Linear anti-collision electric servo actuator and transmission mechanism

Abstract

The invention provides a linear anti-collision electric servo actuator and a transmission mechanism, and relates to the technical field of electric servo systems. An annular curve groove is formed in the circumferential side wall of a rotating rod of the structure, a curve formed by matching groove channels of the annular curve groove is an annular smooth curve, the annular curve groove is provided with two sites with the largest distance and two sites with the smallest distance, and an included angle is formed between the linear direction where the two sites with the largest distance are located and the length direction of the rotating rod; a sliding pin is arranged on the inner side wall of the sliding sleeve and matched with the annular curve groove, and a rotating rod is arranged in the sliding sleeve in a sleeved mode. The sliding sleeve can do linear reciprocating motion in the length direction of the rotating rod under the matching action of the sliding pin and the annular curve groove. The transmission mechanism can be prevented from being overshot and stuck due to inertia slippage caused by instant stop, and has the advantage of no dead point in the sliding process. Similarly, the linear anti-collision electric servo actuator also has the advantages of the transmission mechanism.

Description

Technical Field

[0001] This specification relates to the technical field of electric servo systems, and more particularly, to a linear anti-blocking electric servo actuator and a transmission mechanism. Background Art

[0002] In the field of electric servo systems, in order to ensure the reliability of the whole machine system, redundant design of electric servo systems is widely used. Although the current electric servo systems have been significantly improved in terms of volume and mass, how to prevent blocking at the limit position has always been a difficult problem. On the premise of high requirements for large load, fast response, and high precision, how to prevent the transmission structure from overshooting and jamming due to the inertial slip caused by instant stop, how to reduce the space volume and weight of the electric servo mechanism, and how to reduce the overall complexity of the system and the overall development cost have become the key research directions of the servo system. Summary of the Invention

[0003] The first object of this specification is to provide a transmission mechanism that can solve the problem of blocking of the sliding sleeve at the limit position.

[0004] The second object of this specification is to provide a linear anti-blocking electric servo actuator that can solve the problem of blocking of the existing electric servo actuator at the limit position.

[0005] The embodiments of this specification are implemented as follows: On the one hand, this specification provides a transmission mechanism, including a rotating rod and a sliding sleeve; An annular curve groove is provided on the circumferential side wall of the rotating rod. The curve formed by the cooperation of the groove channels of the annular curve groove is an annular smooth curve. The annular curve groove has two points with the maximum distance and two points with the minimum distance. The straight line direction of the two points with the maximum distance has an included angle with the length direction of the rotating rod; A sliding pin is provided on the inner side wall of the sliding sleeve. The sliding pin is adapted to the annular curve groove, and the rotating rod is sleeved inside the sliding sleeve; The rotating rod can rotate along its own circumference, and the sliding sleeve can perform a linear reciprocating motion along the length direction of the rotating rod under the cooperation of the sliding pin and the annular curve groove.

[0006] In this specification, the curve formed by the cooperation of the groove channels of the annular curve groove is a sine envelope curve or a cosine envelope curve.

[0007] On the other hand, this specification provides a linear anti-blocking electric servo actuator, including the above-mentioned transmission mechanism, a servo motor, a spur gear, and a limiting mechanism; One end of the rotating rod away from the sliding sleeve is provided with the spur gear, and the servo motor can drive the rotating rod to rotate circumferentially along its own axis by driving the spur gear to rotate; The limiting mechanism can prevent the sliding sleeve from rotating circumferentially along with the rotating rod. In this specification, the above-mentioned linear anti-stall electric servo actuator further includes a reducer assembly; the output gear of the reducer assembly meshes with the spur gear, the input end of the reducer assembly is connected to the servo motor, and the servo motor can drive the spur gear to rotate through the reducer assembly.

[0008] In this specification, the reducer assembly includes a planetary reducer and a harmonic reducer, and the servo motor includes a first motor and a second motor; The output ends of the first motor and the second motor are respectively connected to the internal gear and the external gear of the planetary reducer, the output end of the planetary reducer is connected to the input end of the harmonic reducer, and the output gear of the harmonic reducer meshes with the spur gear.

