A compact motor, actuator and logic control method

Abstract

The present invention belongs to the field of electromechanical actuation technology, specifically a motor, an actuator and a logic control method with a compact structure. The motor includes a motor housing and a motor shaft, an electromagnetic brake and a Hall position sensor arranged in the motor housing; a flange structure is fixed at one end of the motor shaft, and the electromagnetic brake includes a static plate fixed on the inner wall of the motor housing and a dynamic plate fixed on the flange structure, and the static plate and the dynamic plate are arranged relative to each other; the Hall position sensor includes a Hall plate and a Hall sensor magnet, the Hall sensor magnet is fixed on the flange structure, and the Hall plate is fixed in the motor housing. The motor of the present application installs both the dynamic plate and the Hall sensor magnet on the flange structure so that it can be connected with the motor shaft, reducing the number of parts used and making the overall structure of the motor more compact. At the same time, the present application realizes the position detection of the actuator when the motor is working, disconnected and disconnected by setting the switching mode of the travel switch at the extreme position of the actuator.

Description

Technical Field

[0001] The present invention belongs to the technical field of electromechanical actuation, and specifically relates to a motor, an actuator and a logic control method with a compact structure. Background Art

[0002] In the existing actuator, a power-off electromagnetic brake is arranged at the tail of the motor to achieve power-off locking. An electromagnetic brake is generally used to brake the motor shaft. The electromagnetic brake is an important basic component that integrates mechanical, electrical and electronic technologies. The existing electromagnetic brake built into the motor includes an armature part, a brake movable plate formed on the armature part, a brake fixed plate arranged opposite to the brake movable plate and fixed on the motor shaft, and a spring that pushes the brake movable plate to move toward the brake fixed plate. When the armature part is not energized, the brake movable plate contacts the brake fixed plate under the action of the spring preload to brake the motor shaft.

[0003] At the same time, the motor also needs a Hall sensor to collect the rotation angle of the motor shaft. The traditional layout is to stick the magnet of the Hall sensor on the motor shaft and arrange the Hall plate near the magnet.

[0004] Both electromagnetic brakes and Hall sensors must be arranged inside the motor. Especially when the internal space of the motor is limited, the simultaneous arrangement of the two will increase the size of the motor and make the structure less compact. Summary of the invention

[0005] In order to solve the problems in the above background technology, the present invention provides a motor, an actuator and a logic control method with a compact structure.

[0006] The first object of the present invention is to provide a motor with a compact structure, comprising a motor housing, a motor shaft and an electromagnetic brake arranged in the motor housing; the motor shaft comprises a first end and a second end, a flange structure is fixed on the first end, and the electromagnetic brake is arranged at a position close to the first end;

[0007] The electromagnetic brake comprises a stationary plate fixed on the inner wall of the motor housing and a moving plate fixed on the flange structure, the stationary plate and the moving plate are arranged opposite to each other, and a brake coil is installed in the stationary plate;

[0008] A Hall sensor magnet is circumferentially fixed to one end of the flange structure away from the moving plate, and a Hall plate is fixed to a position in the motor housing corresponding to the Hall sensor magnet.

[0009] Furthermore, an external thread is processed on the first end of the motor shaft, and the flange structure is mounted on the motor shaft by a key connection. The external thread extends out of the flange structure and is locked by a nut; the static plate is a permanent magnet, and when the brake coil is powered off, the static plate attracts the moving plate, causing the moving plate to move toward the static plate to brake the moving plate; when the brake coil is powered on, the static plate loses its magnetism, the moving plate moves away from the static plate, and the motor shaft rotates.

[0010] Furthermore, the Hall plate is fixed in the motor housing through a limit plate, and the Hall plate is fixed to the limit plate through a fastener.

[0011] Furthermore, the flange structure includes an integrally formed flange and a sleeve, the movable plate is detachably mounted on an end surface of the flange away from the sleeve, and the Hall sensor magnet is fixed on the outer peripheral surface of the sleeve.

