Integrated miniature electric cylinder based on double-closed-loop detection

Abstract

The invention provides an integrated miniature electric cylinder based on double-closed-loop detection, and relates to the technical field of electric cylinders, the integrated miniature electric cylinder comprises a machine body, the machine body comprises a machine shell and a machine cover, and the integrated miniature electric cylinder further comprises a stabilizing assembly; the stabilizing assembly comprises a first clamping plate and a second clamping plate which are installed in the machine cover in a sliding mode, and a sliding rod fixed to one side of the first clamping plate is connected with the second clamping plate in an inserted mode. A push plate is further slidably mounted in the machine cover, one side of the push plate is fixedly connected with a second spring, and the second spring makes contact with the first clamping plate and the second clamping plate. By means of the technical scheme, the output end freely moves in the normal stretching and retracting process, when the stroke reaches the tail end position, the push plate structure in the machine body triggers the clamping mechanism to be started after being pushed by the stretching and retracting part, the clamping plate is driven to conduct limiting and clamping operation on the stretching and retracting part, and automatic stable control is completed in cooperation with a double-closed-loop detection feedback system; and the tail end rigidity and the operation reliability are effectively improved.

Description

Technical Field

[0001] This invention relates to the field of electric cylinder technology, and in particular to an integrated miniature electric cylinder based on dual closed-loop detection. Background Technology

[0002] A miniature electric cylinder is a small actuator that converts the rotational motion of a motor into linear reciprocating motion through mechanisms such as ball screws or synchronous belts. It has advantages such as small size, high precision, fast response, and flexible installation, and is widely used in applications with high requirements for space and precision control, such as automated equipment, medical devices, semiconductor equipment, and laser processing platforms. Its structure generally includes components such as a motor, reducer, lead screw, guide rail, and sensors. It can realize actions such as pushing, pulling, lifting, and clamping, and can achieve closed-loop control of position, speed, and force through matching drivers. Some models also integrate encoders and limit sensors, and have the characteristics of high repeatability, low noise, and maintenance-free operation. It is an ideal replacement for pneumatic cylinders and hydraulic cylinders, and is suitable for intelligent manufacturing scenarios with higher requirements for cleanliness, energy consumption control, and flexible transformation.

[0003] When the output actuator of a traditional miniature electric cylinder extends to its maximum stroke position, the increased cantilever length and limited self-guiding rigidity, especially when the electric cylinder is placed laterally and a high-precision load is installed at the end, such as in a miniature camera used for attitude capture in the aerospace field, make it highly susceptible to vibration, temperature difference, or microgravity environment, resulting in slight swaying or deflection. This can lead to image blurring, alignment deviation, or dynamic capture error, seriously affecting the measurement accuracy and mission execution stability of the equipment. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: an integrated micro electric cylinder based on dual closed-loop detection, comprising a body, the body being energized and controlled to perform telescopic movements, the body including a housing and a cover, the cover being fixed to one side of the housing, and further comprising: a stabilizing component, the stabilizing component being fixedly installed inside the cover; wherein, the stabilizing component includes a first clamping plate and a second clamping plate slidably installed inside the cover, a slide rod fixed to one side of the first clamping plate being inserted into the second clamping plate, the end of the slide rod near the second clamping plate being connected to the inner wall of the second clamping plate through a first spring; initially, the second clamping plate and the second clamping plate are in an open state and do not contact the telescopic part of the body; a push plate is also slidably installed inside the cover, a second spring being fixedly connected to one side of the push plate, the second spring contacting the first clamping plate and the second clamping plate; when the telescopic part of the body moves to its end, it drives the push plate to insert into the guide groove opened on the upper part of the first clamping plate and the second clamping plate, thereby driving the first clamping plate and the second clamping plate to perform clamping and stabilizing operations on the telescopic part of the body.

[0006] In at least some embodiments, a cover plate is fixedly installed on the upper part of the body, and a control plate is fixedly installed inside the cover plate.

[0007] In at least some embodiments, a wire hole is provided on one side of the cover plate. In use, the wire connected to the control board extends to the outside through the wire hole to realize the electronic extension and retraction control of the moving part of the machine body.

