake ring, so the power consumption of the actuating motor can be reduced. It can be seen that in the present invention, a brake block is arranged on the retaining ring, and the brake block is moved radially outward to achieve self-locking performance through friction braking with the brake ring. Compared with torsion spring braking, not only is the axial space occupied smaller, the length of the rotating part can be reduced to reduce the difficulty of processing the rotating part, but the processing technology of the brake ring and the brake block is also more convenient, thereby ensuring the controllable performance of the brake ring and the brake block, and thus achieving better self-locking controllability.

[0014] In the self-locking device of the actuation system, the input component has a plurality of input key teeth arranged at intervals in the circumferential direction, the output component has a plurality of output key teeth arranged at intervals in the circumferential direction, the retaining ring has a plurality of retaining key teeth arranged at intervals in the circumferential direction, and the input key teeth, retaining key teeth and output key teeth are alternately meshed in sequence. With such a design, the transmission of the input component, the output component and the retaining ring in the circumferential direction can be realized, the transmission reliability is higher, and the size of the three components in the radial direction after assembly is more compact.

[0015] In the self-locking device of the actuation system, when the input component is applied with an actuation torque in a first direction, a first gap is formed between the input key teeth and the retaining key teeth;

[0016] When a load torque in a second direction is applied to the output component, the first gap is eliminated and a second gap is formed between the output key teeth and the retaining key teeth;

[0017] When the input component is applied with an actuating torque in a second direction, the second gap is eliminated and a third gap is formed between the output spline teeth and the input spline teeth.

[0018] With such a design, when the output component is applied with a load torque in the second direction, in the process of eliminating the first gap, the retaining ring does not rotate, and the output component drives the self-locking angle to rotate in the second direction, thereby realizing the self-locking angle rotating in the second direction relative to the retaining ring; at the same time, when the input component is applied with an actuating torque in the second direction, in the process of eliminating the second gap, the retaining ring drives the brake block to rotate in the second direction relative to the self-locking angle, so that the brake block moves radially inward to reset, and the friction braking between the brake block and the brake ring is invalid, so that the input component does not need to overcome the braking force during the subsequent rotation in the second direction under the action of the actuating torque, thereby reducing the power consumption of the actuating motor; finally, when the input component is applied with an actuating torque in the first direction, the third gap is eliminated and the first gap is formed between the input key teeth and the retaining key teeth.

[0019] In the self-locking device of the actuating system, an input keyway with a bottom surface is formed between adjacent input key teeth, and the retaining key teeth are located in the input keyway and are axially limited by the bottom surface and the output component. With such a design, the axial limitation of the retaining key teeth is achieved through the bottom surface and the output component, and the axial limitation of the retaining ring can be achieved indirectly, without the need to use other structures to axially limit the retaining ring, thereby simplifying the structure of the self-locking device.

[0020] In the self-locking device of the actuating system, the retaining ring overlaps with the projection of the input component in the axial direction, and the retaining ring overlaps with the projection of the output component in the axial direction, and the axial direction is parallel to the axial center direction of the rotating component. With such a design, the axial dimension of the self-locking device can be further increased, thereby reducing the axial space occupied by the self-locking device and shortening the length of the rotating component.

[0021] In the self-locking device of the actuating system, the portion of the output component surrounded by the retaining ring has a circumferential surface, the self-locking angle radially protrudes from the circumferential surface and is provided with a first gradual surface facing the brake block, the brake block has a second gradual surface facing the first gradual surface, and the first gradual surface and the second gradual surface are both gradually away from the axis of the rotating component along the first direction. With such a design, when the brake block is squeezed by the self-locking angle, the first gradual surface and the second gradual surface can cooperate to make the brake block radially outward as a whole, so as to increase the contact area between the brake block and the brake ring, thereby increasing the friction braking force.

[0022] In the self-locking device of the above-mentioned actuation system, the center angle of the first gradient surface relative to the axis of the rotating component is smaller than the center angle of the second gradient surface relative to the axis of the rotating component. During the relative rotation of the output component and the retaining ring, the first gradient surface is always located within the circumferential range of the second gradient surface. With such a design, when the center angle of the first gradient surface relative to the axis of the rotating component is larger than the center angle of the second gradient surface relative to the axis of the rotating component, part of the first gradient surface will abut against the inner side surface of the retaining ring. When the brake block is squeezed by the self-locking angle, the first gradient surface will radially squeeze the inner side surface of the retaining ring outward during the process of rotating in the second direction, causing the retaining ring to rupture. The present technical solution avoids the contact between the first gradient surface and the inner side surface of the retaining ring, thereby avoiding the rupture of the retaining ring.

[0023] In the self-locking device of the actuating system, the circumferential ends of the self-locking angle form a first limiting surface and a second limiting surface respectively, and the inner ring surface of the retaining ring is provided with a first limiting angle and a second limiting angle at intervals in the circumferential direction, the first limiting angle is located in the radial direction of one end of the brake block and forms a circumferential interference with the first limiting surface, and the second limiting angle is located in the radial direction of the other end of the brake block and forms a circumferential interference with the second limiting surface. With such a design, the rotation angle of the self-locking angle can be limited by the first limiting angle and the second limiting angle to ensure that during the relative rotation of the output component and the retaining ring, the first gradient surface is always located within the circumferential range of the second gradient surface.

[0024] In the self-locking device of the actuating system, the first gradual surface extends in a spiral or straight manner from one end close to the axis of the rotating component to one end away from the axis of the rotating component; the second gradual surface extends in a spiral or straight manner from one end close to the axis of the rotating component to one end away from the axis of the rotating component. Such a design can make the process of the brake block moving radially outward due to the compression of the self-locking angle more stable.

[0025] In the self-locking device of the actuation system, the self-locking angle and the output component form an integral structure. Such a design can not only save the process of assembling the self-locking angle and the output component to reduce the assembly steps, but also improve the connection reliability and rotation synchronization of the self-locking angle and the output component.

[0026] In the self-locking device of the actuating system, the retaining ring is provided with a guide hole adapted to the brake block, the guide hole penetrates from the inner ring surface to the outer ring surface of the retaining ring, the brake block is fitted in the guide hole, and the brake block and the retaining ring are kept in synchronous circumferential rotation and can move relative to each other in the radial direction. With such a design, the guide hole can be designed to allow the brake block to move in the radial direction and to achieve synchronous circumferential rotation of the brake block and the retaining ring, the structure is relatively simple, and the assembly is relatively convenient; and the brake block can also be independently processed and formed, so as to facilitate the subsequent replacement of the brake block, thereby reducing the maintenance cost.

[0027] In the self-locking device of the actuating system, the brake block and the retaining ring form an integral structure, and the brake block can produce elastic deformation when pressed by the gradient surface. With such a design, the output component can be made of elastic material, and when part of the output component is pressed by the self-locking angle, it will produce radially outward elastic deformation, so that friction braking can be performed with the brake ring.

