Actuator

Abstract

The invention discloses an actuator, and relates to the technical field of actuating mechanisms, and the actuator is characterized in that a plurality of first mounting parts are arranged on a shell; the motor is positioned in the shell; a first end of the first output shaft is in transmission connection with a second output shaft of the motor; the limiting assembly is located on the shell. All the first mounting parts on the shell are uniformly distributed in a set area by taking the first output shaft as the center, so that eccentric force generated when the first output shaft rotates or moves due to the fact that all the first mounting parts on the shell are not uniformly distributed by taking the first output shaft as the center is reduced; the first mounting part close to the first output shaft is damaged, loosened and fractured due to fatigue caused by concentrated stress, so that the actuator cannot run stably; the limiting assembly comprises a plurality of limiting pieces arranged in a plurality of directions of the motor, the limiting pieces make contact with the motor, the motor is prevented from moving in the direction close to the limiting pieces, displacement of the motor in the shell is effectively limited, and stable output of the actuator is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of actuators, and in particular to an actuator. Background Art

[0002] The actuator is a combination of an actuator and a control valve in an automatic control system, and is an essential and important component. It is a device that combines a power source and mechanical parts, converts electrical energy into mechanical energy, and drives the valve to open, close, adjust, and other actions. The function of the actuator is to receive the control signal sent by the controller, drive the motor and gear, and then drive the ball valve and other devices to change the flow area of ​​the pipeline and control the size of the medium in the pipeline, so as to maintain the controlled variable at the required value or within a certain range. The use of the actuator can freely control the force, speed, angle, etc. applied during operation.

[0003] However, it is difficult for the actuator in the prior art to maintain a stable output during operation. Therefore, how to achieve a stable output of the actuator has become a technical problem that those skilled in the art need to solve urgently. Summary of the invention

[0004] The object of the present invention is to provide an actuator to achieve stable output of the actuator.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The present invention provides an actuator, comprising:

[0007] A housing, wherein a plurality of first mounting portions are provided on the housing, and the first mounting portions are used to assemble the housing to a set position;

[0008] a motor, wherein the motor is located in the housing;

[0009] a first output shaft, wherein a first end of the first output shaft is drivingly connected to a second output shaft of the motor, and the first mounting portions on the housing are evenly distributed in a set area with the first output shaft as the center; the set area is an annular area between circle A and circle B, wherein circle A has the first output shaft as the center and a diameter of 60 mm, and circle B has the first output shaft as the center and a diameter of 90 mm;

[0010] A limit assembly is located on the housing, and includes a plurality of limit members arranged in a plurality of directions of the motor, wherein the limit members are in contact with the motor.

[0011] Preferably, stator slots are formed between adjacent stator teeth, windings are arranged in the stator slots, the windings include a support frame, and a conductor coil sleeved outside the support frame, an L-shaped lead is provided at one end of the support frame facing the stator, a conductor coil is arranged outside the support frame, and a welding layer is provided between the conductor coil and the L-shaped lead; both ends of the L-shaped lead extend out of the support frame, the first end of the L-shaped lead extends out of the support frame along the axial direction of the rotor, and the second end of the L-shaped lead extends out of the side of the support frame.

[0012] Preferably, the first output shaft rotates with the axis as the rotation axis, and the actuator further comprises a gear set located in the housing, and the gear set is located on a side of the circuit board away from the motor;

[0013] The gear set includes a first gear arranged on the second output shaft, a second gear arranged on the first output shaft, and a plurality of transmission gears arranged between the first gear and the second gear and connecting the first gear and the second gear. There is an overlapping area between the projection of the first gear on the circuit board and the projection of the transmission gear on the circuit board, there are overlapping areas between the projections of different transmission gears on the circuit board, and there is an overlapping area between the projection of the transmission gear on the circuit board and the projection of the second gear on the circuit board.

[0014] Preferably, the first output shaft is sequentially sleeved with a magnetic ring and the second gear from the inside to the outside, and an anti-rotation member is provided between the magnetic ring and the second gear.

[0015] Compared with the prior art, the present invention has achieved the following technical effects:

[0016] Firstly, in the present invention, a motor is arranged in the shell, and a first mounting part for assembling the shell to a set position is provided on the shell, and all the first mounting parts on the shell are evenly distributed with the first output shaft as the center, so that when the actuator is running, the force generated by the first output shaft can be evenly dispersed to the first mounting parts at various locations, reducing the problem that all the first mounting parts on the shell are not evenly distributed with the first output shaft as the center, and the eccentric force is generated when the first output shaft rotates or moves, resulting in fatigue damage, loosening, and fracture of the first mounting part closer to the first output shaft due to concentrated force, so that the actuator cannot operate stably; secondly, in the present invention, a limit assembly is also provided on the shell, and the limit assembly includes a plurality of limit members arranged in several directions of the motor, and the limit members are in contact with the motor to prevent the motor from moving in the direction close to the limit members, which effectively limits the displacement of the motor in the shell, so that the motor can maintain a corresponding position in the shell to stably output power, and then drive the first output shaft to rotate or move, so as to achieve stable output of the actuator; in summary, the present invention achieves stable output of the actuator through the above structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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 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.