[0008] In at least some embodiments, the machine body has a cavity inside, a micro motor is installed inside the cavity, a reducer is fixedly installed at the output end of the micro motor, and the micro motor is electrically connected to the control board.

[0009] In at least some embodiments, a coupling is fixedly connected to the output end of the reducer, and the end of the coupling away from the reducer is fixedly connected to the rotating part of a ball cylinder installed inside the housing.

[0010] In at least some embodiments, the lead screw, which is fixedly connected to the rotating part of the ball cylinder and the coupling, is rotatably mounted inside the support seat inside the housing.

[0011] In at least some embodiments, a bushing is screwed to the outside of the lead screw, and a plurality of balls are provided inside the bushing. The moving part of the machine body is an actuator, and the actuator is fixedly installed on one side of the bushing. The actuator, which is slidably connected to the machine housing, extends through the machine cover to the outside.

[0012] In at least some embodiments, a U-shaped plate is fixedly installed on one side of the bushing, a linear encoder is provided inside the housing, the moving part of the linear encoder is fixedly installed on one side of the U-shaped plate, the grating ruler of the linear encoder is fixedly installed on the inner wall of the housing, and the linear encoder is electrically connected to the control board.

[0013] In at least some embodiments, a plurality of push rods are fixedly installed on one side of the push plate. When the actuator moves to its end, the U-shaped plate contacts the push rod, thereby pushing the push plate. At this time, the first clamping plate and the second clamping plate clamp and stabilize the actuator.

[0014] In at least some embodiments, a force sensor is fixedly installed at the rear of the housing, a mounting base is fixedly installed at the detection end of the force sensor, a rotary encoder is fixedly installed inside the mounting base, the rotary encoder is fitted inside the housing, and the other end of the drive shaft of the micro motor is fixedly connected to the detection shaft of the rotary encoder; in use, the force sensor detects the force on the actuator rod in real time, and the rotary encoder and the force sensor are electrically connected to the control board respectively.

[0015] Compared with the prior art, the advantages and positive effects of the present invention are as follows: In this invention, by introducing a mechanical self-clamping structure when approaching the maximum stroke end, the passive steady-state limit of the actuator end is effectively achieved, reducing the dependence on the continuous output force of the electric actuator. When the push plate reaches the limit stroke with the telescopic part, the internal clamping plate automatically clamps the actuator on both sides under the action of double springs, thereby forming mechanical self-locking and rigid support. No additional electrical power is required to maintain the stability of the end. At the same time, the dual closed-loop sensing detection can accurately monitor the clamping state, avoid repeated adjustments and waste, maximize the use of mechanical energy to replace part of the electrical energy consumption, and achieve energy efficiency optimization in high-precision and high-load scenarios and energy-saving operation during long-term operation. Specifically, by setting an integrated clamping and stabilizing component at the end of the miniature electric cylinder, combined with the push plate linkage and spring flexible control structure, automatic clamping and stabilization at the end limit can be achieved without affecting the main stroke execution efficiency. This effectively solves the problem of output end swaying caused by excessive cantilever and insufficient structural rigidity in the maximum extension state of traditional miniature electric cylinders. It is especially suitable for occasions where the electric cylinder is arranged laterally and high-precision equipment such as aerospace miniature cameras are mounted at the end, where stability requirements are extremely high. Meanwhile, the clamping process is triggered by the output stroke, which has adaptive and passive response characteristics. No additional control logic is required, which can improve the structural rigidity and accuracy without increasing system complexity and power consumption. The dual clamping plates are kept in synchronous clamping through the sliding rod guide structure, which can effectively constrain the sway displacement and ensure the clamping action is balanced and stable. Combined with the dual closed-loop detection mechanism, the clamping status can be monitored and fed back in real time, which improves the system safety and anti-disturbance capability, thereby greatly improving the application range and reliability of the micro electric cylinder in complex environments. Furthermore, traditional miniature electric cylinders rely on continuous electric drive and electrical closed loop to maintain the rigid support and positional stability of the output actuator throughout the entire stroke range. They do not employ differentiated mechanical limit or self-locking structures for the extreme stroke ends, resulting in high energy consumption during long-term operation. In particular, maintaining posture stability under high-precision loads requires continuous power supply, leading to low energy utilization efficiency. Attached Figure Description