[0009] In this specification, the limiting mechanism includes a guiding anti-rotation plate, the guiding anti-rotation plate is arranged on one side of the sliding sleeve, the guiding anti-rotation plate is provided with a limiting hole, and the length direction of the limiting hole is consistent with the length direction of the rotating rod; One side of the sliding sleeve close to the guiding anti-rotation plate is provided with a spherical plain bearing adapted to the limiting hole, and the sliding sleeve can linearly reciprocate only along the length direction of the rotating rod under the cooperation of the limiting hole and the spherical plain bearing.

[0010] In this specification, one end of the sliding sleeve away from the rotating rod is provided with a first lug, the first lug is sleeved in the sliding sleeve by screwing, and the relative distance between the sliding sleeve and the rotating rod can be adjusted by rotating the first lug.

[0011] In this specification, one end of the sliding sleeve away from the rotating rod is provided with a limiting bracket, the limiting bracket is provided with a mounting through hole, the inner side wall of the mounting through hole is provided with a bushing, and one end of the first lug can be screwed to the sliding sleeve through the channel of the bushing.

[0012] In this specification, one end of the rotating rod close to the spur gear is provided with an angular contact bearing, and the angular contact bearing is arranged between the spur gear and the sliding sleeve.

[0013] In this specification, the above-mentioned linear anti-stall electric servo actuator further includes a housing, the housing forms a chamber by itself, and the transmission mechanism, the reducer assembly and the spur gear are arranged in the chamber; The outer shell is provided with a first hole and a second hole. The output end of the servo motor is connected to the speed reducer assembly through the first hole, and the second hole is adapted to the limiting mechanism.

[0014] The embodiments of this specification have at least the following advantages or beneficial effects: Compared with the prior art, by providing an annular curve groove in the shape of a closed smooth curve in this transmission mechanism, the above-mentioned sliding sleeve can make a linear reciprocating motion along the length direction of the rotating rod (i.e., the axial direction of the rotating rod) under the combined action of the sliding pin and the annular curve groove. It can be seen that the above setting method can prevent the inertial slip amount and overshoot jamming caused by the instant stop of the transmission mechanism, and has the advantage of no dead point during the sliding process. Similarly, the above linear anti-jamming electric servo actuator also has the advantages possessed by the above transmission mechanism. Description of the Drawings

[0015] In order to more clearly illustrate the technical solutions of the embodiments of this specification, the drawings required for the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this specification, and therefore should not be regarded as a limitation of the scope. For those of ordinary skill in the art, without creative efforts, other relevant drawings can also be obtained based on these drawings.

[0016] Figure 1 It is a schematic structural diagram of the transmission mechanism provided by this specification; Figure 2 It is a schematic sectional view of the transmission mechanism provided by this specification; Figure 3 It is a schematic structural diagram of the rotating rod provided by this specification; Figure 4 It is another schematic structural diagram of the rotating rod provided by this specification; Figure 5 It is a schematic structural diagram of the slideway sleeve provided by this specification; Figure 6 It is a schematic structural diagram of the linear anti-jamming electric servo actuator provided by this specification; Figure 7 It is another schematic structural diagram of the linear anti-jamming electric servo actuator provided by this specification; Figure 8 It is a schematic diagram of the outer shell setting provided by this specification; Figure 9 It is a schematic diagram of the setting of the limiting bracket and the bushing provided by this specification.

[0017] Icons: 1. Servo motor; 2. Reducer assembly; 3. Straight gear; 4. Second ear; 5. Angular contact bearing; 6. Rotating rod; 61. Annular curve groove; 7. Guide and anti-rotation plate; 71. Limit hole; 8. Sliding sleeve; 81. First component; 82. Second component; 83. Slide pin; 9. Limit bracket; 10. Housing; 11. Spherical plain bearing; 12. Bushing; 13. First ear. Detailed implementation manners

[0018] To make the objectives, technical solutions and advantages of the embodiments of this specification clearer, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this specification. Apparently, the described embodiments are some but not all of the embodiments of this specification. Generally, the components of the embodiments of this specification described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0019] Therefore, the detailed description of the embodiments of this specification provided in the accompanying drawings below is not intended to limit the scope of this specification that is claimed, but merely represents selected embodiments of this specification. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this specification without creative efforts fall within the scope of protection of this specification.