[0028] The present invention also provides an actuation system, including an actuation motor, a lead screw and a variable speed transmission chain connecting the two, wherein the self-locking device of any of the above technical solutions constitutes a part of the variable speed transmission chain.

[0029] In the above-mentioned actuation system, the speed transmission chain further includes a planetary reduction mechanism, which includes a sun gear, an inner gear ring, and a planetary cage loaded with planetary gears, the planetary gears are meshed between the sun gear and the inner gear ring, the planetary cage is coaxially connected to the input component of the self-locking device, the output component of the self-locking device is connected to the screw rod, and the screw rod forms the rotating component. With such a design, the high-speed rotation of the actuation motor can be reduced to the required low speed through the planetary reduction mechanism to meet the working requirements of the mechanical equipment.

[0030] In the above-mentioned actuation system, the output component is provided with a driving coupling, the screw is provided with a driven coupling, the driving coupling and the driven coupling are relatively fixed in the circumferential direction when connected and can move relatively in the axial direction, allowing the screw to cut off the connection between the driving coupling and the driven coupling when subjected to axial load tension, the screw freely passes through the self-locking device and the planetary reduction mechanism and an elastic component is provided at the tail, the elastic component is used to maintain the connection trend between the driving coupling and the driven coupling. When the actuation system is a linear actuator, when the actuation motor drives the inner tube to retract by driving the screw and an object or a human body is clamped, the screw will drive the driven coupling to move outward and disconnect it from the driving coupling to cut off the transmission of the actuation torque, the screw stops rotating, the inner tube stops retracting, and the anti-clamping effect is achieved; and when the clamped object or human body is removed, the screw is reset under the action of the elastic component to reconnect the driving coupling and the driven coupling, so that the linear actuator resumes normal operation.

[0031] In the above-mentioned actuation system, the actuation system further comprises a brake seat and a brake torsion spring which is sleeved on the brake seat and can be released, the brake seat is non-rotatably connected to the inner gear ring, the brake torsion spring normally holds the brake seat and implements a rotation lock on the inner gear ring, and the brake seat constitutes the brake ring or the brake ring is non-rotatably connected to the brake seat. With such a design, when the brake torsion spring normally holds the brake seat and implements a rotation lock on the inner gear ring, the planetary retainer can transmit the actuation torque to the input component so that the screw rod can rotate normally, and when the screw rod needs to be quickly released to retract it, the rotation lock on the inner gear ring can be released by releasing the brake torsion spring, so that the inner gear ring can rotate freely. In this case, the planetary reduction mechanism will not transmit power, so that the screw rod can be quickly rotated by pushing and pulling the screw rod, so that the telescopic assembly can be quickly extended and retracted, and a quick release function is realized, without the need for an actuating motor drive, and is suitable for encountering an actuating motor failure or power failure or other situations where power needs to be cut off.

[0032] In the above-mentioned actuation system, the screw rod freely passes through the self-locking device and the planetary reduction mechanism, and a support seat is mounted on the screw rod, and the support seat axially abuts against the brake seat to transmit the axial load of the screw rod. The first housing has a load-bearing step to withstand the axial load thrust guided by the brake seat and the inner gear ring, so as to prevent the planetary retainer, the planetary gear and the sun gear from being subjected to the axial load thrust of the screw rod. In the prior art, a bearing is provided at the tail of the screw rod to withstand the axial load thrust of the screw rod. Such a design makes the screw rod longer, thereby increasing its processing difficulty and deteriorating its concentricity during operation. However, the technical solution can omit the tail bearing by changing the transmission path of the axial load thrust, so as to shorten the length of the screw rod, thereby improving the processing convenience of the screw rod and the coaxiality during operation.

[0033] These features and advantages of the present invention will be disclosed in detail in the following specific embodiments and drawings.

Brief Description of the Drawings

[0034] The present invention will be further described below in conjunction with the accompanying drawings:

[0035] Figure 1 Schematic diagram of the structure of the actuation system in Embodiment 1 of the present invention;

[0036] Figure 2 It is an exploded schematic diagram of the actuation system in the first embodiment of the present invention;

[0037] Figure 3 It is an exploded schematic diagram of a part of the structure of the actuation system in the first embodiment of the present invention;

[0038] Figure 4 is a cross-sectional view of an actuation system in Embodiment 1 of the present invention;

[0039] Figure 5 for Figure 4 A is a partial enlarged schematic diagram;

[0040] Figure 6 Schematic diagram of the structure of the planetary reduction mechanism in the first embodiment of the present invention;

[0041] Figure 7 is a cross-sectional view of a planetary reduction mechanism in Embodiment 1 of the present invention;

[0042] Figure 8 This is a schematic diagram of the structure of the input component in the first embodiment of the present invention;

[0043] Fig. 9 It is a structural schematic diagram of the output component in the first embodiment of the present invention;

[0044] Fig.10 It is a schematic diagram of the structure of the retaining ring and the brake block in the first embodiment of the present invention;

[0045] Fig.11 It is a schematic diagram of the assembly of a part of the actuation system in the first embodiment of the present invention;

[0046] Fig.12 for Fig.11 The main view of

[0047] Fig.13 for Fig.12 Cross-sectional view of the middle BB;

[0048] Fig.14 for Fig.12 Cross-sectional view of CC;

[0049] Fig.15It is a schematic diagram of a first gap formed between the input key teeth and the retaining key teeth in the first embodiment of the present invention;

[0050] Fig.16 It is a schematic diagram of a second gap formed between the output key tooth and the retaining key tooth in the first embodiment of the present invention;

[0051] Fig.17 for Fig.11 A top view of

[0052] Fig.18 for Fig.17 A partial enlarged schematic diagram of D in the middle;

[0053] Fig.19 This is a schematic diagram of the structure when the brake torsion spring in the first embodiment of the present invention holds the brake seat tightly;

[0054] Fig. 20 for Fig.19 The main view of

[0055] Fig.21 It is a structural schematic diagram of the brake torsion spring in the first embodiment of the present invention when releasing the brake seat;

[0056] Fig. 22 for Fig.21 main view.