[0018] Figure 1 It is the top view of the actuator;

[0019] Figure 2 This is a bottom view of the actuator;

[0020] Figure 3 is the side view of the actuator;

[0021] Figure 4 It is the structural diagram of the motor;

[0022] Figure 5 is a top view of the motor;

[0023] Figure 6 Schematic diagram of the arrangement of the stator and the rotor;

[0024] Figure 7 It is a top view of the limit assembly;

[0025] Figure 8 It is a structural schematic diagram of the limit assembly;

[0026] Fig. 9 It is a top view of the motor and the limit assembly;

[0027] Fig.10 for Fig. 9 AA section view;

[0028] Fig.11 It is a structural diagram of the motor and circuit board;

[0029] Fig.12 This is a top view of the motor and circuit board;

[0030] Fig.13 This is a side view of the motor and circuit board;

[0031] Fig.14 is a schematic diagram of the structure of the gear set;

[0032] Fig.15 is a side view of the gear set;

[0033] Fig.16 is a schematic diagram of the arrangement of the gear set in the housing;

[0034] Fig.17It is a structural schematic diagram of the magnetic ring;

[0035] Fig.18 Schematic diagram of the output of raw analog voltage signals for three Hall sensors;

[0036] Fig.19 It is a schematic diagram of orthogonal digital signals converted from three-phase analog coordinates;

[0037] Fig. 20 is a schematic diagram of the distribution of the first output shaft and the center line of the housing;

[0038] Fig.21 It is a structural schematic diagram of the spline groove;

[0039] Among them, 1. shell; 2. first mounting part; 3. motor; 4. spline groove; 5. L-shaped lead; 6. second output shaft; 7. stator; 8. stator core; 9. support frame; 10. conductor coil; 11. fastening part; 12. second mounting part; 13. stator slot; 14. stator tooth; 15. first limit piece; 16. second limit piece; 17. third limit piece; 18. magnetic ring; 19. second positioning piece; 20. first gear; 21. second gear; 22. third gear; 23. fourth gear; 24. fifth gear; 25. sixth gear; 26. seventh gear; 27. eighth gear; 28. star ring; 29. ​​first transmission shaft; 30. second transmission shaft; 31. third transmission shaft; 32. anti-rotation groove; 33. circuit board; 34. Hall sensor; 35. first positioning part; 36. second positioning part; 37. fisheye pin. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0042] like Figure 1 to Figure 21As shown, the present invention discloses an actuator, which includes: a shell 1, on which are provided a plurality of first mounting portions 2, which are used to assemble the shell 1 to a set position; a motor 3, which is located in the shell 1; a first output shaft, a first end of the first output shaft is transmission-connected to a second output shaft 6 of the motor 3, all the first mounting portions 2 on the shell 1 are uniformly distributed in a set area with the first output shaft as the center, and the set area is a circular area between a circle A and a circle B, where the circle A takes the first output shaft as the center and has a diameter of 60 mm, and the circle B takes the first output shaft as the center and has a diameter of 90 mm; a limit assembly, which is located on the shell 1, and includes a plurality of limit members arranged in a plurality of directions of the motor 3, and the limit members are in contact with the motor 3.

[0043] All the first mounting parts 2 on the shell 1 are evenly distributed with the first output shaft of the actuator as the center, so that when the actuator is running, the force generated by the first output shaft can be evenly dispersed to the first mounting parts 2 at various locations, reducing the problem that all the first mounting parts 2 on the shell 1 are not evenly distributed with the first output shaft as the center, and the first output shaft will generate eccentric force when it rotates or moves, causing the first mounting parts 2 closer to the first output shaft to be fatigued, damaged, loosened, or broken due to concentrated force, resulting in the actuator being unable to operate stably; secondly, a limit assembly is also provided on the shell 1 in the present invention, and the limit assembly includes a plurality of limit members arranged in several directions of the motor 3. The limit members are in contact with the motor 3 to prevent the motor 3 from moving in the direction close to the limit members, which effectively limits the displacement of the motor 3 in the shell 1, so that the motor 3 can maintain the corresponding position in the shell 1 to output power, and then drive the first output shaft to rotate or move, thereby realizing the stable output of the actuator; in summary, the present invention realizes the stable output of the actuator through the above structure.

[0044] It should be noted that, depending on different working conditions, the output shaft of the actuator in the present invention, i.e., the first output shaft, can drive the corresponding equipment to rotate or move; depending on different working conditions, the present invention can also select different driving energy sources, for example, the actuator in the present invention can be a pneumatic actuator, a hydraulic actuator, or an electric actuator.

[0045] The first mounting portion 2 can be a bolt hole, a threaded hole, a welding area or other structures provided on the housing 1. The first mounting portion 2 can be used to mount the actuator to the position required by the working condition by cooperating with fasteners such as bolts or screws. The set position is the position where the actuator is required to be located under the working condition. All the first mounting portions 2 on the housing 1 are evenly distributed with the first output shaft as the center, which means that the distances between all the first mounting portions 2 on the housing 1 and the first output shaft are equal, thereby reducing the problem that the first output shaft is too close to some of the first mounting portions 2, resulting in the first mounting portions 2 being subjected to concentrated force and being prone to vibration, fracture and damage, and being unable to maintain stable operation of the actuator.

