Multifunctional linear servo electric cylinder

Abstract

According to the multifunctional linear servo electric cylinder, the planet carrier, the planet pin roller and the threaded main shaft which form a pin roller lead screw transmission mechanism are integrated in the rotor of the servo electric cylinder, so that the pin roller lead screw transmission mechanism is arranged in a servo motor; the rotary motion of the rotor of the servo motor is directly converted into the linear motion of the threaded main shaft through the planetary roller, so that a transmission mechanism between the servo motor and a roller lead screw transmission mechanism is omitted, the size and the weight of the electric cylinder are reduced, and meanwhile, the transmission efficiency of the servo motor is greatly improved.

Description

Technical Field

[0001] The present application relates to the technical field of electric cylinders, and in particular to a multifunctional linear servo electric cylinder. Background Art

[0002] An electric cylinder is a modular product that integrates a drive component with a transmission mechanism, converting the drive component's rotational motion into linear motion. In related technologies, servo electric cylinders achieve precise control of linear motion by directly driving a ball screw mechanism through a servo motor connected to a transmission mechanism such as a synchronous belt or coupling. However, this type of electric cylinder has the disadvantage of being bulky. Summary of the Invention

[0003] In order to solve the above problems, the purpose of the embodiments of the present application is to provide a multifunctional linear servo electric cylinder.

[0004] In a first aspect, an embodiment of the present application provides a multifunctional linear servo electric cylinder, comprising: a housing, a bearing, a rotor, a permanent magnet, a coil stator, an end cover, and a movable sleeve;

[0005] The coil stator is fixed on the inner side of the shell, and an end cover is provided at the front end of the shell;

[0006] The rotor is located inside the coil stator and is rotatably connected to the housing through a bearing. One end of the rotor is located inside the housing, and the other end of the rotor passes through the end cover and is located outside the housing. The movable sleeve is provided on the other end of the rotor passing through the end cover.

[0007] The rotor includes: a long-threaded nut, a planetary carrier, planetary rollers, and a threaded spindle. The long-threaded nut is located inside the housing and is rotatably connected to the housing via a bearing. A permanent magnet is fixedly provided on the outer circumference of the long-threaded nut. The permanent magnet corresponds to the position of the coil stator and is located on the inner side of the coil stator.

[0008] One end of the threaded spindle is located inside the long threaded nut, the planetary carrier is arranged on the circumference of the threaded spindle, the planetary rollers are rotatably connected to the planetary carrier, and the planetary rollers are also threadedly connected to the threaded spindle and the long threaded nut respectively;

[0009] The other end of the threaded main shaft passes through the end cover and is connected with the moving sleeve.

[0010] In the solution provided in the first aspect of the embodiment of the present application, the rotor of the multifunctional linear servo electric cylinder includes a long threaded nut, a planetary carrier, planetary rollers and a threaded spindle. The long threaded nut is located inside the shell, and the long threaded nut is rotatably connected to the shell through a bearing. A permanent magnet is fixedly provided on the outer peripheral side of the long threaded nut. The position of the permanent magnet corresponds to that of the coil stator, and the permanent magnet is located on the inner side of the coil stator; one end of the threaded spindle is located inside the long threaded nut, and the planetary carrier is arranged on the circumference of the threaded spindle. The planetary rollers are rotatably connected to the planetary carrier, and the planetary rollers are also threadedly connected to the threaded spindle and the long threaded nut, thereby The components of the roller screw transmission mechanism, including the star frame, planetary rollers and threaded spindle, are integrated inside the rotor of the servo electric cylinder. Compared with the related art in which the servo electric cylinder is directly connected to the ball screw mechanism by the servo motor through a transmission mechanism such as a synchronous belt side connection or a coupling, the roller screw transmission mechanism is built into the servo motor, and the rotational motion of the servo motor rotor is directly converted into the linear motion of the threaded spindle through the planetary rollers. This not only eliminates the transmission mechanism between the servo motor and the roller screw transmission mechanism, reducing the volume and weight of the electric cylinder, but also greatly improves the transmission efficiency of the servo motor.