[0057] Reference numerals:

[0058] 100, actuator motor; 200, variable speed transmission chain; 210, planetary reduction mechanism; 211, sun gear; 212, planetary gear; 213, planetary cage; 2130, transmission groove; 214, inner ring gear; 220, brake seat; 221, support step; 230, first housing; 2301, half housing; 2302, load-bearing step; 232, mounting plate; 2321, limit groove; 233, positioning pin; 240, worm wheel; 250, worm; 300, lead screw; 310, first bearing; 320, limit plate; 330, elastic component; 340, second bearing; 350, third bearing; 360, radial bearing; 400, telescopic assembly; 410, inner tube; 420, outer tube; 430, nut; 500, coupling transmission unit; 510, input component ;511, input key teeth;512, input key slot;513, transmission block;520, output component;521, self-locking angle;5210, first gradient surface;5211, first limit surface;5212, second limit surface;522, output key teeth;530, active coupling;540, driven coupling;600, friction brake unit;610, brake ring;620, retaining ring;621, retaining key teeth;622, first limit angle;623, second limit angle;624, guide hole;630, brake block;631, second gradient surface;711, release plate;7110, guide slot;7111, connecting hole;712, release rod;7120, transmission pin;720, brake torsion spring;721, first pin;800, support seat;900, limit block;

[0059] 001, first gap; 002, second gap; 003, third gap. [Specific implementation method]

[0060] The present invention provides a self-locking device of an actuating system, which is used to brake a rotating component of the actuating system. The self-locking device comprises:

[0061] A coupling transmission unit, comprising an input component for receiving an actuating torque and an output component transmission-connected to a rotating component, wherein the output component is provided with a self-locking angle for synchronous rotation; and,

[0062] A friction brake unit, comprising a brake ring and a retaining ring with a brake block installed, the retaining ring surrounds the outer side of the coupling transmission unit, the brake ring relatively fixedly surrounds the outer side of the retaining ring, the brake block rotates synchronously with the retaining ring in the circumferential direction, and at least one of the brake block and the self-locking angle has a gradual surface gradually away from the axis of the rotating component along a first direction;

[0063] When the input component is applied with an actuating torque in a first direction, the retaining ring and the output component are driven to rotate synchronously;

[0064] When the output component is applied with a load torque in a second direction, the self-locking angle is driven to rotate relative to the retaining ring in the second direction, and the brake block is squeezed by the self-locking angle and moves radially outward to frictionally engage with the brake ring to implement friction braking;

[0065] When the input component is applied with an actuating torque in a second direction, the retaining ring is driven to rotate in the second direction relative to the self-locking angle, thereby releasing the friction braking state in advance;

[0066] The first direction is opposite to the second direction.

[0067] The actuating torque in the present invention refers to the torque provided by a power source (such as an actuating motor). When the actuating torque causes the input component to rotate in a first direction, it will drive the retaining ring and the output component to rotate synchronously, and then drive the rotating component to rotate. The rotating component is generally connected to a load, and the load can be driven to achieve linear displacement through the rotation of the rotating component. When the actuating torque is stopped from being transmitted to the input component, since the load will apply a reverse torque to the rotating component, the output component will rotate in the second direction under the action of the load torque, and the self-locking angle will rotate in the second direction relative to the retaining ring. At this time, the brake block is squeezed by the self-locking angle and moves radially outward, so that it frictionally engages with the brake ring to implement friction braking, so as to prevent the output component from continuing to rotate in the second direction, and then prevent the rotating component from rotating, thereby ensuring the accuracy of the load position; in addition, when the input component is applied with an actuating torque in the second direction, the friction braking state is released in advance by driving the retaining ring to rotate in the second direction relative to the self-locking angle, that is, there is no friction resistance between the brake block and the brake ring, so the power consumption of the actuating motor can be reduced. It can be seen that in the present invention, a brake block is arranged on the retaining ring, and the brake block is moved radially outward to achieve self-locking performance through friction braking with the brake ring. Compared with torsion spring braking, not only is the axial space occupied smaller, the length of the rotating part can be reduced to reduce the difficulty of processing the rotating part, but the processing technology of the brake ring and the brake block is also more convenient, thereby ensuring the controllable performance of the brake ring and the brake block, and thus achieving better self-locking controllability.

[0068] The technical solutions of the embodiments of the present invention are explained and illustrated below in conjunction with the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention, not all of them. Based on the embodiments in the implementation mode, other embodiments obtained by those skilled in the art without creative work all belong to the protection scope of the present invention. In addition, it should be understood that the following words indicating orientation or position relationship such as "up", "down", "left", "right", "longitudinal", "lateral", "inside", "outside", "vertical", "horizontal", "top", "bottom", etc. are only based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device / element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0069] Embodiment 1

[0070] like Figures 1 to 22 As shown, the self-locking device of the actuating system in this embodiment is used to brake the rotating parts of the actuating system, wherein the actuating system is a linear actuator, which includes an actuating motor 100, a variable speed transmission chain 200, a screw rod 300, a telescopic assembly 400 and a self-locking device. The variable speed transmission chain 200 is transmission-connected between the actuating motor 100 and the screw rod 300. The actuating motor 100 drives the screw rod 300 to rotate through the variable speed transmission chain 200. The telescopic assembly 400 is driven by the screw rod 300 to perform linear telescopic motion. The telescopic assembly 400 includes The inner tube 410, the outer tube 420 and the nut 430, the nut 430 is fixed in the inner tube 410 and is threadedly connected with the screw rod 300, the nut 430 is fixed circumferentially and axially relative to the inner tube 410, when the actuating motor 100 drives the screw rod 300 to rotate in a first direction through the variable speed transmission chain 200, the nut 430 drives the inner tube 410 to move so that the telescopic assembly 400 extends, and when the screw rod 300 rotates in a second direction, which is opposite to the first direction, the nut 430 drives the inner tube 410 to move so that the telescopic assembly 400 shortens. Of course, when the actuating motor 100 drives the screw rod 300 to rotate in the first direction through the variable speed transmission chain 200, the nut 430 drives the inner tube 410 to move so that the telescopic assembly 400 shortens, and when the screw rod 300 is driven to rotate in the second direction, the telescopic assembly 400 lengthens.

[0071] The screw rod 300 constitutes a rotating component of the actuating system, and the self-locking device constitutes a part of the speed change transmission chain 200, that is, the self-locking device participates in the transmission, wherein the self-locking device includes a coupling transmission unit 500 and a friction brake unit 600, and the coupling transmission unit 500 includes an input component 510 and an output component 520, the input component 510 is used to receive the actuating torque transmitted by the actuating motor 100, and the output component 520 is connected to the screw rod 300 to transmit the actuating torque to the screw rod 300 and then drive the screw rod 300 to rotate. In this embodiment, the output component 520 is provided with a synchronously rotating self-locking angle 521. The friction brake unit 600 includes a brake ring 610, a retaining ring 620 and a brake block 630, wherein the brake block 630 is mounted on the retaining ring 620, the retaining ring 620 surrounds the outer side of the coupling transmission unit 500, the brake ring 610 relatively fixedly surrounds the outer side of the retaining ring 620, the brake block 630 and the retaining ring 620 rotate synchronously in the circumferential direction, and the brake block 630 and the self-locking angle 521 both have a gradual surface that gradually moves away from the axis of the rotating component along the first direction;

[0072] When the input component 510 is applied with an actuating torque in a first direction, the retaining ring 620 and the output component 520 are driven to rotate synchronously;

[0073] When the output component 520 is applied with a load torque in the second direction, the self-locking angle 521 is driven to rotate relative to the retaining ring 620 in the second direction, and the brake block 630 is squeezed by the self-locking angle 521 and moves radially outward to frictionally engage with the brake ring 610 to implement friction braking;

[0074] When the input component 510 is applied with an actuating torque in the second direction, the retaining ring 620 is driven to rotate in the second direction relative to the self-locking angle 521 , thereby releasing the friction braking state in advance.