[0046] There are a number of limiters in all directions of the motor 3 to limit or even prevent the motor 3 from shifting after being installed in place; the various directions include the multiple limiters set along the axial direction of the motor 3, along the radial direction of the motor 3, and in the direction inclined relative to the axial direction of the motor 3; it should be noted that the setting of the limiter does not affect the operation of the motor 3 and the actuator. The limiter is in contact with the motor 3, which includes a fixed connection between the limiter and the motor 3, a snap connection or sliding connection between the limiter and the motor 3, and abutment between the limiter and the motor 3. According to the different contact modes between the limiter and the motor 3, the limiter can be a limit block, a connecting block, a snap block or other structures; which contact mode is selected, and the limiter assembly selects one or more of the above connection modes, depending on the working conditions.

[0047] The limiting assembly in the present invention includes a plurality of first limiting members 15 and second limiting members 16 arranged along the axial direction of the motor 3, and a plurality of third limiting members 17 arranged along the radial direction of the motor 3. The first limiting member 15 and the second limiting member 16 are respectively located at both ends of the motor 3. The first limiting member 15, the second limiting member 16 and the third limiting member 17 are all in contact with the motor 3. The limiting assembly ensures the stability and precise positioning of the gap between the stator 7 and the rotor. It should be understood that the first limiting member 15, the second limiting member 16 and the third limiting member 17 are of the same structure as the limiting members mentioned in the previous paragraph. The first limiting member 15, the second limiting member 16 and the third limiting member 17 are only different names made to facilitate the distinction of limiting members arranged in different directions of the motor 3.

[0048] like Figure 7 to Figure 10 As shown, the first limit member 15 of the present invention is arranged on the shell 1 on the side of the motor 3 away from the circuit board 33. At this time, the first limit member 15 is a boss, and the second limit member 16 is a protrusion arranged on the side of the support frame 9 toward the circuit board 33. The second limit member 16 is against the circuit board 33. At this time, the second limit member 16 also serves as the first positioning member. It should be noted that the structures of the first limit member 15, the second limit member 16, the third limit member 17 and the limit members in the present invention are not limited to the forms of bosses, grooves, positioning surfaces, etc. Other structures with limiting functions can also be used as the first limit member 15, the second limit member 16, the third limit member 17 and the limit members; at the same time, the first limit member 15, the second limit member 16, the third limit member 17 and the limit members can be arranged on the motor 3 and / or the housing 1 and / or the circuit board 33, and can also be arranged at other positions of the actuator that can play a limiting role on the motor; the number of the first limit member 15, the second limit member 16, the third limit member 17 and the limit members can be adjusted according to actual working conditions.

[0049] At the same time, based on the above arrangement, the motor 3 can be fixed to the housing 1 by only a single fastener, such as Figure 1 to Figure 17As shown, the stator core 8 is provided with only one second mounting portion 12, which can be a bolt hole or a screw hole. The motor 3 can be fixed to the housing 1 by fasteners such as bolts passing through the second mounting portion 12, thereby reducing the assembly cost of the actuator. The stator core 8 is provided with a plurality of fastening portions 11, which can be rivets. The rivets refer to punching out a protruding buckle point on the stator core 8, and utilizing the friction between the buckle point and the corresponding position of the next layer of the stator core 8 to combine the two stator cores 8.

[0050] In the present invention, the housing 1 may be a symmetrical housing 1, such as a centrally symmetrical housing 1 or a symmetrical housing 1 having an axis of symmetry; or, the housing 1 may be an asymmetrical housing 1; the specific arrangement depends on the working conditions; when the housing 1 is a symmetrical housing 1, the axis of the first output shaft and the center line of the housing 1 are coaxially arranged. It should be noted that if the machining accuracy is high enough, the axis of the first output shaft and the center line of the housing 1 are completely aligned; Fig. 20 As shown, if the machining accuracy is slightly poor, but the distance between the axis of the first output shaft and the center line of the housing 1 is within a certain range, such as within a range of 3 mm, it can still be considered that the first output shaft and the housing 1 are coaxially arranged at this time.

[0051] like Fig.14 As shown, a star ring 28 is sleeved on the first output shaft. The star ring 28 can be used as a part of the coupling to transmit the torque of the actuator to the load device. The star ring 28 can be made of elastic materials such as rubber or polyurethane, so as to absorb vibration and impact during the operation of the first output shaft and reduce noise. At the same time, the star ring 28 can also compensate for deviations through its own elastic deformation and play a sealing role.

[0052] And / or, the housing 1 in the present invention is square. Compared with a circular housing, a square housing reduces the waste of corners and can more effectively utilize the internal space of the housing. Specifically, the housing 1 in the present invention can be square or rectangular. Figure 1 to Figure 17 As shown, the housing 1 in the present invention is a flat housing 1, and the length of the housing 1 in the length direction is relatively short, which reduces the occupied space of the actuator.

[0053] And / or, a vibration damping assembly is provided on the shell 1; the vibration damping assembly may be a vibration damper or a vibration damping pad with a vibration damping effect, the vibration damper may include a vibration damping spring seat arranged on the shell 1, when the two ends of the vibration damping spring are respectively connected to the shell 1 and the vibration damping spring seat, the vibration damping spring seat can be fixed on the periphery of the actuator; the vibration damping pad is made of a material with a vibration damping effect, such as a rubber pad, or a vibration damping pad made of polyurethane; in this way, when the shell 1 vibrates, the vibration energy is consumed by the deformation of the vibration damping spring or the energy absorption of the vibration damping pad, thereby reducing the probability of damage to the shell 1 due to vibration.