[0012] Furthermore, a partition plate is provided in the motor housing, and a through hole is provided on the partition plate. The motor shaft passes through the through hole and is rotatably connected to the partition plate. The partition plate extends in a direction perpendicular to the axial direction of the motor shaft and divides the motor housing into a motor cavity and an electromagnetic brake cavity. The static plate is located in the electromagnetic brake cavity and is fixedly connected to the partition plate.

[0013] Furthermore, a support cylinder and a limit cylinder are respectively extended along the axial direction of the motor shaft at both ends of the partition plate, and a through hole is provided on the support cylinder, the partition plate and the limit cylinder. The motor shaft passes through the motor cavity and the electromagnetic brake cavity through the through hole. The support cylinder is arranged in the motor cavity, and a bearing that rotates with the motor shaft is arranged in the support cylinder. The limit cylinder is arranged in the electromagnetic brake cavity.

[0014] The static plate includes a coil accommodating portion and a fixing portion connected to the coil accommodating portion. The coil accommodating portion is used to accommodate the brake coil. The coil accommodating portion extends axially along the motor shaft and the inner circumference abuts against the outer circumference of the limiting cylinder. The fixing portion extends in a direction perpendicular to the axial direction of the motor shaft and is fixedly connected to the partition plate.

[0015] The second object of the present invention is to provide an actuator, comprising a compact motor of any one of the above items, the second end of the motor shaft extending out of the motor housing and connected to the lead screw through a transmission assembly, and the motor shaft drives the lead screw to perform linear motion through the transmission assembly.

[0016] Furthermore, the actuator also includes a manual drive mechanism, which includes a manual knob, a rotating rod fixed to the manual knob, and a first bevel gear arranged at the end of the rotating rod, and the second end of the motor shaft is provided with a second bevel gear that cooperates with the first bevel gear; when the brake coil is powered off, the manual knob is rotated to rotate the motor shaft, and the rotation of the motor shaft drives the lead screw to move linearly.

[0017] Furthermore, the transmission assembly includes a first gear fixed on the motor shaft, a second gear meshing with the first gear, a third gear rotating synchronously with the second gear, and a fourth gear meshing with the third gear. The second gear and the third gear are both mounted on the shaft, the fourth gear is mounted on the nut seat and drives the nut seat to rotate synchronously, and a lead screw is connected to the nut seat for transmission.

[0018] The third object of the present invention is to provide a logic control method, which uses the above-mentioned actuator to control the movement of a carrier, wherein the carrier has two extreme positions, namely a first extreme position and a second extreme position, and a first travel switch is provided at the first extreme position, the first travel switch includes a first normally open contact and a first normally closed contact, the first normally closed contact is used to supply power to the motor of the actuator, and the first normally open contact is used to detect the position of the carrier;

[0019] When the carrier moves from the second limit position to the first limit position, the first normally closed contact is closed, the first normally open contact is disconnected, the actuator is energized, and the carrier is driven to move toward the first limit position through the lead screw;

[0020] When the carrier is located at the first limit position, the first travel switch performs mode switching, the first normally closed contact is disconnected, the first normally open contact is closed, the actuator is powered off, and the actuator detects that the carrier is located at the first limit position.

[0021] A second travel switch is arranged at the second limit position, and the second travel switch is the same as the first travel switch.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] (1) In the present application, the moving plate of the electromagnetic brake and the magnet of the Hall sensor are both installed on the flange structure. The flange structure serves as a common bridge between the moving plate and the magnet of the Hall sensor to connect them with the motor shaft, thereby reducing the number of parts used and making the overall structure of the motor more compact.

[0024] (2) The actuator of the present application includes a manual drive mechanism. When the motor shaft is powered off and locked, and the carrier has not moved to the preset position, the manual drive mechanism can assist the linear movement of the lead screw to push the carrier to the preset position, thereby avoiding the situation where the carrier has not moved into position and affecting the use of the entire system.