[0011] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0013] Figure 1 A schematic structural diagram of a multifunctional linear servo electric cylinder provided in an embodiment of the present application is shown;

[0014] Figure 2 The embodiment of the present application provides Figure 1 A local enlarged schematic diagram;

[0015] Figure 3 A schematic diagram of the partial structure of a threaded spindle provided in an embodiment of the present application is shown;

[0016] Figure 4 A schematic structural diagram of the connection between the movable sleeve and the limiting screw provided in an embodiment of the present application is shown;

[0017] Figure 5 A schematic diagram of the partial structure of the mounting plate provided in an embodiment of the present application is shown.

[0018] Icons: 1. Housing; 101. Threading hole; 2. Bearing; 3. Long threaded nut; 4. Permanent magnet; 5. Coil stator; 6. Planet carrier; 7. Planetary roller; 8. Threaded spindle; 801. Mounting hole; 802. Slide groove; 803. Limiting protrusion; 9. Mounting plate; 901. First mounting groove; 902. Second mounting groove; 10. First linear encoder; 1001. First grating scale; 1002. First reading head; 11. Drive circuit board; 12. End cover; 13. Sliding seal; 14. Slider; 15. Buckle; 16. Connector; 17. Moving sleeve; 1701. Guide groove; 18. Limiting screw; 19. Spring; 20. Second linear encoder; 2001. Second grating scale; 2002. Second reading head. DETAILED DESCRIPTION

[0019] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on this application.

[0020] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0021] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they can refer to fixed connection, detachable connection, or integral connection; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0022] An electric cylinder is a modular product that integrates a drive component with a transmission mechanism, converting the rotational motion of the drive component into linear motion. In related technologies, servo electric cylinders achieve precise control of linear motion by directly driving a ball screw mechanism through a servo motor connected to a transmission mechanism such as a synchronous belt or coupling. However, electric cylinders with this structure suffer from large size. Furthermore, a linear actuator typically requires a pressure sensor to detect the force applied to the cylinder's output, which introduces wiring issues. Exposed wiring can make the product unsightly, and a certain length of signal line must be reserved. Internally routing the signal line would increase the product's size.

[0023] Based on this, the following embodiment of the present application proposes a multifunctional linear servo electric cylinder, the rotor of which includes a long-threaded nut, a planetary carrier, planetary rollers and a threaded spindle. The long-threaded nut is located inside the shell, and the long-threaded nut is rotatably connected to the shell through a bearing. A permanent magnet is fixedly provided on the outer peripheral side of the long-threaded nut, and the position of the permanent magnet corresponds to that of the coil stator, and the permanent magnet is located on the inner side of the coil stator; one end of the threaded spindle is located inside the long-threaded nut, and the planetary carrier is arranged on the circumference of the threaded spindle. The planetary rollers are rotatably connected to the planetary carrier, and the planetary rollers are also rotatably connected to the threaded spindle and The long thread nut is threadedly connected, thereby integrating the planetary carrier, planetary rollers and threaded spindles that constitute the roller screw transmission mechanism into the rotor of the servo electric cylinder. Compared with the related technology in which the servo electric cylinder is directly driven by the ball screw mechanism by the servo motor through a synchronous belt side connection or a coupling and other transmission mechanisms, the roller screw transmission mechanism is built into the servo motor, and the rotational motion of the servo motor rotor is directly converted into the linear motion of the threaded spindle through the planetary rollers, eliminating the transmission mechanism between the servo motor and the roller screw transmission mechanism, and reducing the volume and weight of the electric cylinder.

[0024] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and embodiments.

[0025] Example

[0026] See also Figure 1 The structural diagram of the multifunctional linear servo electric cylinder shown in Figure 2 shown Figure 1 A partial enlarged schematic diagram, this embodiment provides a multifunctional linear servo electric cylinder, including: a housing 1, a bearing 2, a rotor, a permanent magnet 4, a coil stator 5, an end cover 12 and a movable sleeve 17.

[0027] The coil stator 5 is fixed on the inner side of the housing 1 , and an end cover 12 is provided at the front end of the housing 1 .

[0028] The rotor is located inside the coil stator 5 and is rotatably connected to the housing 1 through the bearing 2. One end of the rotor is located inside the housing 1, and the other end of the rotor passes through the end cover 12 and is located outside the housing 1. The movable sleeve 17 is provided on the other end of the rotor passing through the end cover 12.