[0075] The actuating torque in this embodiment refers to the torque provided by the power source (such as the actuating motor 100). When the actuating torque causes the input component 510 to rotate in the first direction, it will drive the retaining ring 620 and the output component 520 to rotate synchronously, thereby driving the rotating component to rotate. The rotating component is generally connected to a load, and the load can be driven to achieve linear displacement through the rotation of the rotating component. When the actuating torque is stopped from being applied to the input component 510, since the load will apply a reverse torque to the rotating component, the output component 520 will rotate in the second direction under the action of the load torque, and the self-locking angle 521 will rotate relative to the retaining ring 620. When the output component 520 rotates in the second direction, the brake block 630 is squeezed by the self-locking angle 521 and moves radially outward, thereby frictionally engaging with the brake ring 610 to implement friction braking, so as to prevent the output component 520 from continuing to rotate in the second direction, thereby preventing the rotating component from rotating, thereby ensuring the accuracy of the load position; in addition, when the input component 510 is applied with an actuating torque in the second direction, the retaining ring 620 is driven to rotate in the second direction relative to the self-locking angle 521, and the friction braking state is released in advance, that is, there is no friction resistance between the brake block 630 and the brake ring 610, thereby reducing the power consumption of the actuating motor 100. It can be seen that in this embodiment, the brake block 630 is provided on the retaining ring 620, and the brake block 630 is moved radially outward to achieve self-locking performance through friction braking with the brake ring 610. Compared with the torsion spring brake, not only is the axial space occupied smaller, the length of the rotating part can be reduced to reduce the difficulty of processing the rotating part, but the processing technology of the brake ring 610 and the brake block 630 is also more convenient, thereby ensuring the controllable performance of the brake ring 610 and the brake block 630, and thus achieving better self-locking controllability.

[0076] Specifically, Figures 8 to 10 as well as Fig.14As shown, the input component 510 in this embodiment has a plurality of circumferentially spaced input key teeth 511, which protrude radially outward from the outer peripheral side of the input component 510, and the output component 520 has a plurality of circumferentially spaced output key teeth 522, which protrude axially downward from the lower end surface of the output component 520, and the retaining ring 620 has a plurality of circumferentially spaced retaining key teeth 621, which protrude radially inward from the inner peripheral side of the retaining ring 620. The input key teeth 511, the retaining key teeth 621 and the output key teeth 522 are alternately meshed in sequence, that is, the output key teeth 522 are located between the input key teeth 511 and the retaining key teeth 621. With such a design, the circumferential transmission of the input component 510, the output component 520 and the retaining ring 620 can be realized, the transmission reliability is higher, and the radial size of the three after assembly is also more compact.

[0077] like Fig.14 and Fig.15 As shown, in Fig.14 In the state, if the input component 510 is applied with an actuating torque in the first direction, the input component 510 rotates in the first direction relative to the retaining ring 620 to eliminate the third gap 003, until the input key teeth 511 contact the output key teeth 522, and then drive the output component 520 and the retaining ring 620 to rotate synchronously, so that the load moves to the specified position, and the actuating motor 100 stops working. At this time, a first gap 001 (such as Fig.15 shown); Fig.15 In the state, the screw rod 300 will be subjected to the reverse torque applied by the load. At this time, the output component 520 will drive the input key tooth 511 to rotate synchronously in the second direction through the output key tooth 522 under the action of the screw rod 300. Initially, the retaining ring 620 is in a non-rotating state. The output component 520 and the input component 510 both rotate relative to the retaining ring 620 to eliminate the first gap 001 and form a second gap 002 between the output key tooth 522 and the retaining key tooth 621 (such as Fig.16 As shown in FIG. 1 , when the output component 520 rotates relative to the retaining ring 620 in the second direction to eliminate the first gap 001, the self-locking angle 521 applies a radially outward squeezing force to the brake block 630, so that the brake block 630 moves radially outward and frictionally engages with the brake ring 610 to implement friction braking, thereby preventing the screw rod 300 from continuing to rotate and ensuring the accuracy of the load position. Fig.16 In the state, if the actuating motor 100 applies an actuating torque in the second direction to the input component 510, the output component 520 is initially in a non-rotating state, and at this time, the input key tooth 511 drives the retaining ring 620 to rotate relative to the output component 520, thereby eliminating the second gap 002 and forming a third gap 003 between the output key tooth 522 and the input key tooth 511 (such as Fig.14As shown in the figure, when the retaining ring 620 drives the brake block 630 to rotate in the second direction relative to the output component 520, the brake block 630 will move radially inward to reset and fail the frictional engagement with the brake ring 610, thereby releasing the friction braking state in advance. When the retaining key teeth 621 contact the output key teeth 522, the output component 520 can be driven to rotate synchronously in the second direction to drive the screw rod 300 to rotate in the second direction. In this process, since there is no friction resistance between the brake block 630 and the brake ring 610, the power consumption of the actuator motor 100 can be reduced.

[0078] In this embodiment, an input key groove 512 having a bottom surface is formed between adjacent input key teeth 511, and the retaining key tooth 621 is located in the input key groove 512 and is axially limited by the bottom surface and the output component 520. In this design, the retaining key tooth 621 is axially limited by the bottom surface and the output component 520, thereby indirectly limiting the axial position of the retaining ring 620, without the need for other structures to axially limit the retaining ring 620, thereby simplifying the structure of the self-locking device.

[0079] Preferably, the retaining ring 620 overlaps with the projection of the input component 510 in the axial direction, and the retaining ring 620 overlaps with the projection of the output component 520 in the axial direction. The axial direction is parallel to the axial direction of the rotating component. Such a design can further reduce the axial dimension of the self-locking device, thereby reducing the axial space occupied by the self-locking device and shortening the length of the rotating component.

[0080] like Figures 9 to 11 ,as well as Figure 17 to Figure 18 As shown, in this embodiment, the portion of the output component 520 surrounded by the retaining ring 620 has a circumferential surface, the self-locking angle 521 radially protrudes from the circumferential surface and is provided with a first gradual surface 5210 facing the brake block 630, the brake block 630 has a second gradual surface 631 facing the first gradual surface, and the first gradual surface 5210 and the second gradual surface 631 are gradually away from the axis of the rotating component along the first direction. Figure 17 to Figure 18 As shown, when the output component 520 is applied with a load torque in the second direction, the self-locking angle 521 will be driven to rotate in the second direction relative to the retaining ring 620. At this time, the first gradient surface 5210 will gradually push the second gradient surface 631 to move radially outward. Through the cooperation of the first gradient surface 5210 and the second gradient surface 631, the brake block 630 can be pushed radially outward as a whole to increase the contact area between the brake block 630 and the brake ring 610, thereby increasing the friction braking force.