[0025] (3) In the logic control method of the actuator of the present application, travel switches are respectively set at two extreme positions, and the travel switches include normally open contacts and normally closed contacts. The normally closed contacts are used to supply power to the motor of the actuator, and the normally open contacts are used to detect the position of the carrier. When the actuator reaches the extreme position, the travel switch mode is switched through physical contact or collision, the normally closed contacts are disconnected, the normally open contacts are closed, and the actuator is powered off, thereby realizing the position detection of the actuator and feeding back the position of the carrier. Only one travel switch is used at the same position to realize the power supply and position detection of the actuator, reducing the number of switches by 50% and simplifying the control logic. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 The overall appearance structure diagram of the actuator provided by one embodiment of the present invention;

[0028] Figure 2 A front view structural diagram of an actuator provided by an embodiment of the present invention;

[0029] Figure 3 for Figure 2 Sectional view along AA direction;

[0030] Figure 4 An overall structural diagram of an actuator provided by an embodiment of the present invention;

[0031] Figure 5 for Figure 4 A magnified view of part A in FIG.

[0032] Figure 6 for Figure 3 A magnified view of part B in FIG.

[0033] Figure 7 A logic diagram of a logic control method for an actuator of the present invention;

[0034] In the figure, 1-motor housing, 111-first end, 112-second end, 113-partition plate, 1131-through hole, 114-support cylinder, 115-limit cylinder, 116-bearing, 2-motor shaft, 3-static plate, 31-coil accommodating portion, 32-fixing portion, 4-moving plate, 5-flange structure, 51-flange plate, 52-sleeve, 6-Hall sensor magnet, 7-Hall plate, 8-nut, 9-limit plate, 10-transmission assembly, 101-first gear, 102- Second gear, 103-third gear, 104-fourth gear, 105-nut seat, 11-screw, 12-manual drive mechanism, 121-manual knob, 122-rotating rod, 123-first bevel gear, 124-second bevel gear, 13-motor cavity, 14-electromagnetic brake cavity, 15-first extreme position, 16-second extreme position, 17-first normally open contact, 18-first normally closed contact, 19-second normally open contact, 20-second normally closed contact, 21-aircraft cabin door. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0036] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the protection scope of the present invention.

[0037] The following is combined with Figure 1 To Attachment Figure 7 The present invention is described in detail with reference to specific embodiments.

[0038] like Figures 1 to 6As shown, the present invention provides a motor with a compact structure, including a motor housing 1, a motor shaft 2 and an electromagnetic brake arranged in the motor housing 1; the motor shaft 2 includes a first end 111 and a second end 112, a flange structure 5 is fixed on the first end 111, and the electromagnetic brake is arranged at a position close to the first end 111; the electromagnetic brake includes a static plate 3 fixed on the inner wall of the motor housing 1 and a dynamic plate 4 fixed on the flange structure 5, the static plate 3 and the dynamic plate 4 are arranged opposite to each other, a brake coil is installed in the static plate 3, and when the brake coil in the static plate 3 is powered off, the static plate 3 is attracted The driving plate 4 contacts the static plate 3, and static friction is generated between the static plate 3 and the moving plate 4 to brake the moving plate 4, that is, the motor shaft 2 is braked to achieve power-off locking. When the brake coil in the static plate 3 is energized, the moving plate 4 moves away from the static plate 3, and the motor shaft 2 rotates normally. A Hall sensor magnet 6 is circumferentially fixed to the end of the flange structure 5 away from the moving plate 4, and a Hall plate 7 is fixed at a position corresponding to the Hall sensor magnet 6 in the motor housing 1. When the motor shaft 2 rotates normally, the cooperation of the Hall sensor magnet 6 and the Hall plate 7 is used to realize closed-loop control of the rotation angle of the motor shaft 2.