[0029] The rotor includes: a long-threaded nut 3, a planetary carrier 6, planetary rollers 7 and a threaded spindle 8. The long-threaded nut 3 is located inside the housing 1 and is rotatably connected to the housing 1 through a bearing 2. A permanent magnet 4 is fixedly provided on the outer peripheral side of the long-threaded nut 3. The position of the permanent magnet 4 corresponds to that of the coil stator 5, and the permanent magnet 4 is located on the inner side of the coil stator 5.

[0030] One end of the threaded spindle 8 is located inside the long threaded nut 3, the planetary carrier 6 is arranged on the circumference of the threaded spindle 8, the planetary rollers 7 are rotatably connected to the planetary carrier 6, and the planetary rollers 7 are also threadedly connected to the threaded spindle 8 and the long threaded nut 3 respectively.

[0031] The other end of the threaded main shaft 8 passes through the end cover 12 and is connected to the movable sleeve 17 .

[0032] The permanent magnet 4 is composed of several permanent magnet sheets, each of which is clamped on the outer peripheral side of the long threaded nut 3. The permanent magnet sheet is made of neodymium iron boron permanent magnet, which can provide a larger motor torque.

[0033] like Figure 1 and Figure 2 As shown, the multifunctional linear servo electric cylinder proposed in this embodiment further includes: a sliding seal 13 and a limiting protrusion 803.

[0034] The threaded spindle 8 includes: an integrally formed threaded portion and a polished rod portion; wherein the threaded portion is located on a side of the housing 1 away from the end cover 12 , and the polished rod portion is located on a side of the housing 1 close to the end cover 12 .

[0035] A planetary carrier 6 is provided on the outer circumferential surface of the threaded portion of the threaded spindle 8. The planetary carrier 6 is clearance-fitted with the threaded portion of the threaded spindle 8. Both ends of the planetary roller 7 are rotatably connected to the planetary carrier 6. The middle part of the planetary roller 7 is threadedly connected to the threaded portion of the threaded spindle 8 and the inner wall of the long threaded nut 3 respectively.

[0036] The polished rod portion of the threaded spindle 8 passes through the end cover 12, and a sliding seal 13 is arranged between the polished rod portion of the threaded spindle 8 and the end cover 12. A plurality of limiting protrusions 803 are evenly arranged on the outer peripheral side of the polished rod portion of the threaded spindle 8 located outside the end cover 12; the movable sleeve 17 is slidably connected to the polished rod portion of the threaded spindle 8 located outside the end cover 12 through the limiting protrusions.

[0037] The sliding seal 13 has a guiding function and can prevent the rotor from rotating as a whole.

[0038] See also Figure 3 As shown in the partial structural diagram of the threaded spindle, the multifunctional linear servo electric cylinder proposed in this embodiment further includes: a mounting plate 9 and a first linear encoder 10.

[0039] A mounting hole 801 is provided inside the threaded spindle 8 . The mounting hole 801 is a through hole that passes through both ends of the threaded spindle 8 along the extending direction of the threaded spindle 8 .

[0040] One end of the mounting plate 9 is connected to the inner end surface of the shell 1 away from the end cover 12, and the other end of the mounting plate 9 extends into the mounting hole 801 and is slidably connected to the inner top end of the mounting hole 801. The first linear encoder 10 is installed on the part of the mounting plate 9 located in the mounting hole 801.

[0041] The first linear encoder 10 includes a first grating scale 1001 and a first reading head 1002. The first grating scale 1001 is fixedly mounted on the inner surface of the mounting hole 801. The first reading head 1002 is fixedly connected to the mounting plate 9. After installation, the position of the first reading head 1002 corresponds to that of the first grating scale 1001.

[0042] When the threaded spindle 8 moves linearly, the first grating scale 1001 is displaced along with the threaded spindle 8 , and during the displacement, it is displaced relative to the first reading head 1002 , and the first reading head 1002 reads the value on the first grating scale 1001 .

[0043] See also Figure 4 The schematic diagram of the structure of the connection between the movable sleeve and the limiting screw shown in FIG. Figure 2 As shown, the multifunctional linear servo electric cylinder proposed in this embodiment further includes: a limiting screw ring 18 and a spring 19.