[0081] Preferably, the self-locking angle 521 and the output component 520 form an integral structure. Such a design can not only save the process of assembling the self-locking angle 521 and the output component 520 to reduce the assembly steps, but also improve the connection reliability and rotation synchronization of the self-locking angle 521 and the output component 520.

[0082] In this embodiment, the first gradual surface 5210 extends in a spiral or straight manner from one end close to the axis of the rotating component to the end away from the axis of the rotating component; the second gradual surface 631 extends in a spiral or straight manner from one end close to the axis of the rotating component to the end away from the axis of the rotating component. The first gradual surface 5210 is adapted to the second gradual surface 631, that is, when the first gradual surface 5210 extends in a spiral, the second gradual surface 631 also extends in a spiral, and when the first gradual surface 5210 extends straight, the second gradual surface 631 extends straight. Such a design can make the process of the brake block 630 being squeezed by the self-locking angle 521 and moving radially outward more stable.

[0083] In this embodiment, the first gradient surface 5210 and the second gradient surface 631 both extend in a spiral manner, wherein the center angle of the first gradient surface 5210 relative to the axis of the rotating component is smaller than the center angle of the second gradient surface 631 relative to the axis of the rotating component. When the output component 520 and the retaining ring 620 are in relative rotation, the first gradient surface 5210 is always located within the circumferential range of the second gradient surface 631. This is because: when the central angle of the first gradient surface 5210 relative to the axis of the rotating component is greater than the central angle of the second gradient surface 631 relative to the axis of the rotating component, part of the first gradient surface 5210 will abut against the inner side surface of the retaining ring 620. When the brake block 630 is squeezed by the self-locking angle 521, the first gradient surface 5210 will radially squeeze the inner side surface of the retaining ring 620 outward during the process of rotating in the second direction, causing the retaining ring 620 to rupture. The present technical solution avoids the contact between the first gradient surface 5210 and the inner side surface of the retaining ring 620, thereby avoiding the rupture of the retaining ring 620.

[0084] In order to ensure that the first gradual surface 5210 is always located within the circumferential range of the second gradual surface 631, the first limiting surface 5211 and the second limiting surface 5212 are formed at the circumferential ends of the self-locking angle 521 in this embodiment, and the first limiting angle 622 and the second limiting angle 623 are arranged at intervals in the circumferential direction of the inner ring surface of the retaining ring 620. The first limiting angle 622 is located in the radial direction where one end of the brake block 630 is located and forms a circumferential interference with the first limiting surface 5211, and the second limiting angle 623 is located in the radial direction where the other end of the brake block 630 is located and forms a circumferential interference with the second limiting surface 5212. With such a design, the rotation angle of the self-locking angle 521 can be limited by the first limiting angle 622 and the second limiting angle 623 to ensure that during the relative rotation of the output component 520 and the retaining ring 620, the first gradual surface 5210 is always located within the circumferential range of the second gradual surface 631.

[0085] In order to form the above-mentioned first limiting angle 622 and the second limiting angle 623, the retaining ring 620 in this embodiment is provided with a guide hole 624 adapted to the brake block 630, and the guide hole 624 penetrates from the inner ring surface of the retaining ring 620 to the outer ring surface, and the brake block 630 is embedded in the guide hole 624. The brake block 630 and the retaining ring 620 maintain circumferential synchronous rotation and can move radially relative to each other, wherein the above-mentioned first limiting angle 622 is formed between an axial side wall of the guide hole 624 and the inner ring surface of the retaining ring 620, and the above-mentioned second limiting angle 623 is formed between the other axial side wall and the inner ring surface of the retaining ring 620. By designing the guide hole 624, the brake block 630 can move radially and realize the circumferential synchronous rotation of the brake block 630 and the retaining ring 620. The structure is relatively simple and the assembly is relatively convenient; and the brake block 630 can also be independently processed and formed to facilitate the subsequent separate replacement of the brake block 630, thereby reducing maintenance costs.

[0086] like Figure 5 As shown, in order to achieve axial limitation of the brake block 630, a limit block 900 is further provided on one side of the brake block 630 in this embodiment, and the limit block 900 cooperates with the bottom wall of the guide hole 624 to axially limit the brake block 630, wherein there is a gap between the limit block 900 and the brake block 630 to avoid contact between the two, thereby facilitating the radial movement of the brake block 630.

[0087] It is understood that in other embodiments of the present invention, the brake block and the retaining ring form an integral structure, and the brake block can produce elastic deformation when squeezed by the gradient surface. With such a design, the output component can be made of elastic material, and when part of the output component is squeezed by the self-locking angle, it will produce radially outward elastic deformation, so that friction braking can be performed with the brake ring.

[0088] It is understandable that in other embodiments of the present invention, the self-locking angle is provided with a first gradual surface, while the brake block is not provided with a second gradual surface; or, the brake block is provided with a second gradual surface, while the self-locking angle is not provided with a first gradual surface.

[0089] like Figures 2 to 7As shown, the speed transmission chain 200 in this embodiment also includes a planetary reduction mechanism 210, which includes a sun gear 211, a planetary gear 212, a planetary retainer 213 and an inner gear ring 214. The planetary gear 212 is rotatably mounted on the planetary retainer 213, and multiple planetary gears 212 surround the outer side of the sun gear 211 and mesh with the sun gear 211. The inner gear ring 214 surrounds the outer side of multiple planetary gears 212 and meshes with the planetary gears 212. The lead screw 300 in this embodiment includes an optical axis section and a threaded section. The optical axis section is arranged to penetrate the sun gear 211 and rotate with the sun gear 211, so that the lead screw 300 can rotate and shuttle freely relative to the sun gear 211, and the threaded section and the nut 430 threaded connection, the optical axis section and the threaded section are integrally processed or separately processed and then assembled and fixed, the sun gear 211 is driven to rotate by the actuating motor 100, and the planetary holder 213 is coaxially connected with the input component 510 to keep the input component 510 relatively fixed in the circumferential direction, when the actuating motor 100 drives the input component 510 to rotate in the first direction through the planetary reduction mechanism 210, the inner gear ring 214 is in a locked state in the circumferential direction, at this time, the power of the actuating motor 100 is input through the sun gear 211, and then output by the planetary holder 213 after being transmitted by the planetary gear 212, and the planetary holder 213 drives the screw rod 300 to rotate through the input component 510 and the output component 520. With such a design, the high-speed rotation of the actuating motor 100 can be reduced to the required low speed through the planetary reduction mechanism 210 to meet the working requirements of the mechanical equipment.