[0016] Figure 1 This invention presents a three-dimensional schematic diagram of the overall structure of an integrated micro electric cylinder based on dual closed-loop detection. Figure 2 This invention presents a three-dimensional schematic diagram of the internal structure of an integrated micro electric cylinder based on dual closed-loop detection. Figure 3 This invention presents a three-dimensional schematic diagram of the stabilization component in an integrated micro electric cylinder based on dual closed-loop detection. Figure 4 This invention presents a three-dimensional schematic diagram of the structure of the second clamping plate in an integrated micro electric cylinder based on dual closed-loop detection. Figure 5 This invention presents a three-dimensional schematic diagram of a linear encoder in an integrated miniature electric cylinder based on dual closed-loop detection. Figure 6 This invention presents a three-dimensional schematic diagram of the housing structure of an integrated micro electric cylinder based on dual closed-loop detection. Figure 7 This invention presents a three-dimensional schematic diagram of the structure of the inner cover of an integrated micro electric cylinder based on dual closed-loop detection. Figure 8 This invention presents a three-dimensional structural schematic diagram of an integrated miniature electric cylinder rotary encoder based on dual closed-loop detection.

[0017] Legend: 1. Housing; 2. Cover; 3. Force sensor; 4. Stabilizing component; 5. Mounting base; 6. Rotary encoder; 7. Miniature motor; 8. Reducer; 9. Coupling; 10. Support base; 11. Lead screw; 12. Bushing; 13. U-shaped plate; 14. Linear encoder; 15. Actuating rod; 16. Control board; 17. Cover plate; 18. Wire hole; 401. First clamping plate; 402. Second clamping plate; 403. Slide rod; 404. First spring; 405. Guide groove; 406. Second spring; 407. Push plate; 408. Push rod. Detailed Implementation

[0018] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0019] Numerous specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways than those described herein, and therefore the invention is not limited to the specific embodiments disclosed in the following specification.

[0020] Example, according to Figures 1-8 As shown in the figure, an integrated miniature electric cylinder based on dual closed-loop detection provided by an embodiment of the present invention includes a body, which is electrically powered and controlled to perform telescopic movements. The body includes a housing 1 and a cover 2, with the cover 2 fixed to one side of the housing 1. It also includes a stabilizing component 4, which is fixedly installed inside the cover 2. The stabilizing component 4 includes a first clamping plate 401 and a second clamping plate 402 slidably installed inside the cover 2. A sliding rod 403 fixed to one side of the first clamping plate 401 is inserted into the second clamping plate 402. One end of the sliding rod 403 near the second clamping plate 402 is connected to the second clamping plate 402 via a first spring 404. The inner wall of plate 402 is connected; in the initial state, the second clamping plate 402 is in an open state and does not contact the telescopic part of the machine body; a push plate 407 is also slidably installed inside the cover 2, and a second spring 406 is fixedly connected to one side of the push plate 407. The second spring 406 contacts the first clamping plate 401 and the second clamping plate 402; when the telescopic part of the machine body moves to the end, the push plate 407 is driven to insert into the guide groove 405 opened on the upper part of the first clamping plate and the second clamping plate 402, thereby driving the first clamping plate 401 and the second clamping plate 402 to perform a clamping and stabilizing operation on the telescopic part of the machine body.