[0039] In the present application, the moving plate 4 of the electromagnetic brake and the Hall sensor magnet 6 are both installed on the flange structure 5. The flange structure 5 serves as a common bridge between the moving plate 4 and the Hall sensor magnet 6 to connect them with the motor shaft 2, thereby reducing the number of parts used and making the overall structure of the motor more compact.

[0040] Specifically, the flange structure 5 is fixedly connected to the motor shaft 2, accepts the rotation angle of the motor shaft 2, and limits the torque of the motor at the same time. The flange structure 5 is fixedly connected to the moving plate 4, accepts the braking torque of the electromagnetic brake, and a Hall sensor magnet 6 is also fixed on the outer periphery of the flange structure 5. When the flange structure 5 rotates with the motor shaft 2, the Hall plate 7 can detect the angular position of the motor shaft 2. Therefore, multiple functions can be achieved through the flange structure 5.

[0041] Compared with existing motors, the parts connecting the flange to the electromagnetic brake and the parts connecting the flange to the Hall sensor magnet are reduced, which ultimately reduces the volume of the electromagnetic brake part and the Hall sensor part by 1 / 3 and the weight by 1 / 3.

[0042] For details, see Figure 3 In some embodiments, an external thread is processed on the first end of the motor shaft 2, and the flange structure 5 is mounted on the motor shaft 2 by a key connection. The external thread extends out of the flange structure 5 and is locked by a nut 8, thereby realizing the connection between the flange structure 5 and the motor shaft 2. The rotation of the motor shaft 2 drives the flange structure 5 to rotate synchronously.

[0043] Specifically, the static plate 3 in the embodiment of the present application is a permanent magnet. When the brake coil is powered off, the static plate 3 attracts the moving plate 4, causing the moving plate 4 to move toward the static plate 3 to brake the moving plate 4; when the brake coil is powered on, the static plate 3 loses its magnetism, the moving plate 4 moves away from the static plate 3, and the motor shaft 2 rotates.

[0044] Specifically, the Hall plate 7 in the embodiment of the present application is fixed in the motor housing 1 by a limit plate 9, and the Hall plate 7 is fixed to the limit plate 9 by fasteners. Preferably, the fasteners are screws, and the limit plate 9 and the Hall plate 7 are fixed as a whole by screws, so that the Hall plate 7 is fixed circumferentially and circumferentially.

[0045] Specifically, the flange structure 5 includes an integrally formed flange 51 and a sleeve 52 , the movable plate 4 is detachably mounted on an end surface of the flange 51 away from the sleeve 52 , and the Hall sensor magnet 6 is fixed on the outer peripheral surface of the sleeve 52 .

[0046] For details, see Figure 6 A partition plate 113 is arranged in the motor housing 1, and a through hole 1131 is arranged on the partition plate 113. The motor shaft 2 passes through the through hole 1131 and is rotatably connected to the partition plate 113. The partition plate 113 extends in a direction perpendicular to the axial direction of the motor shaft 2 and divides the motor housing 1 into a motor cavity 13 and an electromagnetic brake cavity 14. The static plate 2 is located in the electromagnetic brake cavity 14 and is fixedly connected to the partition plate 113.

[0047] The partition plate 113 is provided to divide the space in the motor housing 1 so that the electromagnetic brake and the Hall sensor are integrated in the electromagnetic brake chamber 14 , making the installation and removal positions clear and more convenient for later maintenance.

[0048] Specifically, a support cylinder 114 and a limit cylinder 115 are respectively extended from both ends of the partition plate 113 along the axial direction of the motor shaft 2. A through hole 1131 is provided on the support cylinder 114, the partition plate 113 and the limit cylinder 115. The motor shaft 2 passes through the motor cavity 13 and the electromagnetic brake cavity 14 through the through hole 1131. The support cylinder 114 is arranged in the motor cavity 13. A bearing 116 that rotates with the motor shaft 2 is arranged in the support cylinder 114. The limit cylinder 115 is arranged in the electromagnetic brake cavity 14; the static plate 3 includes a coil accommodating portion 31 and a fixing portion 32 connected to the coil accommodating portion 31. The coil accommodating portion 31 is used to accommodate the brake coil. The coil accommodating portion 31 extends along the axial direction of the motor shaft 2 and the inner circumference abuts against the outer circumference of the limit cylinder 115. The fixing portion 32 extends in a direction perpendicular to the axial direction of the motor shaft 2, and the fixing portion 32 is fixedly connected to the partition plate 113.