[0054] And / or, arc transition zones are provided at the corners of the shell 1. The arc transition zones can be understood as the corners of the shell 1 having chamfered corners, which reduces the stress concentration problem caused by the sudden shape change at the corners of the shell 1 and reduces the probability of collision damage to the shell 1.

[0055] like Figure 2 , Fig.21 As shown, the present invention provides a spline groove 4 on the second gear 21, and the matching connecting shaft is key-connected to the spline groove 4, and the torque of the first output shaft is evenly distributed by meshing multiple tooth structures, which can effectively transmit a large torque, avoid stress concentration problems, and extend the life of the actuator; the matching connecting shaft refers to parts such as a ball valve external to the actuator; and the spline connection can improve the axial and radial positioning of the first output shaft with higher precision, reduce the problem of reduced output efficiency of the actuator due to the offset of the first output shaft, and at the same time ensure the output angle accuracy of the actuator; the spline groove 4 allows the first output shaft to move axially within a certain range, so that during operation, the actuator can buffer some axial errors or displacements caused by thermal expansion through axial sliding.

[0056] like Figures 4 to 6 As shown, the stator 7 includes nine stator slots 13 and nine stator teeth 14, and the stator slots 13 and the stator teeth 14 are evenly arranged along the circumference of the stator core 8, and there are stator slots with larger volumes and stator slots with smaller volumes in the nine stator slots 13. The stator slots with larger volumes are used to place windings, and the stator slots with smaller volumes can be used for magnetic flux to pass through, evenly distribute the magnetic field, avoid magnetic circuit saturation, and prevent the magnetic poles on the stator from generating uneven magnetic flux distribution in the stator slots, or the permanent magnets on the rotor will generate corresponding magnetic field torques for the uneven magnetic field in the stator slots, resulting in the problem of tooth slot effect. It should be noted that the number of stator slots and stator teeth of the stator in the present invention is not limited to nine, and can be adjusted according to the working conditions.

[0057] like Figures 4 to 6As shown, the motor 3 in the present invention includes a rotor and a stator 7 arranged in sequence from the inside to the outside, the rotor is the second output shaft 6, the stator 7 includes an annular stator core 8, and a plurality of stator teeth 14 are arranged along the circumference of the stator core 8. The intersection of the center line of any stator tooth 14 and the line connecting the center of the stator core 8 and the outer ring of the rotor is point A. The angle between the two tangents of the stator tooth 14 on both sides of one end of the rotor and passing through point A is 140° to 160°, specifically 145° to 152°, which is equivalent to limiting the gap between the stator 7 and the rotor, that is, the air gap, so that the air gap in the present invention is of appropriate size, and the magnetic field of the motor 3 is more uniform. It is uniform, and can provide stronger power output in the case of the same volume as the motor 3 in the prior art, thereby realizing the miniaturization and high efficiency of the motor 3 and the actuator; at the same time, this reduces the mechanical vibration and noise caused by the uneven magnetic pull, and the motor 3 can maintain a good operating state under different loads and working conditions; the stator tooth 14 faces both sides of one end of the rotor and the angle between the two tangents passing through point A is determined by the outer diameter of the rotor, the inner diameter of the stator tooth, and the width of the stator tooth. Specifically: the smaller the rotor radius, the smaller the angle; the smaller the inner diameter of the stator tooth, the smaller the angle; the smaller the width of the stator tooth, the smaller the angle; conversely, the angle becomes larger.

[0058] Furthermore, stator slots 13 are formed between adjacent stator teeth 14, and windings are arranged in the stator slots 13. The windings include a support frame 9, and a conductor coil 10 sleeved outside the support frame 9, and an insulating layer is arranged outside the conductor coil 10. An L-shaped lead 5 is passed through the end of the support frame 9 facing the stator 7, and a welding layer is arranged between the conductor coil 10 and the L-shaped lead 5; both ends of the L-shaped lead 5 extend out of the support frame 9, and the L-shaped lead 5 is an L-shaped pin, which can be specifically designed as a fisheye pin 37. The first end of the L-shaped lead 5 extends out of the support frame 9 along the axial direction of the rotor, and the second end of the L-shaped lead 5 extends from the side of the support frame 9. In the present invention, the welding layer between the conductor coil 10 and the L-shaped lead 5 adopts micro-arc welding, and no foreign matter such as tin balls is generated, thereby avoiding quality problems such as short circuit of the circuit board 33. Alternatively, other welding methods without foreign matter such as laser welding or resistance welding can also be adopted. At the same time, the L-shaped lead wire 5 is not arranged to penetrate the support frame 9 in the axial direction of the rotor, which reduces the overall size of the support frame 9 and the motor 3, making the motor 3 more compact and smaller in size.

[0059] It should be understood that the arrangement of the rotor and stator 7 shown in the figure is only one embodiment of the motor 3 in the present invention. The rotor can also be arranged outside the stator 7 to form an external rotor motor 3 according to working conditions.