[0020] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0021] In the description of the embodiments of this specification, it should be noted that if terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the products of this specification are usually placed during use, it is only for the convenience of describing this specification and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation of this specification. In addition, terms such as "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be construed as indicating or implying relative importance.

[0022] In addition, if terms such as "horizontal", "vertical", "overhanging", etc. are used, it does not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0023] In the description of the embodiments of this specification, it should also be noted that unless otherwise clearly specified and limited, if "arranged", "installed", "connected", or "linked" appear, they should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in this specification can be understood according to specific situations.

[0024] Please refer to Figures 1 to 5 , a transmission mechanism provided by an embodiment of this specification mainly includes a rotating rod 6 and a sliding sleeve 8; An annular curve groove 61 is provided on the circumferential side wall of the rotating rod 6. The curve formed by the cooperation of the groove channels of the annular curve groove 61 is an annular smooth curve. The annular curve groove 61 has two points with the maximum distance and two points with the minimum distance. The straight line direction where the two points with the maximum distance are located forms an angle with the length direction of the rotating rod 6; A sliding pin 83 is provided on the inner side wall of the sliding sleeve 8. The sliding pin 83 is adapted to the annular curve groove 61, and the rotating rod 6 is sleeved inside the sliding sleeve 8; The rotating rod 6 can rotate along its own circumference, and the sliding sleeve 8 can perform a linear reciprocating motion along the length direction of the rotating rod 6 under the cooperation of the sliding pin 83 and the annular curve groove 61.

[0025] Specifically, by providing the annular curve groove 61 in the form of a closed smooth curve, the above-mentioned sliding sleeve 8 can perform a linear reciprocating motion along the length direction of the rotating rod 6 (i.e., the axial direction of the rotating rod 6) under the cooperation of the sliding pin 83 and the annular curve groove 61. It can be seen that the above-mentioned setting method can prevent the inertial slip amount and overshoot jamming caused by the instantaneous stop of the transmission mechanism, and has the advantage of no dead point during the sliding process.

[0026] In this embodiment, the above-mentioned sliding pin 83 is provided on the inner side wall of the sliding sleeve 8. The sliding pin 83 can be set as a hemispherical convex structure, and can also be set as a convex structure formed by the cooperation of a cylinder and a hemisphere.

[0027] In this embodiment, the curve formed by the cooperation of the groove channels of the annular curve groove 61 is a sine envelope curve or a cosine envelope curve. By the above-mentioned setting method, the characteristic of no dead point of the above-mentioned transmission mechanism can be further improved.

[0028] In other embodiments, the above-mentioned curve can also be a closed complete elliptical curve, and can also be other smooth closed curves.

[0029] In this embodiment, the included angle between the normal line of the curved plane formed by the above-mentioned annular curve groove 61 and the axis direction of the above-mentioned rotating rod 6 is (0°, 90°), excluding 0° and 90°. Specifically, the included angle between the normal line and the axis of the rotating rod 6 can be determined according to the lead of the sliding sleeve 8.

[0030] In this embodiment, the setting position of the above-mentioned sliding pin 83 only needs to correspond to the groove setting position of the above-mentioned annular curve groove 61. Similarly, in order to increase the matching stability between the above-mentioned sliding pin 83 and the annular curve groove 61, the sliding pin 83 can be set in a T shape, and the cross-section of the annular curve groove 61 can be correspondingly set in a T shape to enhance the stability of the above-mentioned matching and avoid situations such as falling off.

[0031] In this embodiment, the above-mentioned sliding sleeve 8 has a first component 81 and a second component 82 connected to each other. The size of the first component 81 is smaller than the size of the second component 82. The first component 81 is provided with a first sliding channel, and the second component 82 is provided with a second sliding channel. The inner diameter of the first sliding channel is larger than the inner diameter of the second sliding channel, and the inner diameter of the second sliding channel is adapted to the outer diameter of the above-mentioned rotating rod 6.