[0044] The end of the movable sleeve 17 away from the polished rod is sealed, and a threaded groove is provided on the outer side wall of the end of the movable sleeve 17 connected to the polished rod. Guide grooves 1701 are evenly provided on the side wall of the movable sleeve 17, and the extension direction of the guide grooves 1701 is the same as the extension direction of the movable sleeve 17.

[0045] The limiting protrusion 803 can be inserted into the guide groove 1701, so that the threaded spindle 8 can slide along the movable sleeve 17. When the movable sleeve 17 and the threaded spindle 8 move relative to each other, the movable sleeve 17 guides the threaded spindle 8.

[0046] The thread groove of the movable sleeve 17 is threadedly connected to the limiting screw ring 18, and the spring 19 is respectively connected to the inner bottom end of the movable sleeve 17 and the polished rod portion of the threaded main shaft 8 located outside the end cover 12.

[0047] like Figure 1 and Figure 2As shown, the multifunctional linear servo electric cylinder proposed in this embodiment further includes: a second linear encoder 20.

[0048] The second linear encoder 20 includes: a second grating scale 2001 and a second reading head 2002; one end of the second grating scale 2001 is mounted on the end of the movable sleeve 17 away from the end connected to the optical rod part, and the other end of the second grating scale 2001 is located in the mounting hole 801; the second reading head 2002 is mounted on the end face of the mounting plate 9 facing the second grating scale 2001.

[0049] When the multifunctional linear servo electric cylinder starts working, the threaded spindle 8 moves linearly and the movable sleeve 17 does not contact the object. The first grating scale 1001 is relatively displaced with the first reading head 1002 during the linear motion of the threaded spindle 8.

[0050] When the movable sleeve 17 contacts an object, the movable sleeve 17 no longer moves due to the obstruction of the object. Under the guiding action of the limiting protrusion inserted in the guide groove 1701 and the guide groove, the threaded spindle 8 and the movable sleeve 17 move relative to each other. The threaded spindle 8 that moves relative to the movable sleeve 17 compresses the spring. The first grating scale 1001 continues to move relative to the first reading head 1002 during the relative movement of the threaded spindle 8 and the movable sleeve 17. When the multi-functional linear servo electric cylinder completes its work, the first reading head 1002 reads the value on the first grating scale 1001 to obtain the moving distance of the output end of the threaded spindle 8.

[0051] When the threaded spindle 8 moves linearly and the movable sleeve 17 does not contact an object, there is no relative movement between the movable sleeve 17 and the threaded spindle 8. The movable sleeve 17 moves linearly along with the threaded spindle 8 that moves linearly. The linearly moving movable sleeve 17 drives the second grating scale 2001 to move along with the threaded spindle 8, causing the second grating scale 2001 and the second reading head 2002 to undergo relative displacement.

[0052] When the movable sleeve 17 contacts the object, the movable sleeve 17 no longer moves due to the obstruction of the object, the second grating scale 2001 no longer moves relative to the second reading head 2002, and the second reading head 2002 reads the value on the second grating scale 2001 to obtain the moving distance of the output end of the movable sleeve 17.

[0053] The deformation of the spring can be obtained by subtracting the obtained moving distance of the output end of the threaded spindle 8 from the moving distance of the output end of the movable sleeve 17, and then the force applied to the spring can be calculated according to Hooke's law.

[0054] like Figure 1 and Figure 2 Shown and see Figure 5As shown in the partial structural diagram of the mounting plate, the multifunctional linear servo electric cylinder proposed in this embodiment further includes: a buckle 15.

[0055] A first mounting groove 901 and a second mounting groove 902 are respectively formed on the end surface of the mounting plate 9 facing the first grating scale 1001 and the second grating scale 2001 .

[0056] The first reading head 1002 is installed in the first mounting groove 901, and the second reading head 2002 is installed in the second mounting groove 902.

[0057] Buckles 15 are evenly arranged on the end surfaces of the mounting plate 9 facing the first grating scale 1001 and the second grating scale 2001 , and the buckles 15 are used to fix the signal connection line of the first reading head 1002 .

[0058] In order to prevent the mounting plate 9 from bending due to the large force on the end during use, the multifunctional linear servo electric cylinder proposed in this embodiment further includes a sliding connection device.