[0049] The present application arranges a support cylinder 114 and a limit cylinder 115 on the partition plate 113 to provide support force for the rotation of the motor shaft 2, and also provides a mounting position for the static plate 3, thereby realizing the multifunctional function of one component, further reducing the overall weight of the motor, and achieving the purpose of making the motor more compact.

[0050] See also Figures 1 to 5 The present invention also provides an actuator, which is mainly used in aircraft servo systems, brake systems, door actuation systems, etc. The flight control servo system is used in scenarios such as rocket grid rudders, engine thrust vector nozzles, missile air rudders, and aircraft wing surface control; the brake system is used in scenarios such as drone wheel brakes and civil airliner wheel brakes; the door actuation system is used in scenarios such as civil cargo aircraft door actuation systems and bomb bay door retraction and extension actuation systems.

[0051] The actuator can transform the high-speed, low-torque output power characteristics of the motor into low-speed, high-torque output power characteristics through transmission deceleration such as gears and screws, thereby driving the rudders, nozzles, wheels, doors and other carriers in the application scenarios to achieve movement and position maintenance.

[0052] The actuator of the present application includes the above-mentioned compact motor, the second end 112 of the motor shaft 2 extends out of the motor housing 1 and is connected to the screw 11 through the transmission assembly 10. The motor shaft 2 drives the screw 11 to perform linear motion through the transmission assembly 10, thereby driving the rudder, nozzle, wheel, cabin door and other carriers in the application scenario to achieve movement and position maintenance. The present application does not limit the specific structure of the transmission assembly 10, and all structures that can achieve linear movement of the screw 11 fall within the protection scope of the present application.

[0053] For details, see Figure 5 The actuator in this embodiment also includes a manual drive mechanism 12, which includes a manual knob 121, a rotating rod 122 fixed to the manual knob 121, and a first bevel gear 123 arranged at the end of the rotating rod 122. The second end 112 of the motor shaft 2 is provided with a second bevel gear 124 that cooperates with the first bevel gear 123; when the brake coil is powered off, the manual knob 121 is rotated to rotate the motor shaft 2, and the rotation of the motor shaft 2 drives the lead screw 11 to make a linear motion, thereby realizing a linear output of the lead screw 11 when the power is off.

[0054] When using the actuator in the present application, when the motor shaft 2 is powered off and locked, and the carrier has not moved to the preset position, the manual drive mechanism 12 can assist the linear movement of the lead screw 11 to push the carrier to the preset position, thereby avoiding the carrier not moving into place and affecting the use of the entire system.

[0055] Specifically, in some optional embodiments, the transmission assembly 10 includes a first gear 101 fixed on the motor shaft 2, a second gear 102 meshingly connected to the first gear 101, a third gear 103 rotating synchronously with the second gear 102, and a fourth gear 104 meshingly connected to the third gear 103. The second gear 102 and the third gear 103 are both mounted on the shaft and rotate with the shaft. The fourth gear 104 is mounted on the nut seat 105 and drives the nut seat 105 to rotate synchronously. The nut seat 105 is transmission-connected to a lead screw 11, thereby realizing linear movement of the lead screw 11.

[0056] See also Figure 7 The present invention also provides a logic control method, which uses the above-mentioned actuator to control the movement of the carrier. In this embodiment, the actuator is applied to the opening / closing scene of the aircraft cabin door 21 as an example for detailed description, that is, the carrier is the aircraft cabin door 21.