[0060] like Figure 7 to Figure 9 , Fig.11 , Fig.12As shown, the actuator also includes a circuit board 33 and a positioning assembly located in the housing 1. The circuit board 33 refers to a printed circuit board, the full name of which is Printed Circuit Board Assembly, abbreviated as PCBA in English. The positioning assembly includes a plurality of positioning members (the plurality and a plurality in this article both refer to ≥1) arranged along a plurality of directions of the circuit board 33, and the positioning members are in contact with the circuit board 33. By arranging a plurality of positioning members in a plurality of directions of the circuit board 33, such as in the radial or axial direction of the first output shaft, or in a direction inclined to the radial direction of the first output shaft, the circuit board 33 can be effectively limited in a plurality of directions such as in the radial direction, axial direction, and in a direction inclined to the radial direction of the first output shaft, thereby reducing deformation of the circuit board 33 such as peripheral warping and middle bulging during use. The positioning piece is in contact with the circuit board 33, which includes fixed connection between the positioning piece and the circuit board 33, snap connection, sliding connection, riveting, and abutment between the positioning piece and the circuit board 33. According to the different contact modes between the positioning piece and the circuit board 33, the positioning piece can be a limit block, a connecting block, a card block or other structures; the specific contact mode selected, and the selection of one or more of the above connection modes, all depend on the working conditions.

[0061] Specifically, the positioning assembly in the present invention includes a first positioning member and a second positioning member 19 arranged in sequence from the inside to the outside, and a plurality of second positioning members 19 are arranged along the circumference of the circuit board 33. The first positioning member is arranged along the axial direction of the first output shaft and contacts the side of the circuit board 33 facing the motor 3. A plurality of second positioning members 19 are arranged along the circumference of the outer edge of the circuit board 33. The second positioning member 19 includes a first positioning portion 35 and a second positioning portion 36. The first positioning portion 35 is arranged along the axial direction of the first output shaft, contacts the side of the circuit board 33 facing the motor 3, and the second positioning portion 36 is penetrated in the circuit board 33.

[0062] like Figure 7 to Figure 9 As shown, the first positioning member in the present invention is arranged in the middle area of ​​the circuit board 33. The first positioning member is actually the second limiting member 16, and the second limiting member 16 abuts against the circuit board 33. The middle area refers to the area within the outer contour of the circuit board 33. The middle area can be the central area of ​​the circuit board 33 or the non-central area within the outer contour of the circuit board 33. Figure 7 to Figure 9As shown, the first positioning portion 35 is an axial boss, and the second positioning portion 36 is a radial positioning shaft. The radial positioning shaft is provided with an axial boss outside, and the length of the radial positioning shaft is not less than the height of the axial boss. The first positioning portion 35 and the second stopper 16 prevent the circuit board 33 from axially displacing in the direction close to the motor 3, and the second positioning portion 36 prevents the circuit board from displacing in the radial direction of the first output shaft. The first end of the L-shaped lead 5 extends out of the support frame 9, passes through the circuit board 33, and is plugged into the circuit board 33, which prevents the circuit board 33 from axially displacing in the direction away from the motor 3.

[0063] The second positioning member 19 is in contact with the circuit board 33; the first end of the L-shaped lead 5 is formed with a fisheye pin 37, and the fisheye pin 37 is connected to the circuit board 33. The first positioning member and the second positioning member 19 are the same as the positioning members mentioned above, and are only names made to distinguish the positioning members set at different positions of the circuit board 33.

[0064] And / or, some positioning members in the positioning assembly are fixedly connected to the circuit board 33, and some positioning members in the positioning assembly are movably connected to the circuit board 33. The fixed connection can be bolted or welded, and the movable connection can be a sliding connection or abutment. Through the coordination of the movable connection and the fixed connection, the positioning assembly can effectively fix the circuit board 33, prevent the circuit board 33 from being deformed, offset or warped, avoid over-positioning of the circuit board 33, and ensure that the assembly and operation of the circuit board 33 can proceed smoothly. For example, in the present invention, the second positioning member 19 disposed around the circuit board 33 is fixedly connected to the circuit board 33, and the first positioning member disposed in the middle area of ​​the circuit board 33 abuts against the circuit board 33.

[0065] The positioning assembly of the present invention has 5 or more positioning members, such as Figure 7 to Figure 9 As shown, the positioning assembly has 6 positioning members arranged along the axial direction of the first output shaft to prevent the circuit board 33 from shifting in the axial direction of the first output shaft, and two positioning members arranged along the radial direction of the first output shaft to prevent the circuit board 33 from shifting in the radial direction of the first output shaft. The number of positioning members can be adjusted accordingly according to the working conditions. It should be noted that the forms of the positioning members, the first positioning member and the second positioning member 19 in the present invention are not limited to structures such as protrusions such as bosses, shafts, grooves, surfaces or steps, and other structures that can play a positioning role on the circuit board 33 are also acceptable; the positioning members, the first positioning member and the second positioning member 19 can also be set on the circuit board 33 and / or the motor 3 and / or the housing 1, and / or other positions on the actuator that can play a positioning role on the circuit board.