[0059] The other end of the mounting plate 9 extends into the mounting hole 801 and is slidably connected to the inner top end of the mounting hole 801 through a sliding connection device.

[0060] Specifically, the sliding connection device includes: a slide groove 802 arranged in the mounting hole 801 and a slider 14 fixed on the mounting plate 9, wherein the extension direction of the slide groove 802 is the same as the extension direction of the mounting hole 801; the slider 14 is slidingly connected to the slide groove 802.

[0061] The cross sections of the sliding groove 802 and the slider 14 are both T-shaped.

[0062] The multifunctional linear servo electric cylinder proposed in this embodiment is characterized by further comprising: a driving circuit board 11 .

[0063] The driving circuit board 11 is mounted on the inner end surface of the housing 1 away from the end cover 12 . The coil stator 5 , the first linear encoder 10 , and the second linear encoder 20 are all connected to the driving circuit board 11 via signal connection lines.

[0064] The multifunctional linear servo electric cylinder proposed in this embodiment is characterized by further comprising: a connector 16 ; the connector 16 is located outside the housing 1 and is connected to the drive circuit board 11 via a signal connection line.

[0065] Here, the connector 16 can be connected to an external power source or a controller for transmitting and receiving signals.

[0066] Optionally, the housing 1 is further provided with a wire threading hole 101 for passing a signal connection line between the coil stator 5 and the driving circuit board 11 .

[0067] After the electric cylinder is working, according to the data change x1 of the front and rear readings of the first reading head 1002, and then according to the data change x2 of the front and rear readings of the second reading head 2002, the data change x1 of the front and rear readings of the first reading head 1002 is the moving distance of the output end of the threaded spindle, and the data change x2 of the front and rear readings of the second reading head 2002 is the moving distance of the output end of the movable sleeve 17; x1-x2 is the deformation of the spring, and according to Hooke's law, the force F of the spring can be calculated to be F=k(x1-x2), that is, the force F at the output end of the electric cylinder is calculated.

[0068] The data change of the previous and next readings of the first reading head 1002 refers to: the difference between the data of the first grating scale 1001 read by the first reading head 1002 before the relative displacement of the first grating scale 1001 and the first reading head 1002, and the data of the first grating scale 1001 read by the first reading head 1002 after the relative displacement of the first grating scale 1001 and the first reading head 1002.

[0069] The data change of the readings before and after the second reading head 2002 refers to: the difference between the data of the second grating scale 2001 read by the second reading head 2002 before the relative displacement of the second grating scale 2001 and the second reading head 2002, and the data of the second grating scale 2001 read by the second reading head 2002 after the relative displacement of the second grating scale 2001 and the second reading head 2002.

[0070] The multifunctional linear servo electric cylinder proposed in this embodiment also has the following characteristics:

[0071] 1. A second linear encoder is set between the mounting hole of the servo electric cylinder threaded spindle and the movable sleeve. The second linear encoder is connected to the drive circuit board. The drive circuit board can directly read the position information measured by the second linear encoder and the working status of the second linear encoder, so as to achieve accurate and effective positioning of the servo electric cylinder and ensure the stability and reliability of the working status of the servo electric cylinder. It has a compact structure, is easy to install and use, has a high degree of automation, and is safe and reliable.

[0072] 2. Compared with the related technology, the linear encoder is used to replace the rotary encoder used in the related technology. The specific position of the output shaft is not determined by detecting the rotation angle and number of rotations of the rotating shaft through the rotary encoder, thereby avoiding the angle hysteresis defect when detecting the moving distance of the output end, and effectively reducing the deviation between the output shaft position determined in this way and the actual position of the output shaft, thereby improving the control accuracy. There is no need to reserve a certain length of signal line, which can well solve the wiring problem and further reduce the volume of the multi-functional linear servo electric cylinder.

[0073] 3. The deformation of the spring can be obtained based on the first linear encoder and the second linear encoder, and the magnitude of the force at the output end can be obtained based on Hooke's law, thereby improving the accuracy of the force measurement at the output end of the electric cylinder. There is no need to add another pressure sensor at the output end to solve the wiring problem.