[0057] The aircraft cabin door 21 has an open state and a closed state, wherein the open state is a first extreme position 15, and the closed state is a second extreme position 16. A first travel switch is provided at the first extreme position 15, and the first travel switch includes a first normally open contact 17 and a first normally closed contact 18. The first normally closed contact 18 is used to supply power to the motor of the actuator, and the first normally open contact 17 is used to detect the position of the aircraft cabin door 21.

[0058] When the carrier moves from the second extreme position 16 to the first extreme position 15, that is, when the aircraft cabin door 21 moves from the closed state to the open state, the first normally closed contact 18 is closed, the first normally open contact 17 is disconnected, the actuator is energized, and the aircraft cabin door 21 is driven to move toward the first extreme position 15 through the lead screw 11, so that the aircraft cabin door 21 is gradually opened;

[0059] When the aircraft door 21 moves to the first extreme position 15, that is, when the aircraft door 21 is fully opened, the first travel switch switches the mode, the first normally closed contact 18 is disconnected, the first normally open contact 17 is closed, the actuator is powered off, and the actuator detects that the aircraft door 21 is in a fully open state.

[0060] Specifically, a second travel switch is provided at the second extreme position 16, and the second travel switch includes a second normally open contact 19 and a second normally closed contact 20, the second normally closed contact 20 is used to supply power to the motor of the actuator, and the second normally open contact 19 is used to detect the position of the aircraft cabin door 21;

[0061] When the carrier moves from the first extreme position 15 to the second extreme position 16, that is, when the aircraft cabin door 21 moves from the open state to the closed state, the second normally closed contact 20 is closed, the second normally open contact 19 is disconnected, the actuator is energized, and the aircraft cabin door 21 is driven to move toward the second extreme position 16 through the lead screw 11, so that the aircraft cabin door 21 is gradually closed;

[0062] When the aircraft door 21 moves to the second extreme position 16, that is, when the aircraft door 21 is fully closed, the second travel switch switches the mode, the second normally closed contact 20 is disconnected, the second normally open contact 19 is closed, the actuator is powered off, and the actuator detects that the aircraft door 21 is in a fully open state.

[0063] It should be noted that when the actuator is between the first extreme position 15 and the second extreme position 16, and the first normally closed contact 18 and the second normally closed contact 20 are both disconnected, the actuator is powered off and locked, and the aircraft door 21 cannot be closed or opened. At this time, the manual knob 121 can be rotated to drive the motor shaft 2 to rotate, and then the screw 11 is driven to move linearly through the transmission assembly 10, and the screw 11 drives the aircraft door 21 to be fully opened or fully closed.

[0064] The present invention is further described above with the aid of specific embodiments. However, it should be understood that the specific description here should not be construed as limiting the essence and scope of the present invention. Various modifications made to the above embodiments by ordinary technicians in the field after reading this specification are all within the scope of protection of the present invention.

Claims

1. A motor with a compact structure, characterized in that: It comprises a motor housing, a motor shaft and an electromagnetic brake arranged in the motor housing; the motor shaft comprises a first end and a second end, a flange structure is fixed on the first end, and the electromagnetic brake is arranged at a position close to the first end; The electromagnetic brake comprises a static plate fixed on the inner wall of the motor housing and a dynamic plate fixed on the flange structure, the static plate and the dynamic plate are arranged opposite to each other, and a brake coil is installed in the static plate; A Hall sensor magnet is circumferentially fixed to one end of the flange structure away from the moving plate, and a Hall plate is fixed to a position corresponding to the Hall sensor magnet in the motor housing; The flange structure includes an integrally formed flange and a sleeve, the movable plate is detachably mounted on an end surface of the flange away from the sleeve, and the Hall sensor magnet is fixed on the outer peripheral surface of the sleeve.