[0090] In order to achieve the circumferential relative fixation of the planet holder 213 and the input component 510, as shown in FIG. Fig.13 As shown, the planetary holder 213 includes an upper bracket and a lower bracket that are spaced apart, the planetary gear 212 is rotatably installed between the upper bracket and the lower bracket via a rotating shaft, a plurality of transmission grooves 2130 are circumferentially spaced apart on the upper bracket, and a plurality of transmission blocks 513 inserted into the transmission grooves 2130 are circumferentially spaced apart on the outer peripheral side of the input component 510, thereby achieving circumferential relative fixation of the planetary holder 213 and the input component 510.

[0091] like Figures 1 to 5As shown, the actuation system in this embodiment further includes a brake seat 220 and a releasable brake torsion spring 720 mounted on the brake seat 220, the brake seat 220 is non-rotatably connected to the inner gear ring 214, that is, the brake seat 220 and the inner gear ring 214 are integrally formed, or the brake seat 220 and the inner gear ring 214 are non-rotatably connected to the inner gear ring 214 by spline matching, the speed change transmission chain 200 further includes a first housing 230, the first housing 230 is formed by butting two half housings 2301 and connecting them by screws, and the planetary reducer The speed mechanism 210 is installed in the first shell 230, the planetary retaining frame 213 is rotatably installed in the first shell 230, and the brake torsion spring 720 includes a first pin 721 movably installed on the first shell 230 and a second pin fixed on the first shell 230. The brake torsion spring 720 normally holds the brake seat 220 and locks the inner gear ring 214 to prevent the inner gear ring 214 from rotating. The brake seat 220 constitutes the above-mentioned brake ring 610, that is, the brake seat 220 and the brake ring 610 are integrally processed and formed to simplify the assembly steps. With such a design, when the brake torsion spring 720 normally holds the brake seat 220 and implements a rotation-proof lock on the inner ring 214, the planetary retaining frame 213 can transmit the actuating torque to the input component 510 so that the screw rod 300 can rotate normally. When the screw rod 300 needs to be released quickly, the brake torsion spring 720 is expanded outward by pulling the first pin 721, thereby releasing the brake seat 220, thereby releasing the brake on the brake seat 220, and then releasing the rotation-proof lock on the inner ring 214. In this way, the inner ring 214 can rotate freely. In this case, the planetary reduction mechanism 210 will not transmit power. By pushing and pulling the screw rod 300, the screw rod 300 can be rotated quickly to enable the telescopic assembly 400 to telescope quickly, thereby realizing the quick release function. There is no need to drive the actuating motor 100, and it is suitable for situations where the actuating motor 100 fails or loses power or other situations where power needs to be cut off.

[0092] It is understandable that in other embodiments of the present invention, when the brake ring is independently processed and formed, the brake ring can be made of wear-resistant material, and the brake ring is non-rotatably connected to the brake seat. For example, the brake ring and the brake seat are non-rotatably connected to the brake seat by spline cooperation.

[0093] like Figures 19 to 22As shown, for the convenience of the following description, in this embodiment, the direction where the telescopic component 400 is located is taken as the upper direction, and the corresponding direction where the speed change transmission chain 200 is located is taken as the lower direction. Two mounting plates 232 are provided at intervals on the outer circumferential direction of the first shell 230. The two mounting plates 232 extend along the axis of the screw rod 300. Each mounting plate 232 is provided with a limiting groove 2321 with a closed lower end and an open upper end. The limiting groove 2321 penetrates the mounting plate 232 along the thickness direction of the mounting plate 232. The release plate 711 is located on the outer side of the first shell 230, and the two ends of the release plate 711 are respectively slidably matched with the two limiting grooves 2321, so that the release plate 711 can slide relative to the first shell 230, and the two mounting plates 232 are also embedded with positioning pins 233, and the positioning pins 233 are located between the release plate 711 and the notch of the limiting groove 2321 to prevent the end of the release plate 711 from slipping out of the limiting groove 2321. The release plate 711 in this embodiment is a flat plate, so its sliding path is a straight line. The first housing 230 is provided with a through hole for the first pin 721 to pass through, the release plate 711 is connected to the first pin 721, and the first pin 721 has a first position and a second position. When the first pin 721 is in the first position (such as Figures 19 to 20 As shown), the brake torsion spring 720 holds the brake seat 220 tightly, and the brake torsion spring 720 is in a locked state; when the first pin 721 is in the second position (as shown Figures 21 to 22 As shown in FIG. 2 , the brake torsion spring 720 releases the brake seat 220, and the brake torsion spring 720 is in a released state. The brake torsion spring 720 is released by driving the release plate 711 to pull the first pin 721 to rotate in the direction of loosening the brake torsion spring 720, that is, rotating in the direction of the second position.

[0094] To facilitate user operation, the release plate 711 in this embodiment is also connected to a release rod 712, which extends along the axis of the screw rod 300 toward the direction of the telescopic assembly 400. The lower end of the release rod 712 is connected to the release plate 711, and a guide groove 7110 is provided on the release plate 711. The guide groove 7110 is an inclined groove extending axially along the screw rod 300 and obliquely arranged. The release rod 712 is provided with a transmission pin 7120 inserted into the guide groove 7110 and slidingly matched with the guide groove 7110. When the transmission pin 7120 cooperates with the lower end of the guide groove 7110, the first pin 721 is in the first position. At this time, the upper end of the guide groove 7110 extends obliquely toward the direction of the first position relative to the second position. The brake torsion spring 720 in this embodiment is left-handed, and the first position is located on the left side of the second position, and the corresponding upper end of the guide groove 7110 extends obliquely to the left. When quick release is required, the user pulls the release rod 712 upward through the traction rod or traction rope to drive the release plate 711 to move to the right, so that the first pin 721 rotates in the direction of loosening the brake torsion spring 720, so that the brake torsion spring 720 releases the brake seat 220 (such as Figures 21 to 22As shown in FIG. 1 ), the screw rod 300 is released, and the release speed of the screw rod 300 depends on the displacement of the release rod 712. When the quick release is completed, the release rod 712 is released, and the first pin 721 is reset to the first position under the restoring force of the brake torsion spring 720, so that the brake torsion spring 720 re-holds the brake seat 220 to implement circumferential braking on the brake seat 220.

[0095] In order to facilitate the connection between the release plate 711 and the first pin 721 , a connection hole 7111 is provided on the release plate 711 in this embodiment, and the first pin 721 is inserted into the connection hole 7111 .

[0096] It can be understood that in other embodiments of the present invention, the release rod can be omitted, and the brake torsion spring can be released from the brake seat by directly driving the release plate to move; or the release rod and the release plate can be omitted, and the brake torsion spring can be released from the brake seat by directly moving the first pin by hand.

[0097] It can be understood that, in other embodiments of the present invention, the release plate can also be slidably installed on the outside of the first housing along the circumferential direction of the brake torsion spring, and its sliding path is an arc.