[0021] The aforementioned integrated micro electric cylinder based on dual closed-loop detection, after being powered on, drives the internal electric actuator to complete the telescopic action through the control signal. The telescopic part of the body remains free during the push and retraction process within the normal stroke range to ensure the flexibility and response speed of the action. When the telescopic part gradually approaches its maximum stroke end, the inner side of the cover 2 installed at one end of the body begins to intervene in the steady-state control process. The push plate 407 set inside it slides along the guide groove 405 under the push of the end of the telescopic part, thereby driving the second spring 406 connected to it to generate axial compression force. This compression force is simultaneously transmitted to the first clamping plate 401 and the second clamping plate 402, so that the clamping plate, which was originally in an open state due to the tension of the first spring 404, actively closes and clamps the telescopic part, forming a double-sided clamping limit on the output end, thereby improving the end rigidity support. Throughout the clamping process, the guide plug structure of the slide bar 403 can constrain the relative displacement of the clamping plate, further enhancing the balance and anti-offset capability of the clamping process, and achieving precise and stable support for the end of the electric cylinder when it is at its limit stroke position. At the same time, the displacement signals of the push plate 407 and the telescopic part during the clamping process are synchronously monitored through a dual closed-loop sensing mechanism, thereby realizing the closed-loop triggering and limit feedback of the automatic clamping action, avoiding incomplete clamping or reverse interference caused by external force disturbance, and ensuring that the attitude stability and precise control capability of the electric cylinder output end can still be maintained in special working conditions such as horizontal installation and aerospace miniature camera equipment with heavy loads at the end. Furthermore, the present invention features a compact structure and intelligent control logic. By keeping the clamping mechanism naturally open in the non-working state, the clamping action is passively triggered only when the output part approaches the limit position, effectively avoiding the energy consumption loss caused by traditional continuously powered braking mechanisms. Combined with a dual closed-loop detection system, it reduces malfunctions and ineffective power consumption, resulting in more efficient and lower energy consumption overall operation. It has excellent energy-saving and environmental protection performance and is suitable for high-end application scenarios such as aerospace and medical fields with strict requirements for energy utilization and thermal management.

[0022] In this embodiment, a cover plate 17 is fixedly installed on the upper part of the machine body, and a control board 16 is fixedly installed inside the cover plate 17. A wire hole 18 is opened on one side of the cover plate 17. When in use, the wire connected to the control board 16 passes through the wire hole 18 and extends to the outside to realize the electric control of the extension and retraction of the moving part of the machine body. A cavity is opened inside the machine body, and a micro motor 7 is installed inside the cavity. A reducer 8 is fixedly installed at the output end of the micro motor 7, and the micro motor 7 is electrically connected to the control board 16.

[0023] By fixing the control board 16 inside the upper cover 17 of the machine body and leading out wires through the wire hole 18 on one side of the cover 17 to connect with the external control system, unified management and remote command transmission of the internal electrical control components of the machine body can be realized. The machine body has an internal cavity for integrating the micro motor 7 component. The micro motor 7 is precisely installed in the cavity and is connected to and drives the reducer 8 through its output end, converting the high-speed rotation of the motor into low-speed, high-torque output, providing a stable and reliable power source for the subsequent actuator. Meanwhile, the micro motor 7 is electrically connected to the control board 16, enabling it to respond quickly to external commands and drive the moving parts of the machine body to achieve precise extension and retraction. The overall structure is compact and the control link is clear, realizing highly integrated control and high-precision drive output of the miniaturized electric actuator, providing reliable and efficient core power and control support for the micro electric cylinder. By introducing a mechanical self-clamping structure when approaching the maximum stroke end, the passive steady-state limit of the actuator 15 end is effectively achieved, reducing the dependence on the continuous output force of the electric actuator. When the push plate 407 reaches the limit stroke with the telescopic part, the internal clamping plate automatically clamps the actuator 15 on both sides under the action of double springs, thus forming mechanical self-locking and rigid support. No additional electrical power is required to maintain the stability of the end. At the same time, the dual closed-loop sensor detection can accurately monitor the clamping status, avoid repeated adjustments and waste, maximize the use of mechanical energy to replace part of the electrical energy consumption, and achieve energy efficiency optimization in high-precision and high-load scenarios and energy-saving operation during long-term operation.

[0024] In this embodiment, a coupling 9 is fixedly connected to the output end of the reducer 8. The end of the coupling 9 away from the reducer 8 is fixedly connected to the rotating part of the ball cylinder installed inside the housing 1. The ball cylinder rotating part is fixedly connected to the lead screw 11, which is rotatably installed inside the support seat 10 inside the housing 1. A bushing 12 is screwed to the outside of the lead screw 11. A plurality of balls are provided inside the bushing 12. The moving part of the machine body is the actuator 15, and the actuator 15 is fixedly installed on one side of the bushing 12. The actuator 15, which is slidably connected to the housing 1, extends through the cover 2 to the outside.