[0032] In this embodiment, one end of the above-mentioned rotating rod 6 can extend through the above-mentioned second sliding channel to the above-mentioned first sliding channel, and this setting can facilitate the adjustment of the relative distance between the sliding sleeve 8 and the rotating rod 6.

[0033] In this embodiment, the above-mentioned transmission mechanism may further include a guiding and anti-rotation plate 7 and a spherical plain bearing 11. The above-mentioned guiding and anti-rotation plate 7 is arranged on one side of the sliding sleeve 8. The guiding and anti-rotation plate 7 is provided with a limiting hole 71, and the length direction of the limiting hole 71 is consistent with the length direction of the rotating rod 6; A spherical plain bearing 11 adapted to the limiting hole 71 is arranged on one side of the sliding sleeve 8 close to the guiding and anti-rotation plate 7. The sliding sleeve 8 can perform a linear reciprocating motion only along the length direction of the rotating rod 6 under the combined action of the limiting hole 71 and the spherical plain bearing 11.

[0034] In other embodiments, other anti-rotation components can also be provided. For example, anti-rotation protrusions are symmetrically arranged on both sides of the sliding sleeve 8 and cooperate with the anti-rotation grooves on the anti-rotation plate to achieve the anti-rotation effect as well.

[0035] Please refer to Figures 6 to 9 , on the basis of the previous embodiment, another embodiment of this specification provides a linear anti-collision dead electric servo actuator, which mainly includes the transmission mechanism, servo motor 1, spur gear 3, and limiting mechanism proposed in the previous embodiment; One end of the rotating rod 6 away from the sliding sleeve 8 is provided with the spur gear 3, and the servo motor 1 can drive the rotating rod 6 to rotate circumferentially along its own axis by driving the spur gear 3 to rotate; The limiting mechanism can prevent the sliding sleeve 8 from rotating circumferentially along with the rotating rod 6. In this embodiment, the above linear anti-jamming electric servo actuator further includes a speed reducer assembly 2; the output gear of the speed reducer assembly 2 meshes with the spur gear 3, the input end of the speed reducer assembly 2 is connected to the servo motor 1, and the servo motor 1 can drive the spur gear 3 to rotate through the speed reducer assembly 2.

[0036] Specifically, in use, the servo motor 1 can provide power to drive the spur gear 3 to rotate with the above power. The central axis of the spur gear 3 is connected to the rotating rod 6, and the central axes of the rotating rod 6 and the spur gear 3 are the same, so that the spur gear 3 drives the rotating shaft to rotate circumferentially along its own axis (i.e., rotate with its central axis as the rotation center). At this time, the sliding pin 83 slides along the annular curve groove 61, driving the sliding sleeve 8 to reciprocate linearly along the axis of the rotating rod 6. The cooperation of the annular curve groove 61 and the sliding pin 83 can make the linear anti-jamming electric servo actuator have the advantage of no dead point during the sliding process, thereby preventing the situation of overshoot jamming caused by the inertial slip amount during instantaneous stop.

[0037] In this embodiment, the speed reducer assembly 2 includes a planetary speed reducer and a harmonic speed reducer, and the servo motor 1 includes a first motor and a second motor; The output ends of the first motor and the second motor are respectively connected to the internal gear and the external gear of the planetary speed reducer. The output end of the planetary speed reducer is connected to the input end of the harmonic speed reducer, and the output gear of the harmonic speed reducer meshes with the spur gear 3.

[0038] In this embodiment, the performance indicators of the first motor and the second motor can be preferably of the same type, and they can work simultaneously, or work in different time periods or in different situations. When the two motors work simultaneously, the output capabilities can be accumulated, and the maximum output capability is twice that of a single motor. In normal operation, the maximum capability output is not required, and it can be set as dual redundancy, effectively improving the reliability of the servo motor 1. That is, when one motor fails, the other motor can work at any time, thus avoiding affecting the normal operation of the linear anti-jamming electric servo actuator when a failure occurs.