[0066] In the present invention, the first output shaft rotates with the axis as the rotating shaft, and the circuit board 33 is provided with a spline groove 4 for the first output shaft to pass through. The actuator also includes a gear set located in the housing 1, and the gear set is located on the side of the circuit board 33 away from the motor 3. This eliminates the step of turning the circuit board 33 to the other side for assembly after the gears in the gear set are assembled on one side of the circuit board 33, which makes it easy to assemble the gear set on the housing 1; the gear set includes a first gear 20 arranged on the second output shaft 6, a second gear 21 arranged on the first output shaft, and a plurality of gears arranged between the first gear 20 and the second gear 21 and connecting the first gear 20 and the second gear 21. There are transmission gears, the projection of the first gear 20 on the circuit board 33 and the projection of the transmission gear on the circuit board 33 have an overlapping area, the projections of different transmission gears on the circuit board 33 have overlapping areas, and the projection of the transmission gear on the circuit board 33 and the projection of the second gear 21 on the circuit board 33 have overlapping areas. The arrangement of the above-mentioned gear parts reduces the space occupied by the gear set in the housing 1 and reduces the height of the actuator. The gear set is located on the side of the circuit board 33 away from the motor 3, which realizes the integrated arrangement of the gear set and the motor 3 in the housing 1, avoiding the problem of excessive height and volume of the housing 1, i.e., the actuator, due to laying multiple gears in the gear set flat in a certain direction of the housing 1.

[0067] like Figure 14 to Figure 16As shown, the first gear 20 is fixed on the second output shaft 6, the second gear 21 is fixed on the first output shaft, and the transmission gear includes a third gear 22 and a fourth gear 23 fixed on the first transmission shaft 29, a fifth gear 24 and a sixth gear 25 fixed on the second transmission shaft 30, and a seventh gear 26 and an eighth gear 27 fixed on the third transmission shaft 31, wherein the first gear 20 is meshed with the third gear 22, the fourth gear 23 is meshed with the fifth gear 24, the sixth gear 25 is meshed with the seventh gear 26, and the eighth gear 27 is meshed with the second gear 21, and the above transmission gears are sleeved on On the corresponding transmission shaft, the transmission gear sleeve on the corresponding transmission shaft means that there is a gap between the transmission shaft and the transmission gear, the transmission shaft is fixed, and the transmission gear can rotate and slide relative to the transmission shaft; in this way, when the second output shaft 6 of the motor 3 rotates, through the cooperation of the above-mentioned transmission gears, the transmission gears on the first transmission shaft 29, the second transmission shaft 30 and the third transmission shaft 31 are driven to rotate in sequence, the eighth gear 27 on the third transmission shaft 31 drives the second gear 21 to rotate, and the second gear 21 drives the first output shaft to rotate, so that the second output shaft 6 drives the first output shaft to rotate through the gear set. Among them, the third gear 22 and the fourth gear 23 are integrally arranged, and the third gear 22 and the fourth gear 23 form a first double gear; the fifth gear 24 and the sixth gear 25 are integrally arranged, and the fifth gear 24 and the sixth gear 25 form a second double gear; the seventh gear 26 and the eighth gear 27 are integrally arranged, and the seventh gear 26 and the eighth gear 27 form a third double gear. Alternatively, the third gear 22 and the fourth gear 23 may also be separately provided, in which case they are two independent gears; similarly, the fifth gear 24 and the sixth gear 25 may also be separately provided, and the seventh gear 26 and the eighth gear 27 may also be separately provided.

[0068] like Fig.14 , Fig.15 , Fig.18 As shown, the second output shaft 6 is provided with a magnetic ring 18 and a second gear 21 in sequence from the inside to the outside, and an anti-rotation member is provided between the magnetic ring 18 and the second gear 21; the magnetic ring 18 and the second gear 21 are integrally formed, such as integrally injection molded, and the anti-rotation member prevents the magnetic ring 18 from rotating relative to the second gear 21, thereby preventing the magnetic ring 18 from being damaged due to excessive torque; the anti-rotation member can specifically be an anti-rotation protrusion or an anti-rotation groove that is provided on the inner ring of the second gear 21 and cooperates with the magnetic ring 18. When the inner ring of the second gear 21 is provided with an anti-rotation protrusion, the magnetic ring 18 is provided with an anti-rotation groove 32, and the anti-rotation groove 32 can be provided along the axial direction of the magnetic ring 18, or be inclined relative to the axial direction of the magnetic ring 18. When the inner ring of the second gear 21 is provided with an anti-rotation groove, the magnetic ring 18 is provided with an anti-rotation protrusion; the anti-rotation member is not limited to the above structure, and can also be other forms that can prevent the magnetic ring 18 from detaching from the second gear 21 and rotating relative to the second gear 21, resulting in abnormal performance of the actuator.

[0069] The present invention is provided with a controller, a power management unit, and an angle sensor on the circuit board 33. The controller is respectively connected to the power management unit, the angle sensor, and the second output shaft signal. The power management unit is electrically connected to the motor. The angle sensor is connected to the second output shaft. The controller stores a current loop, a speed loop, and a position loop.

[0070] When the operating current of the actuator is lower than the set current, the current loop increases the PWM duty cycle of the motor, increases the operating torque of the actuator, and ensures that the actuator can be driven normally; when the operating current of the actuator is higher than the set current, the current loop reduces the PWM duty cycle of the motor to prevent excessive current from damaging the chip drive circuit; the operating current of the actuator refers to the total current of components such as the motor 3 and the chip on the circuit board 33. The current of the motor 3 can be identified by the chip current: the chip monitors the total current in the circuit in real time through the shunt resistor located on the circuit board 33.