[0025] The micro motor 7 drives the reducer 8 to achieve initial power output. The output end of the reducer 8 is fixedly connected to the coupling 9. The other end of the coupling 9 is fixedly connected to the ball screw rotating part inside the housing 1 to achieve efficient power transmission and coaxial linkage. The coupling 9 can alleviate the stress caused by shaft asymmetry to a certain extent. The rotating part of the ball screw is fixedly connected to the screw 11. One end of the screw 11 is installed in the support seat 10 inside the housing 1 by a limiting method and is installed in a rotating manner to ensure its stability and axial limiting function during rotation. A bushing 12 is screwed to the outside of the lead screw 11. Several balls are embedded inside the bushing 12. By utilizing the cyclic rolling of the balls between the threaded groove of the lead screw 11 and the inner wall of the bushing 12, the transmission resistance is reduced and the driving efficiency is improved, so as to realize the smooth and high-precision linear displacement conversion of the motor rotation motion to the actuator 15. Meanwhile, the moving part of the machine body, namely the actuator 15, is fixedly connected to one side of the bushing 12. The actuator 15 slides along the guide structure of the housing 1 and extends through the cover 2 to the outside, and is used to complete external mechanical actions or precision position control. The whole mechanism realizes a closed-loop transmission path from electric rotary drive to linear output. It has the characteristics of high efficiency, high precision and compact structure, and is suitable for automatic control application needs in micro space.

[0026] In this embodiment, a U-shaped plate 13 is fixedly installed on one side of the bushing 12. A linear encoder 14 is provided inside the housing 1. The moving part of the linear encoder 14 is fixedly installed on one side of the U-shaped plate 13. The grating ruler of the linear encoder 14 is fixedly installed on the inner wall of the housing 1. The linear encoder 14 is electrically connected to the control board 16. Several push rods 408 are fixedly installed on one side of the push plate 407. When the actuator 15 moves to the end, the U-shaped plate 13 contacts the push rods 408, thereby pushing the push plate 407. At this time, the first clamping plate 401 and the second clamping plate 402 clamp and stabilize the actuator 15. A force sensor 3 is fixedly installed at the rear of the housing 1. A mounting base 5 is fixedly installed at the detection end of the force sensor 3. A rotary encoder 6 is fixedly installed inside the mounting base 5. The rotary encoder 6 is fitted inside the housing 1. The other end of the drive shaft of the micro motor 7 is fixedly connected to the detection shaft of the rotary encoder 6. In use, the force sensor 3 detects the force on the actuator 15 in real time. The rotary encoder 6 and the force sensor 3 are electrically connected to the control board 16 respectively.

[0027] A dual closed-loop detection mechanism is adopted to perform high-precision real-time monitoring and dynamic control of the operating status of the miniature electric cylinder. The first closed loop consists of a linear encoder 14, which is used to detect the linear position change of the actuator 15. The second closed loop consists of a rotary encoder 6 and a force sensor 3, which are used to detect the rotational displacement of the motor output shaft and the force state of the actuator 15, thereby realizing system-level feedback adjustment and adaptive control. Specifically, a U-shaped plate 13 is fixedly installed on one side of the bushing 12. The U-shaped plate 13 serves as the moving part of the linear encoder 14 and moves synchronously with the actuator 15. The fixed end of the linear encoder 14, namely the grating ruler, is installed on the inner wall of the housing 1, forming a complete linear detection mechanism. When the micro electric cylinder drives the actuator 15 to perform a telescopic action, the linear encoder 14 outputs the current position data of the actuator 15 to the control board 16 in real time to realize the first closed-loop control. Meanwhile, the other end of the output shaft of the micro motor 7 is connected to the detection shaft of the rotary encoder 6. The rotary encoder 6 is installed in the mounting seat 5 at the rear of the housing 1 to achieve accurate monitoring of the actual output angle and torque load of the motor. When the actuator 15 moves to the end of its stroke, the U-shaped plate 13 contacts the push rod 408 on the push plate 407, triggering the push plate 407 to move and push the first clamping plate 401 and the second clamping plate 402 to clamp the end of the actuator 15, enhancing its stability. During this process, the rotary encoder 6 continuously feeds back the changes in the angular displacement of the motor, while the force sensor 3 synchronously detects the external load on the actuator 15. Through the data closed-loop connection with the control board 16, the control system can dynamically adjust the motor output according to the two parameters of displacement and force, realizing integrated closed-loop control of the position accuracy, output stability and end clamping action of the electric cylinder during operation, effectively improving the system's operational reliability, response sensitivity and end control accuracy.