[0039] In this embodiment, the above-described setting manner of the speed reducer assembly 2 can, on the one hand, install and set two motors, and on the other hand, after the servo motor 1 undergoes a large reduction ratio, the speed is reduced, and the entire actuator can act at low speed and high torque. Combined with the limiting effect of the limiting mechanism (i.e., the cooperative effect of the guiding anti-rotation plate 7 and the spherical plain bearing 11), it can further enable the above-described sliding sleeve 8 to only perform linear reciprocating motion and the motion is more stable.

[0040] In this embodiment, the limiting mechanism includes a guiding anti-rotation plate 7, the guiding anti-rotation plate 7 is arranged on one side of the sliding sleeve 8, the guiding anti-rotation plate 7 is provided with a limiting hole 71, and the length direction of the limiting hole 71 is consistent with the length direction of the rotating rod 6; On the side of the sliding sleeve 8 close to the guiding anti-rotation plate 7, a spherical plain bearing 11 adapted to the limiting hole 71 is provided, and the sliding sleeve 8 can only perform linear reciprocating motion along the length direction of the rotating rod 6 under the cooperative action of the limiting hole 71 and the spherical plain bearing 11.

[0041] The above-described setting manner of the guiding anti-rotation plate 7 and the spherical plain bearing 11 can effectively prevent the sliding sleeve 8 from rotating with the rotating rod 6.

[0042] In this embodiment, a first lug 13 is arranged at one end of the sliding sleeve 8 away from the rotating rod 6, the first lug 13 is sleeved in the sliding sleeve 8 by screwing, and by rotating the first lug 13, the relative distance between the sliding sleeve 8 and the rotating rod 6 can be adjusted.

[0043] Specifically, a threaded hole is arranged at one end of the above-described first component 81 away from the above-described second component 82, one end of the first lug 13 is screwed into the threaded hole, and by rotating the first lug 13, the relative distance between the sliding sleeve 8 and the rotating rod 6 can be adjusted.

[0044] In this embodiment, a hexagonal part is arranged at one end of the first lug 13 away from the first component 81, which is convenient for connecting with other devices and at the same time convenient for disassembling the first lug 13 and the sliding sleeve 8.

[0045] In this embodiment, a limiting bracket 9 is arranged at one end of the sliding sleeve 8 away from the rotating rod 6, the limiting bracket 9 is provided with an installation through hole, a bushing 12 is arranged on the inner side wall of the installation through hole, and one end of the first lug 13 can be screwed to the sliding sleeve 8 through the channel of the bushing 12. The above setting can effectively enhance the installation stability of the first lug 13 and the sliding sleeve 8.

[0046] In this embodiment, an angular contact bearing 5 is provided at one end of the rotating rod 6 close to the spur gear 3, and the angular contact bearing 5 is disposed between the spur gear 3 and the sliding sleeve 8. The above-mentioned angular contact bearing 5 has a supporting effect on the above-mentioned rotating rod 6, and at the same time can bear the axial force of the above-mentioned rotating rod 6, that is, it can bear the radial and axial forces of the rotating rod 6 simultaneously.

[0047] In this embodiment, the above-mentioned linear anti-lock electric servo actuator further includes a housing 10, the housing 10 forms a chamber by itself, and the transmission mechanism, the reducer assembly 2 and the spur gear 3 are disposed in the chamber; The housing 10 is provided with a first hole and a second hole. The output end of the servo motor 1 is connected to the reducer assembly 2 through the first hole, and the second hole is adapted to the limiting mechanism.

[0048] The above-mentioned setting of the housing 10 can protect the internal setting, and at the same time can prevent dust, water stains, etc. from entering the interior and affecting the normal operation of the above-mentioned linear anti-lock electric servo actuator. Moreover, the above-mentioned first lug 13 and the servo motor 1 are disposed outside the housing 10, which is convenient for replacing the servo motor 1 and adjusting the tightening degree of the first lug 13.

[0049] In this embodiment, a second lug 4 is further provided on the other side of the housing 10 away from the spur gear 3, which is convenient for installing the above-mentioned linear anti-lock electric servo actuator.