[0098] It is understandable that in other embodiments of the present invention, when the spiral direction of the brake torsion spring is opposite, those skilled in the art can easily figure out how to make adaptive changes to the tilt direction of the guide groove based on the above solution, which will not be described in detail here.

[0099] It should be noted that the brake seat 220 in this embodiment is released from circumferential braking only when rapid release is required.

[0100] In addition, if Figures 1 to 5 As shown, the speed transmission chain 200 in this embodiment also includes a worm wheel 240 and a worm 250, and the sun gear 211 includes an engaging section with teeth and a connecting section extending axially downward. The connecting section of the worm wheel 240 and the sun gear 211 is connected by a spline connection or an interference fit so that the worm wheel 240 and the sun gear 211 can rotate synchronously. The worm 250 is connected to the output shaft of the actuator motor 100, so that the power of the actuator motor 100 is transmitted to the sun gear 211 after being reduced by the worm wheel, that is, the output speed of the inner ring 214 is further reduced, and the output torque of the speed transmission chain 200 is improved, that is, the reduction ratio of the speed transmission chain 200 is increased, which can further meet the use requirements of large thrust output.

[0101] It can be understood that in other embodiments of the present invention, the planetary reduction mechanism can be omitted, and the input of the actuating torque can be received by connecting the input component with the worm gear.

[0102] For ease of understanding, the working process of the actuation system in this embodiment is described as follows:

[0103] In normal state, the brake torsion spring 720 applies circumferential braking to the brake seat 220. At this time, the inner gear ring 214 is locked and cannot rotate. The actuating motor 100 can drive the screw rod 300 to rotate in the first direction through the planetary holder 213, the input component 510 and the output component 520 in the planetary reduction mechanism 210 to move the load to a specified position. Under the load torque, the friction braking of the brake block 630 and the brake ring 610 limits the excessive rotation of the screw rod 300 in the second direction, thereby preventing the load from being displaced significantly after the actuating motor 100 stops working.

[0104] When the screw rod 300 is quickly released, the brake torsion spring 720 can be switched to a released state by operating the release rod 712 to release the circumferential brake on the brake seat 220. At this time, the inner gear ring 214 can rotate freely, and then the screw rod 300 is driven to rotate in the second direction. Although the rotation of the screw rod 300 will drive the brake block 630 to contact the brake ring 610 to implement friction braking, the cooperation between the brake ring 610 and the brake seat 220 can also achieve free rotation. Therefore, the self-locking between the brake block 630 and the brake ring 610 can be invalidated, thereby allowing the screw rod 300 to rotate quickly in the second direction, thereby realizing the quick release function without the need to drive the actuator motor 100.

[0105] Secondly, if Figure 3 , Figure 5 and Fig. 9 As shown, in this embodiment, a driving coupling 530 is provided on the output component 520, and a driven coupling 540 is provided on the screw rod 300. When the driving coupling 530 and the driven coupling 540 are connected, they remain relatively fixed in the circumferential direction and can move relative to each other in the axial direction, that is, the driving coupling 530 and the driven coupling 540 are both ratchets or the two are matched by splines to allow the screw rod 300 to cut off the connection between the driving coupling 530 and the driven coupling 540 when subjected to axial load tension. Since the screw rod 300 in this embodiment can freely pass through the self-locking device and the planetary reduction mechanism 210, that is, the screw rod 300 can move axially relative to the planetary reduction mechanism 210, the input component 510 and the output component 520. An elastic component 330 is arranged at the tail of the screw rod 300, and the elastic component 330 is a spring. A first bearing 310 is also arranged between the tail of the screw rod 300 and the sun gear 211. A limiting plate 320 fixed by a screw is arranged at the lower end of the screw rod 300. The lower end of the elastic component 330 is connected to the limiting plate 320, and the upper end of the elastic component 330 is connected to the first bearing 310. The elastic component 330 applies an elastic force toward the tail of the screw rod 300 to maintain the connection tendency of the active coupling 530 and the driven coupling 540.

[0106] Taking the case where the actuating system is used to drive the lifting and lowering of the load on the inner tube 410 as an example, when the actuating motor 100 drives the inner tube 410 in the telescopic assembly 400 to be clamped by an object or a human body during retraction, since the inner tube 410 cannot be retracted under the drive of the nut 430, the screw rod 300 will be pulled upwards, and at this time, the driven coupling 540 on the screw rod 300 can be disengaged from the active coupling 530 to cut off the transmission of the actuating torque, the screw rod 300 stops rotating, the nut 430 stops moving, and the inner tube 410 stops retracting, thereby achieving an anti-pinch effect. When the screw rod 300 is pulled upwards, the elastic component 330 is compressed, so when the clamped object or human body is removed, since the elastic component 330 has a restoring elastic force after being compressed, it can drive the screw rod 300 to be pulled back, so that the active coupling 530 and the driven coupling 540 on the screw rod 300 are reconnected, and the actuating system resumes normal operation.

[0107] Finally, if Figure 5 As shown, since the screw rod 300 in this embodiment freely passes through the self-locking device and the planetary reduction mechanism 210, a support seat 800 is mounted on the screw rod 300, and the support seat 800 is used to bear the axial load transmitted by the screw rod 300. The axial load will apply an axial force toward the tail of the screw rod. The brake seat 220 is provided with a support step 221 higher than the top surface of the brake block 630. The limit block 900 is supported on the support step 221 and has a gap with the top surface of the brake block 630. The top of the brake seat 220 is also provided with a limit step. The second bearing 340 is located on the limit step and supported on the top of the limit block 900. The support seat 800 is supported on the second bearing 340. The second bearing 340 is a thrust bearing that can withstand axial force. In addition, a thrust bearing is provided between the outer side of the inner gear ring 214 and the first housing 230. The radial bearing 360 and the third bearing 350, the radial bearing 360 supports the inner gear ring 214 and centers it, and the inner side of the first shell 230 is also provided with a load-bearing step 2302, the load-bearing step 2302 is used to support the third bearing 350, the third bearing 350 is a thrust bearing, which is used to axially support the radial bearing 360 and can withstand axial force. When the load applies an axial force to the screw rod 300 in the direction of the tail of the screw rod 300, the axial force will be applied to the support seat 800, and transmit the axial load to the brake seat 220, the inner gear ring 214, and the third bearing 350. Finally, the load-bearing step 2302 bears the axial load thrust guided by the brake seat 220 and the inner gear ring 214, thereby preventing the planetary retainer 213, the planetary gear 212 and the sun gear 211 from being subjected to the axial load thrust of the screw rod 300. In the prior art, a bearing is provided at the tail of the screw to bear the axial load thrust of the screw. Such a design makes the screw longer, which increases its processing difficulty and deteriorates its concentricity during operation. The present technical solution can omit the bearing at the tail by changing the transmission path of the axial load thrust, thereby shortening the length of the screw, thereby improving the processing convenience of the screw and the coaxiality during operation.