[0028] Force sensor 3 is mainly used to detect the load weight of actuator 15 during operation or whether it is subjected to abnormal resistance during ejection. Its detection end is fixed to the rear of housing 1 through mounting base 5 and can sense the reaction force signal transmitted back by actuator 15 in real time. When the actuator 15 is pushed to the designated position or pushes an external component such as a sensor module in aerospace equipment, if abnormal resistance or sudden load changes are encountered, the force sensor 3 can convert the change into an electrical signal and feed it back to the control board 16, realizing the real-time identification and handling of abnormal working conditions, such as overload protection, automatic deceleration or stopping the action. At the same time, this force detection mechanism can also assist in load adaptive control and working status monitoring, ensuring the stable operation of the electric cylinder in microgravity, high precision or unpredictable interference environments, and further improving the safety and intelligent response capability of the system.

[0029] The internal components of the housing 1 have a gap with the detection direction of the force sensor 3, thus the housing does not affect the sensor's detection. The telescopic part is in a free state when it is not at its limit stroke. The clamping mechanism is caused by the tension of the first spring 404, which makes the two clamping plates open naturally without interfering with the end device. The guide groove 405 is realized by the relative movement of the push plate 407 with the end of the telescopic part. When the telescopic part gradually approaches the maximum stroke position, the end actively pushes the push plate to slide along the guide groove. The push plate is connected in series with the second spring 406 and constrained by the positioning structure, which can only generate axial compression, and then transmits it to the clamping plates on both sides to complete the bidirectional clamping of the end. This action is automatically triggered only at the limit stroke and the displacement of the push plate and the clamping state are monitored synchronously by the dual closed-loop sensors to avoid the clamping plates affecting the load in the initial state. This ensures that the present invention can maintain flexibility within the stroke and provide mechanical self-locking and stable support at the maximum stroke under special working conditions such as carrying high-precision aerospace equipment. The structural implementation path is clear, the action process is controlled, and the technical solution is complete and feasible.

[0030] The working principle of this invention is as follows: After power is applied, the electric actuator inside the machine body is driven by a control signal to complete the telescopic movement. The telescopic part of the machine body remains free during the advancement and retraction within its normal stroke range to ensure the flexibility and response speed of the movement. When the telescopic part gradually approaches its maximum stroke end, the inner side of the cover 2 installed at one end of the machine body begins to intervene in the steady-state control process. The push plate 407 installed inside it slides along the guide groove 405 under the push of the end of the telescopic part, thereby driving the second spring 406 connected to it to generate an axial compressive force. This compressive force is simultaneously transmitted to the first clamping plate 401 and the second clamping plate 402, causing the clamping plates, which were originally in an open state due to the tension of the first spring 404, to actively close and clamp the telescopic part. This forms a double-sided clamping limit on the output end, thereby improving the rigidity support at the end. During the entire clamping process, the guide plug structure of the slide rod 403 can constrain the relative displacement of the clamping plate, further enhancing the balance and anti-displacement capability of the clamping process, and achieving precise and stable support for the end of the electric cylinder when it is at its limit stroke position. At the same time, the displacement signals of the push plate 407 and the telescopic part during the clamping process are synchronously monitored through a dual closed-loop sensing mechanism, thereby realizing the closed-loop triggering and limit feedback of the automatic clamping action, avoiding incomplete clamping or reverse interference caused by external force disturbance, and ensuring that the attitude stability and precise control capability of the electric cylinder output end can still be maintained in special working conditions such as horizontal installation and aerospace miniature camera equipment with heavy loads at the end.