[0071] When the motor speed is lower than the set speed, the speed loop increases the motor's PWM duty cycle; when the motor speed is higher than the set speed, the speed loop reduces the motor's PWM duty cycle to reduce the motor's running speed, always keeping the motor running at a constant speed to ensure the smooth operation of the actuator; the speed is calculated by detecting the switching point of the motor 3: the position of the motor 3 is detected by the Hall sensor 34, and then the speed of the motor 3 is calculated: because the motor 3 rotates with its own axis as the rotation axis, the change in the angle of the stator and rotor of the motor 3 is detected by the Hall sensor 34, and the speed of the motor 3 can be calculated by dividing the angle by time;

[0072] When the controller determines that the rotation angle of the motor is less than the target angle based on the feedback from the angle sensor, the position loop controls the second output shaft to rotate to the target angle (the target angle is the angle that the second output shaft needs to rotate); when the controller determines that the rotation angle of the motor is greater than the target angle based on the feedback from the angle sensor, the position loop controls the second output shaft to rotate in the opposite direction; when the difference between the rotation angle of the motor and the target angle is within the threshold range (the threshold range can be understood as the allowable error range without affecting the operating accuracy of the actuator), the position loop controls the second output shaft to stop rotating, thereby ensuring the operating accuracy of the actuator.

[0073] The current loop, speed loop, and position loop mentioned above are all instructions stored in the controller. The speed loop improves the stability of the motor's running speed. The speed loop can automatically adjust PWM according to the PID algorithm to ensure the stability of the motor's speed, thereby improving the actuator's anti-interference performance.

[0074] like Fig.12As shown, the present invention evenly arranges three Hall sensors 34 around the spline groove 4, i.e., the circumference of the first output shaft. The number of Hall sensors 34 is not limited to three, and the number of Hall sensors 34 can be reduced or increased according to the working conditions. Because there is a linear relationship between the output analog voltage or output angle of the Hall sensor 34 and the magnetic field strength detected by the Hall sensor 34 in the present invention, when the position of the magnetic ring 18 on the first output shaft changes slightly, the Hall sensor 34 can accurately respond and output the corresponding voltage change, thereby providing higher resolution and sensitivity to the angle change of the first output shaft, thereby improving the accuracy of the Hall sensor 34 in detecting the angle change of the first output shaft. The Hall switch in the prior art will not act until the magnetic field detected by the Hall switch changes to a threshold value, and its accuracy is obviously not as good as the Hall sensor 34 in the present invention.

[0075] The Hall sensor includes a linear Hall, a 2D Hall or a 3D Hall; the output analog voltage of the linear Hall is linearly related to the magnetic field strength detected by the linear Hall; the output angle of the 2D Hall is linearly related to the magnetic field strength detected by the 2D Hall; the output angle of the 3D Hall is linearly related to the magnetic field strength detected by the 3D Hall. The rotation angle of the first output shaft is determined by the Hall sensor.

[0076] Alternatively, the present invention may not be provided with a Hall sensor, in which case the number of steps of the motor is linearly related to the rotation angle of the first output shaft. The rotation angle of the first output shaft can be obtained by the number of steps of the motor and the relationship between the number of steps of the motor and the rotation angle of the first output shaft.

[0077] Fig.18 Represents the original analog voltage signal output by the three-way Hall sensor. The horizontal axis represents the rotation angle of the first output shaft, and the vertical axis represents the amplitude of the analog voltage output by the three Hall sensors. This represents the waveform actually output by the three-phase Hall sensor. Fig.19 The three-phase analog coordinates represented are converted into orthogonal digital signals. Fig.19 For the general Fig.18 The three-phase analog coordinates are converted into an orthogonal digital signal schematic diagram through Clark transformation. The horizontal axis represents the rotation angle of the first output shaft, and the vertical axis represents the digitized magnetic field value. Fig.19 It represents the waveform of the three-phase analog voltage Clark changing into a two-phase orthogonal signal.

[0078] Fig.18 and Fig.19 The basic working principle of the Hall sensor is explained. Based on this principle, the Hall sensor cooperates with the first output shaft. When the actuator rotates between 0 and 360 degrees, a unique angle can be calculated based on the voltage signal of the Hall sensor. It has the advantages of easy installation, high precision and low cost.

[0079] It should be noted that the limit assembly, positioning assembly and other structures mentioned in this article are not limited to the above forms, and other structures that can achieve the corresponding functions of the above mechanisms can also be used as limit assemblies or positioning assemblies and other structures.

[0080] The "and / or" in this article refers to the same sentence. The text content before and / or and the text content after and / or can exist at the same time or separately. For example, A and / or B includes the situation where only A or B exists, and the situation where A and B exist at the same time.

[0081] The present invention discloses multiple technical solutions, but does not provide any contrary technical inspiration.

[0082] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. An actuator, characterized in that: The actuator comprises: A housing, wherein a plurality of first mounting portions are provided on the housing, and the first mounting portions are used to assemble the housing to a set position; A motor, wherein the motor is located in the housing; a first output shaft, wherein a first end of the first output shaft is drivingly connected to a second output shaft of the motor, and the first mounting portions on the housing are evenly distributed in a set area with the first output shaft as the center; the set area is an annular area between circle A and circle B, wherein circle A has the first output shaft as the center and a diameter of 60 mm, and circle B has the first output shaft as the center and a diameter of 90 mm; A limit assembly is located on the housing, and includes a plurality of limit members arranged in a plurality of directions of the motor, wherein the limit members are in contact with the motor.