[0050] The above is only the preferred embodiment of this specification and is not intended to limit this specification. For those skilled in the art, this specification can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this specification shall be included within the protection scope of this specification.

Claims

1. A transmission mechanism, characterized in that, It includes a rotating rod and a sliding sleeve; An annular curve groove is provided on the circumferential side wall of the rotating rod. The curve formed by the cooperation of the groove channels of the annular curve groove is an annular smooth curve. The annular curve groove has two points with the maximum distance and two points with the minimum distance. The straight line direction of the two points with the maximum distance has an included angle with the length direction of the rotating rod; A sliding pin is provided on the inner side wall of the sliding sleeve. The sliding pin is adapted to the annular curve groove, and the rotating rod is sleeved inside the sliding sleeve; The rotating rod can rotate along its own circumference, and the sliding sleeve can perform linear reciprocating motion along the length direction of the rotating rod under the cooperation of the sliding pin and the annular curve groove.

2. The transmission mechanism according to claim 1, wherein The curve formed by the cooperation of the groove channels of the annular curve groove is a sine envelope curve or a cosine envelope curve.

3. A linear anti-lock electric servo actuator, characterized in that, It includes a servo motor, a spur gear, a limiting mechanism, and the transmission mechanism according to claim 1 or 2; A spur gear is provided at one end of the rotating rod away from the sliding sleeve. The servo motor can drive the rotating rod to rotate along its own circumference by driving the spur gear to rotate; The limiting mechanism can prevent the sliding sleeve from rotating circumferentially with the rotating rod.

4. The linear anti-lock electric servo actuator according to claim 3, characterized in that, It further includes a speed reducer assembly; the output gear of the speed reducer assembly meshes with the spur gear, the input end of the speed reducer assembly is connected to the servo motor, and the servo motor can drive the spur gear to rotate through the speed reducer assembly.

5. The linear anti-lock electric servo actuator according to claim 4, characterized in that, The speed reducer assembly includes a planetary speed reducer and a harmonic speed reducer, and the servo motor includes a first motor and a second motor; The output ends of the first motor and the second motor are respectively connected to the internal gear and the external gear of the planetary speed reducer. The output end of the planetary speed reducer is connected to the input end of the harmonic speed reducer, and the output gear of the harmonic speed reducer meshes with the spur gear.

6. The linear anti-lock electric servo actuator according to claim 3, characterized in that, The limiting mechanism includes a guiding anti-rotation plate. The guiding anti-rotation plate is provided on one side of the sliding sleeve. The guiding anti-rotation plate is provided with a limiting hole, and the length direction of the limiting hole is consistent with the length direction of the rotating rod; A spherical plain bearing adapted to the limiting hole is provided on one side of the sliding sleeve close to the guiding anti-rotation plate. The sliding sleeve can perform linear reciprocating motion only along the length direction of the rotating rod under the cooperation of the limiting hole and the spherical plain bearing.

7. The linear anti-lock electric servo actuator according to claim 6, wherein A first ear is provided at one end of the sliding sleeve away from the rotating rod. The first ear is sleeved inside the sliding sleeve by screwing. By rotating the first ear, the relative distance between the sliding sleeve and the rotating rod can be adjusted.

8. The linear anti-lock electric servo actuator according to claim 7, characterized in that, A limiting bracket is provided at one end of the sliding sleeve away from the rotating rod. The limiting bracket is provided with a mounting through hole. A bushing is provided on the inner side wall of the mounting through hole. One end of the first ear can be screwed to the sliding sleeve through the channel of the bushing.

9. The linear anti-lock electric servo actuator according to claim 3, characterized in that, An angular contact bearing is provided at one end of the rotating rod close to the spur gear, and the angular contact bearing is provided between the spur gear and the sliding sleeve.

10. The linear anti-lock electric servo actuator according to claim 4, characterized in that, It further includes a housing. The housing forms a chamber by itself. The transmission mechanism, the speed reducer assembly, and the spur gear are provided in the chamber; The housing is provided with a first hole and a second hole. The output end of the servo motor is connected to the reducer assembly through the first hole, and the second hole is adapted to the limiting mechanism.

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