[0031] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments that can be applied to other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. An integrated miniature electric cylinder based on dual closed-loop detection, comprising a body, wherein the body is energized and controlled to perform telescopic movements, the body comprising a housing (1) and a cover (2), wherein the cover (2) is fixed to one side of the housing (1), characterized in that, Also includes: Stabilizing component (4), which is fixedly installed inside the cover (2); The stabilizing component (4) includes a first clamping plate (401) and a second clamping plate (402) slidably installed inside the cover (2). A slide rod (403) fixed to one side of the first clamping plate (401) is inserted into the second clamping plate (402). One end of the slide rod (403) near the second clamping plate (402) is connected to the inner wall of the second clamping plate (402) through a first spring (404). In the initial state, the second clamping plate (402) is in an open state and does not contact the telescopic part of the machine body; Inside the cover (2), a push plate (407) is also slidably installed. A second spring (406) is fixedly connected to one side of the push plate (407). The second spring (406) is in contact with the first clamping plate (401) and the second clamping plate (402). When the telescopic part of the machine body moves to the end, the push plate (407) is driven to insert into the guide groove (405) opened on the upper part of the first clamping plate and the second clamping plate (402), thereby driving the first clamping plate (401) and the second clamping plate (402) to perform clamping and stabilizing operation on the telescopic part of the machine body.

2. The integrated miniature electric cylinder based on dual closed-loop detection according to claim 1, characterized in that: A cover plate (17) is fixedly installed on the upper part of the machine body, and a control plate (16) is fixedly installed inside the cover plate (17).

3. The integrated miniature electric cylinder based on dual closed-loop detection according to claim 2, characterized in that: A wire hole (18) is provided on one side of the cover plate (17). When in use, the wire connected to the control board (16) extends to the outside through the wire hole (18) to realize the electric extension and retraction control of the moving part of the machine body.

4. The integrated miniature electric cylinder based on dual closed-loop detection according to claim 2, characterized in that: The machine body has an internal cavity, and a micro motor (7) is installed inside the internal cavity. A reducer (8) is fixedly installed at the output end of the micro motor (7), and the micro motor (7) is electrically connected to the control board (16).

5. The integrated miniature electric cylinder based on dual closed-loop detection according to claim 4, characterized in that: The output end of the reducer (8) is fixedly connected to a coupling (9). The end of the coupling (9) away from the reducer (8) is fixedly connected to the rotating part of the ball screw cylinder installed inside the housing (1).

6. The integrated miniature electric cylinder based on dual closed-loop detection according to claim 5, characterized in that: The ball screw (11) is fixedly connected to the rotating part of the ball cylinder and the coupling (9), and the ball screw (11) is rotatably installed inside the support seat (10) inside the housing (1).

7. The integrated miniature electric cylinder based on dual closed-loop detection according to claim 6, characterized in that: The lead screw (11) is screwed to the outside of the bushing (12), and the bushing (12) is provided with a number of balls. The moving part of the machine body is the actuator (15), and the actuator (15) is fixedly installed on one side of the bushing (12). The actuator (15) is slidably connected to the housing (1) and extends through the cover (2) to the outside.

8. The integrated miniature electric cylinder based on dual closed-loop detection according to claim 7, characterized in that: A U-shaped plate (13) is fixedly installed on one side of the bushing (12). A linear encoder (14) is provided inside the housing (1). The moving part of the linear encoder (14) is fixedly installed on one side of the U-shaped plate (13). The grating ruler of the linear encoder (14) is fixedly installed on the inner wall of the housing (1). The linear encoder (14) is electrically connected to the control board (16).

9. The integrated miniature electric cylinder based on dual closed-loop detection according to claim 8, characterized in that: A plurality of push rods (408) are fixedly installed on one side of the push plate (407). When the actuator (15) moves to the end, the U-shaped plate (13) contacts the push rod (408) and pushes the push plate (407). At this time, the first clamping plate (401) and the second clamping plate (402) clamp and stabilize the actuator (15).

10. An integrated miniature electric cylinder based on dual closed-loop detection according to claim 7, characterized in that: A force sensor (3) is fixedly installed at the rear of the housing (1). A mounting base (5) is fixedly installed at the detection end of the force sensor (3). A rotary encoder (6) is fixedly installed inside the mounting base (5). The rotary encoder (6) is fitted inside the housing (1). The other end of the drive shaft of the micro motor (7) is fixedly connected to the detection shaft of the rotary encoder (6). In use, the force sensor (3) detects the force on the actuator (15) in real time, and the rotary encoder (6) and the force sensor (3) are electrically connected to the control board (16) respectively.

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