2. The actuator according to claim 1, characterized in that: The housing is a symmetrical housing, and the distance between the axis of the first output shaft and the center line of the housing is no more than 3 mm; And / or, the limiting assembly includes a plurality of first limiting members and a second limiting member arranged along the axial direction of the motor, and a plurality of third limiting members arranged along the radial direction of the motor, the first limiting member and the second limiting member are respectively located at two ends of the motor, and the first limiting member, the second limiting member, and the third limiting member are all in contact with the motor; And / or, the housing is square; And / or, a vibration reduction assembly is provided on the housing; And / or, the corners of the shell are provided with arc transition areas; And / or, a spline groove is provided on the housing, and the first output shaft is key-connected to the spline groove.

3. The actuator according to claim 1, characterized in that: The motor includes a rotor and a stator which are arranged in sequence from the inside to the outside, the stator includes an annular stator core, and a plurality of stator teeth are arranged along the circumference of the stator core. The intersection of a line connecting a center line of any stator tooth and a center point of the stator core and an outer ring of the rotor is point A. The angle between two tangents of the stator tooth on both sides of one end of the rotor and passing through point A is 140° to 160°.

4. The actuator according to claim 3, characterized in that: Stator slots are formed between adjacent stator teeth, windings are arranged in the stator slots, and the windings include a support frame, an L-shaped lead is arranged at one end of the support frame facing the stator, a conductor coil is arranged on the outer sleeve of the support frame, and a welding layer is arranged between the conductor coil and the L-shaped lead; both ends of the L-shaped lead extend out of the support frame, the first end of the L-shaped lead extends out of the support frame along the axial direction of the rotor, and the second end of the L-shaped lead extends out of the side of the support frame.

5. The actuator according to claim 4, characterized in that: The actuator also includes a circuit board and a positioning assembly located in the shell, the positioning assembly includes a plurality of positioning members arranged along a plurality of directions of the circuit board, the positioning members are in contact with the circuit board; a fisheye pin is formed at the first end of the L-shaped lead, and the fisheye pin is connected to the circuit board.

6. The actuator according to claim 5, characterized in that: The positioning assembly includes a first positioning member and a second positioning member arranged in sequence from the inside to the outside, the first positioning member is arranged along the axial direction of the first output shaft and contacts with a side of the circuit board facing the motor, a plurality of second positioning members are arranged along the circumference of the outer edge of the circuit board, the second positioning member includes a first positioning portion and a second positioning portion, the first positioning portion is arranged along the axial direction of the first output shaft, the first positioning portion contacts with a side of the circuit board facing the motor, and the second positioning portion penetrates the circuit board; And / or, some of the positioning members in the positioning assembly are fixedly connected to the circuit board, and some of the positioning members in the positioning assembly are movably connected to the circuit board.

7. The actuator according to claim 5, characterized in that: The first output shaft rotates with the axis as the rotation axis, and the actuator further comprises a gear set located in the housing, and the gear set is located on a side of the circuit board away from the motor; The gear set includes a first gear arranged on the second output shaft, a second gear arranged on the first output shaft, and a plurality of transmission gears arranged between the first gear and the second gear and connecting the first gear and the second gear. There is an overlapping area between the projection of the first gear on the circuit board and the projection of the transmission gear on the circuit board, there are overlapping areas between the projections of different transmission gears on the circuit board, and there is an overlapping area between the projection of the transmission gear on the circuit board and the projection of the second gear on the circuit board.

8. The actuator according to claim 7, characterized in that: The first output shaft is sequentially sleeved with a magnetic ring and the second gear from the inside to the outside, and an anti-rotation component is provided between the magnetic ring and the second gear.

9. The actuator according to claim 1, characterized in that: The circuit board is provided with a controller, a power management unit, and an angle sensor. The controller is respectively connected to the power management unit, the angle sensor, and the second output shaft signal. The power management unit is electrically connected to the motor. The angle sensor is connected to the second output shaft. The controller stores a current loop, a speed loop, and a position loop. When the operating current of the actuator is lower than the set current, the current loop increases the PWM duty cycle of the motor; When the operating current of the actuator is higher than the set current, the current loop reduces the PWM duty cycle of the motor; When the speed of the motor is lower than the set speed, the speed loop increases the PWM duty cycle of the motor; When the speed of the motor is higher than the set speed, the speed loop reduces the PWM duty cycle of the motor; When the controller determines that the rotation angle of the motor is less than the target angle based on the feedback from the angle sensor, the position loop controls the second output shaft to rotate to the target angle; when the controller determines that the rotation angle of the motor is greater than the target angle based on the feedback from the angle sensor, the position loop controls the second output shaft to rotate in the opposite direction; when the difference between the rotation angle of the motor and the target angle is within a threshold range, the position loop controls the second output shaft to stop rotating.

10. The actuator according to claim 9, characterized in that: The number of steps of the motor is linearly related to the rotation angle of the first output shaft; Alternatively, the angle sensor includes a plurality of Hall sensors uniformly arranged along the circumference of the first output shaft, and the Hall sensors include linear Hall, 2D Hall or 3D Hall; The output analog voltage of the linear Hall is linearly related to the magnetic field intensity detected by the linear Hall; The output angle of the 2D Hall sensor is linearly related to the magnetic field intensity detected by the 2D Hall sensor; The output angle of the 3D Hall is linearly related to the magnetic field strength detected by the 3D Hall.

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