[0074] In summary, this embodiment proposes a multifunctional linear servo electric cylinder, the rotor of which includes a long-threaded nut, a planetary carrier, planetary rollers and a threaded spindle. The long-threaded nut is located inside the housing, and the long-threaded nut is rotatably connected to the housing through a bearing. A permanent magnet is fixedly provided on the outer circumference of the long-threaded nut, and the position of the permanent magnet corresponds to that of the coil stator, and the permanent magnet is located on the inner side of the coil stator; one end of the threaded spindle is located inside the long-threaded nut, the planetary carrier is arranged on the circumference of the threaded spindle, the planetary rollers are rotatably connected to the planetary carrier, and the planetary rollers are also threadedly connected to the threaded spindle and the long-threaded nut, thereby The components of the roller screw transmission mechanism, including the planetary carrier, planetary rollers and threaded spindle, are integrated inside the rotor of the servo electric cylinder. Compared with the related art in which the servo electric cylinder is directly connected to the ball screw mechanism by a servo motor through a transmission mechanism such as a synchronous belt side connection or a coupling, the roller screw transmission mechanism is built into the servo motor. The rotational motion of the servo motor rotor is directly converted into the linear motion of the threaded spindle through the planetary rollers. This not only eliminates the transmission mechanism between the servo motor and the roller screw transmission mechanism, reducing the volume and weight of the electric cylinder, but also greatly improves the transmission efficiency of the servo motor.

[0075] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A multifunctional linear servo electric cylinder, characterized in that: include: Housing, bearings, rotor, permanent magnets, coil stator, end caps and moving sleeves; The coil stator is fixed on the inner side of the shell, and an end cover is provided at the front end of the shell; The rotor is located inside the coil stator and is rotatably connected to the housing through a bearing. One end of the rotor is located inside the housing, and the other end of the rotor passes through the end cover and is located outside the housing. The movable sleeve is provided on the other end of the rotor passing through the end cover. The rotor includes: a long-threaded nut, a planetary carrier, planetary rollers, and a threaded spindle. The long-threaded nut is located inside the housing and is rotatably connected to the housing via a bearing. A permanent magnet is fixedly provided on the outer circumference of the long-threaded nut. The permanent magnet corresponds to the position of the coil stator and is located on the inner side of the coil stator. One end of the threaded spindle is located inside the long threaded nut, the planetary carrier is arranged on the circumference of the threaded spindle, the planetary rollers are rotatably connected to the planetary carrier, and the planetary rollers are also threadedly connected to the threaded spindle and the long threaded nut respectively; The other end of the threaded main shaft passes through the end cover and is connected with the moving sleeve.

2. The multifunctional linear servo electric cylinder according to claim 1, characterized in that: Also includes: Sliding seal and limit protrusion; The threaded spindle comprises: an integrally formed threaded portion and a polished rod portion; wherein the threaded portion is located on a side of the housing away from the end cap, and the polished rod portion is located on a side of the housing close to the end cap; A planet carrier is provided on the outer circumferential surface of the threaded portion of the threaded main shaft. The planet carrier is clearance-fitted with the threaded portion of the threaded main shaft. Both ends of the planetary roller are rotatably connected to the planet carrier. The middle portion of the planetary roller is threadedly connected to the threaded portion of the threaded main shaft and the inner wall of the long threaded nut respectively. The polished rod portion of the threaded spindle passes through the end cover, a sliding seal is arranged between the polished rod portion of the threaded spindle and the end cover, and a plurality of limiting protrusions are evenly arranged on the outer peripheral side of the polished rod portion of the threaded spindle located outside the end cover; the movable sleeve and the polished rod portion of the threaded spindle located outside the end cover are slidably connected through the limiting protrusions.

3. The multifunctional linear servo electric cylinder according to claim 1, characterized in that: Also includes: a mounting plate and a first linear encoder; A mounting hole is provided inside the threaded spindle, and the mounting hole is a through hole that passes through both ends of the threaded spindle along the extension direction of the threaded spindle; One end of the mounting plate is connected to the inner end surface of the housing away from the end cover, and the other end of the mounting plate extends into the mounting hole and is slidably connected to the inner top end of the mounting hole. The first linear encoder is mounted on the portion of the mounting plate located in the mounting hole. The first linear encoder includes a first grating scale and a first reading head. The first grating scale is fixedly mounted on the inner surface of the mounting hole. The first reading head is fixedly connected to the mounting plate. After installation, the first reading head corresponds to the position of the first grating scale. When the threaded spindle moves linearly, the first grating scale is displaced along with the threaded spindle, and during the displacement, it is displaced relative to the first reading head, and the first reading head reads the value on the first grating scale.