[0108] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modification that does not deviate from the functional and structural principles of the present invention will be included in the scope of the claims.

Claims

1. A self-locking device of an actuating system, used to brake a rotating part of the actuating system, characterized in that: The self-locking device comprises: A coupling transmission unit, comprising an input component for receiving an actuating torque and an output component transmission-connected to a rotating component, wherein the output component is provided with a self-locking angle for synchronous rotation; and, A friction brake unit, comprising a brake ring and a retaining ring with a brake block installed, the retaining ring surrounds the outer side of the coupling transmission unit, the brake ring relatively fixedly surrounds the outer side of the retaining ring, the brake block rotates synchronously with the retaining ring in the circumferential direction, and at least one of the brake block and the self-locking angle has a gradual surface gradually away from the axis of the rotating component along a first direction; when the input component is applied with an actuating torque in a first direction, the retaining ring and the output component are driven to rotate synchronously; When the output component is applied with a load torque in a second direction, the self-locking angle is driven to rotate relative to the retaining ring in the second direction, and the brake block is squeezed by the self-locking angle and moves radially outward to frictionally engage with the brake ring to implement friction braking; When the input component is applied with an actuating torque in a second direction, the retaining ring is driven to rotate in the second direction relative to the self-locking angle, thereby releasing the friction braking state in advance; The first direction is opposite to the second direction.

2. The self-locking device of the actuation system according to claim 1, characterized in that: The input component has a plurality of input key teeth arranged at intervals in the circumferential direction, the output component has a plurality of output key teeth arranged at intervals in the circumferential direction, the retaining ring has a plurality of retaining key teeth arranged at intervals in the circumferential direction, and the input key teeth, retaining key teeth and output key teeth are alternately meshed in sequence.

3. The self-locking device of the actuation system according to claim 2, characterized in that: When the input component is applied with an actuating torque in a first direction, a first gap is formed between the input key teeth and the retaining key teeth; When a load torque in a second direction is applied to the output component, the first gap is eliminated and a second gap is formed between the output key teeth and the retaining key teeth; When the input component is applied with an actuating torque in a second direction, the second gap is eliminated and a third gap is formed between the output spline teeth and the input spline teeth.

4. The self-locking device of the actuation system according to claim 2, characterized in that: An input keyway with a bottom surface is formed between adjacent input key teeth, and the retaining key tooth is located in the input keyway and is axially limited by the bottom surface and the output component.

5. The self-locking device of the actuation system according to claim 1, characterized in that: The retaining ring overlaps with a projection portion of the input member in an axial direction, and the retaining ring overlaps with a projection portion of the output member in an axial direction, wherein the axial direction is parallel to the axial center direction of the rotating member.

6. The self-locking device of the actuation system according to claim 1, characterized in that: The portion of the output component surrounded by the retaining ring has a circumferential surface, the self-locking angle radially protrudes from the circumferential surface and is provided with a first gradual surface facing the brake block, the brake block has a second gradual surface facing the first gradual surface, and the first gradual surface and the second gradual surface both gradually move away from the axis of the rotating component along the first direction.

7. The self-locking device of the actuation system according to claim 6, characterized in that: The central angle of the first gradual surface relative to the axis of the rotating component is smaller than the central angle of the second gradual surface relative to the axis of the rotating component. During the relative rotation of the output component and the retaining ring, the first gradual surface is always located within the circumferential range of the second gradual surface.

8. The self-locking device of the actuation system according to claim 7, characterized in that: The circumferential ends of the self-locking angle respectively form a first limit surface and a second limit surface, and the inner ring surface of the retaining ring is circumferentially spaced apart with a first limit angle and a second limit angle. The first limit angle is located in the radial direction of one end of the brake block and forms a circumferential interference with the first limit surface, and the second limit angle is located in the radial direction of the other end of the brake block and forms a circumferential interference with the second limit surface.

9. The self-locking device of the actuation system according to claim 6, characterized in that: The first gradual surface extends spirally or straightly from one end close to the axis of the rotating component to one end away from the axis of the rotating component; the second gradual surface extends spirally or straightly from one end close to the axis of the rotating component to one end away from the axis of the rotating component.

10. The self-locking device of the actuation system according to claim 1, characterized in that: The self-locking angle and the output component form an integral structure.

11. The self-locking device of the actuation system according to claim 1, characterized in that: The retaining ring is provided with a guide hole adapted to the brake block, the guide hole penetrates from the inner ring surface to the outer ring surface of the retaining ring, the brake block is embedded in the guide hole, and the brake block and the retaining ring rotate synchronously in the circumferential direction and can move relative to each other in the radial direction.

12. The self-locking device of the actuation system according to claim 1, characterized in that: The brake block and the retaining ring form an integral structure, and the brake block can be elastically deformed by being squeezed by the gradual surface.

13. An actuation system comprising an actuation motor, a lead screw and a variable speed transmission chain connecting the two, characterized in that: The self-locking device according to any one of claims 1 to 12 constitutes a part of the speed change transmission chain.

14. The actuation system according to claim 13, characterized in that The speed transmission chain also includes a planetary reduction mechanism, which includes a sun gear, an inner ring gear and a planetary retainer loaded with planetary gears, the planetary gears are meshed between the sun gear and the inner ring gear, the planetary retainer is coaxially connected to the input component of the self-locking device, the output component of the self-locking device is connected to the screw, and the screw forms the rotating component.

15. The actuation system according to claim 14, characterized in that The output component is provided with a driving coupling, and the screw rod is provided with a driven coupling. When the driving coupling and the driven coupling are connected, they remain relatively fixed in the circumferential direction and can move relatively in the axial direction, allowing the screw rod to cut off the connection between the driving coupling and the driven coupling when subjected to axial load tension. The screw rod freely passes through the self-locking device and the planetary reduction mechanism and an elastic component is provided at the tail, and the elastic component is used to maintain the connection trend of the driving coupling and the driven coupling.

16. The actuation system of claim 14, wherein: The actuating system also includes a brake seat and a releasable brake torsion spring mounted on the brake seat, the brake seat is non-rotatably connected to the inner gear ring, the brake torsion spring normally holds the brake seat to lock the inner gear ring, the brake seat constitutes the brake ring or the brake ring is non-rotatably connected to the brake seat.

17. The actuation system according to claim 16, characterized in that The screw rod freely passes through the self-locking device and the planetary reduction mechanism. A support seat is mounted on the screw rod. The support seat axially abuts against the brake seat to transmit the axial load of the screw rod. The first housing has a load-bearing step to withstand the axial load thrust guided by the brake seat and the inner ring gear to prevent the planetary retainer, planetary gear and sun gear from being subjected to the axial load thrust of the screw rod.

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