2. The compact motor according to claim 1, characterized in that An external thread is processed on the first end of the motor shaft, the flange structure is mounted on the motor shaft by key connection, and the external thread extends out of the flange structure and is locked by a nut; The static plate is a permanent magnet. When the brake coil is powered off, the static plate attracts the moving plate, causing the moving plate to move toward the static plate to brake the moving plate. When the brake coil is powered on, the static plate loses its magnetism, the moving plate moves away from the static plate, and the motor shaft rotates.

3. The compact motor according to claim 1, characterized in that: The Hall plate is fixed in the motor housing through a limit plate, and the Hall plate is fixed on the limit plate through a fastener.

4. The compact motor according to claim 1, characterized in that: A partition plate is arranged in the motor housing, and a through hole is arranged on the partition plate. The motor shaft passes through the through hole and is rotatably connected to the partition plate. The partition plate extends in a direction perpendicular to the axial direction of the motor shaft and divides the motor housing into a motor cavity and an electromagnetic brake cavity. The static plate is located in the electromagnetic brake cavity and is fixedly connected to the partition plate.

5. The compact motor according to claim 4, characterized in that A support cylinder and a limit cylinder are respectively extended from both ends of the partition plate along the axial direction of the motor shaft, the support cylinder, the partition plate and the limit cylinder are all provided with the through hole, the motor shaft passes through the motor cavity and the electromagnetic brake cavity through the through hole, the support cylinder is arranged in the motor cavity, a bearing rotatably matched with the motor shaft is arranged in the support cylinder, and the limit cylinder is arranged in the electromagnetic brake cavity; The static plate includes a coil accommodating portion and a fixing portion connected to the coil accommodating portion, the coil accommodating portion is used to accommodate the brake coil, the coil accommodating portion extends axially along the motor shaft and the inner circumference abuts against the outer circumference of the limiting cylinder, the fixing portion extends in a direction perpendicular to the axial direction of the motor shaft, and the fixing portion is fixedly connected to the partition plate.

6. An actuator, comprising the compact motor according to any one of claims 1 to 5, characterized in that: The second end of the motor shaft extends out of the motor housing and is connected to the lead screw through a transmission assembly. The motor shaft drives the lead screw to perform linear motion through the transmission assembly.

7. The actuator according to claim 6, characterized in that: The actuator also includes a manual drive mechanism, which includes a manual knob, a rotating rod fixed to the manual knob, and a first bevel gear arranged at the end of the rotating rod. The second end of the motor shaft is provided with a second bevel gear that cooperates with the first bevel gear. When the brake coil is powered off, the manual knob is rotated to rotate the motor shaft, and the rotation of the motor shaft drives the lead screw to perform linear motion.

8. The actuator according to claim 7, characterized in that: The transmission assembly includes a first gear fixed on the motor shaft, a second gear meshing with the first gear, a third gear rotating synchronously with the second gear, and a fourth gear meshing with the third gear, the second gear and the third gear are both mounted on the shaft, the fourth gear is mounted on the nut seat and drives the nut seat to rotate synchronously, and the lead screw is transmission-connected inside the nut seat.

9. A logic control method, using the actuator according to any one of claims 6 to 8 to control the movement of a carrier, characterized in that: The carrier has two extreme positions, namely a first extreme position and a second extreme position. A first travel switch is provided at the first extreme position. The first travel switch includes a first normally open contact and a first normally closed contact. The first normally closed contact is used to supply power to the motor of the actuator, and the first normally open contact is used to detect the position of the carrier. When the carrier moves from the second limit position to the first limit position, the first normally closed contact is closed, the first normally open contact is disconnected, the actuator is energized, and the carrier is driven to move toward the first limit position through the lead screw; When the carrier is located at the first limit position, the first travel switch performs mode switching, the first normally closed contact is disconnected, the first normally open contact is closed, the actuator is powered off, and the actuator detects that the carrier is located at the first limit position; A second travel switch is arranged at the second limit position, and the second travel switch is the same as the first travel switch.

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