4. The multifunctional linear servo electric cylinder according to claim 2, characterized in that: Also includes: Limiting coil and spring; A thread groove is provided on the outer side wall of the end portion of the movable sleeve connected to the polished rod portion, and guide grooves are evenly provided on the side wall of the movable sleeve, and the extending direction of the guide grooves is the same as the extending direction of the movable sleeve; The limiting protrusion can be inserted into the guide groove so that the threaded spindle can slide along the movable sleeve; The thread groove of the movable sleeve is threadedly connected with the limiting spiral ring, and the spring is respectively connected with the inner bottom end of the movable sleeve and the polished rod part of the threaded main shaft located outside the end cover.

5. The multifunctional linear servo electric cylinder according to claim 3, characterized in that: Also includes: a second linear encoder; The second linear encoder includes: a second grating scale and a second reading head; one end of the second grating scale is mounted on the end of the movable sleeve away from the end connected to the optical rod portion, and the other end of the second grating scale is located in the mounting hole; the second reading head is mounted on the end surface of the mounting plate facing the second grating scale; When the multifunctional linear servo electric cylinder starts working, the thread spindle moves linearly and the movable sleeve does not touch the object. The first grating ruler is displaced relative to the first reading head during the linear motion of the thread spindle. When the movable sleeve contacts an object, the movable sleeve no longer moves due to the obstruction of the object. Under the guidance of the limiting protrusion inserted in the guide groove and the guide groove, the threaded spindle and the movable sleeve move relative to each other. The threaded spindle that moves relative to the movable sleeve compresses the spring. The first grating scale continues to move relative to the first reading head during the relative movement of the threaded spindle and the movable sleeve. When the multifunctional linear servo electric cylinder completes its work, the first reading head reads the value on the first grating scale to obtain the movement distance of the output end of the threaded spindle. When the threaded spindle moves linearly and the movable sleeve does not contact an object, there is no relative movement between the movable sleeve and the threaded spindle. The movable sleeve moves linearly along with the threaded spindle. The linearly moving movable sleeve drives the second grating scale to move along with the threaded spindle, causing relative displacement between the second grating scale and the second reading head. When the movable sleeve contacts the object, the movable sleeve no longer moves due to the obstruction of the object, the second grating scale no longer moves relative to the second reading head, and the second reading head reads the value on the second grating scale to obtain the moving distance of the output end of the movable sleeve.

6. The multifunctional linear servo electric cylinder according to claim 3, characterized in that: Also includes: Buckle; The mounting plate is provided with a first mounting groove and a second mounting groove on its end surface facing the first grating ruler and the second grating ruler respectively; The first reading head is installed in the first mounting groove, and the second reading head is installed in the second mounting groove; Buckles are evenly arranged on the end surface of the mounting plate facing the first grating ruler and the second grating ruler, and the buckles are used to fix the signal connection line of the first reading head.

7. The multifunctional linear servo electric cylinder according to claim 3, characterized in that: Also includes: Sliding connection device; The other end of the mounting plate extends into the mounting hole and is slidably connected to the inner top end of the mounting hole through a sliding connection device.

8. The multifunctional linear servo electric cylinder according to claim 7, characterized in that: The sliding connection device includes: a slide groove arranged in the mounting hole and a slider fixed on the mounting plate, wherein the extending direction of the slide groove is the same as the extending direction of the mounting hole; The slider is slidably connected to the slide groove.

9. The multifunctional linear servo electric cylinder according to claim 5, characterized in that: Also includes: Driver circuit board; The driving circuit board is mounted on the inner end surface of the housing away from the end cover. The coil stator, the first linear encoder and the second linear encoder are all connected to the driving circuit board via signal connection lines.

10. The multifunctional linear servo electric cylinder according to claim 9, characterized in that: Also includes: Connector; The connector is located outside the housing and is connected to the driver circuit board via a signal connection line.

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