Actuator

Abstract

The invention provides an actuator which comprises a magnetic conductive part, magnetic steel and a nut sleeve, at least part of the magnetic conductive part is matched with the magnetic steel, a plane perpendicular to the radial direction of the nut sleeve is defined as a projection plane, and the projection area of the magnetic conductive part on the projection plane at least covers the projection area of the magnetic steel on the projection plane, so that the matching surface of the magnetic conductive part and the magnetic steel can be enlarged.

Description

Technical Field

[0001] This application belongs to the field of robot joint technology, specifically, it relates to an actuator. Background Technology

[0002] Lead screws and nuts are used in actuators, especially linear actuators. The lead screw and nut is a crucial component of a linear actuator. In related technologies, a linear actuator includes a stator assembly, a lead screw and nut, and a rotor assembly. The rotor assembly includes a rotor and a rotor shaft. The nut sleeve in the lead screw and nut is connected to the rotor shaft. Magnetic conduction between the rotor shaft and the rotor is achieved through a magnetic conductive part. The rotor cooperates with the magnetic conductive part, and the magnetic field generated by the stator assembly can be transmitted to the rotor shaft through the magnetic conductive part, causing the rotor shaft and the nut sleeve to rotate synchronously. In related technologies, there are non-magnetic parts (lacking magnetic conduction function) between the rotor shaft and the rotor, resulting in a reduction in the area of ​​the magnetic conductive part that cooperates with the rotor. This will affect the magnetic field of the rotor assembly, thus impacting the performance of the linear actuator. Summary of the Invention

[0003] The technical problem to be solved by this application is to increase the mating area between the magnetic conductive part and the rotor (magnet).

[0004] To achieve the above objectives, this application provides an actuator including a nut sleeve, a magnet, and a magnetic guide portion. At least a portion of the magnetic guide portion cooperates with the magnet, at least a portion of the magnetic guide portion is located between the nut sleeve and the magnet, and at least a portion of the magnetic guide portion connects the nut sleeve and the magnet. A surface perpendicular to the radial direction of the nut sleeve is defined as a projection surface, and the projection area of ​​the magnetic guide portion on the projection surface at least covers the projection area of ​​the magnet on the projection surface.

[0005] The actuator provided in this application includes a magnetic conductive part, a magnet, and a nut sleeve. At least a portion of the magnetic conductive part mates with the magnet. A surface perpendicular to the radial direction of the nut sleeve is defined as a projection surface. The projection area of ​​the magnetic conductive part on the projection surface at least covers the projection area of ​​the magnet on the projection surface, thereby increasing the mating surface between the magnetic conductive part and the magnet. Attached Figure Description

[0006] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0007] Figure 1 This is a perspective view of the connection between a nut sleeve, a magnet, and a magnetic conductive part in an actuator according to an embodiment of this application.

[0008] Figure 2This is a cross-sectional schematic diagram showing the connection between the nut sleeve, magnet, and magnetic conductive part in an actuator according to an embodiment of this application.

[0009] Figure 3 An exploded view of a nut sleeve, magnet, and magnetic conductive part in an actuator according to an embodiment of this application;

[0010] Figure 4 This is a front view schematic diagram of the connection between a nut sleeve, a magnet, and a magnetic conductive part in an actuator according to an embodiment of this application;

[0011] Figure 5 A perspective view of the connection between a nut sleeve, a magnet, and a magnetic conductive part in an actuator, provided for another embodiment of this application;

[0012] Figure 6 A front view schematic diagram of the connection between a nut sleeve, a magnet, and a magnetic conductive part in an actuator, provided for another embodiment of this application;

[0013] Figure 7 A cross-sectional schematic diagram showing the connection between a nut sleeve, a magnet, and a magnetic conductive part in an actuator, provided for another embodiment of this application;

[0014] Figure 8 Another cross-sectional schematic diagram showing the connection between the nut sleeve, magnet, and magnetic conductive part in an actuator according to another embodiment of this application;

[0015] Figure 9 An exploded view of a nut sleeve, magnet, and magnetic conductive part in an actuator, provided for another embodiment of this application;

[0016] Figure 10 A perspective view of the connection between the nut sleeve, magnet and magnetic conductive part in an actuator, provided for another embodiment of this application;

[0017] Figure 11 A front view schematic diagram of the connection between a nut sleeve, a magnet, and a magnetic conductive part in an actuator, provided for another embodiment of this application;

[0018] Figure 12 A cross-sectional schematic diagram showing the connection between the nut sleeve, magnet, and magnetic conductive part in an actuator, provided for yet another embodiment of this application;

[0019] Figure 13 An exploded view of a nut sleeve, magnet, and magnetic conductive part in an actuator, provided as another embodiment of this application;

[0020] Figure 14 This is a partial cross-sectional schematic diagram of an actuator provided in an embodiment of this application.

[0021] In the diagram: 1-nut sleeve; 11-internal thread; 2-magnet sleeve; 20-positioning groove; 21-outer tube wall; 22-inner tube wall; 23-external thread; 24-bore; 3-positioning part; 31-first positioning group; 310-positioning component; 32-second positioning group; 320-positioning structure; 4-magnet; 41-first end; 42-second end; 5-magnetic conductive part. Detailed Implementation

[0022] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0023] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0024] It should be understood that the terms "first," "second," and similar terms used in this application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, "a" or "one," and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one; "multiple" indicates two or more. Unless otherwise stated, terms such as "front," "rear," "lower," and / or "upper" are for illustrative purposes only and are not limited to a location or spatial orientation. Terms such as "comprising" or "including" indicate that the elements or objects preceding "comprising" encompass the elements or objects listed following "comprising" or "including" and their equivalents, but do not exclude other elements or objects.

[0025] The exemplary embodiments of this application will now be described in detail with reference to the accompanying drawings. Unless otherwise specified, the features of the following embodiments and implementation methods can complement or combine with each other.

[0026] An actuator according to this application includes a nut sleeve 1, a magnet 4, and a magnetic conductive part 5. At least a portion of the magnetic conductive part 5 cooperates with the magnet 4, at least a portion of the magnetic conductive part 5 connects the magnet 4 and the magnet sleeve 2, and at least a portion of the magnetic conductive part 5 is located between the nut sleeve 1 and the magnet 4. A surface perpendicular to the radial direction of the nut sleeve 1 is defined as a projection surface, and the projection area of ​​the magnetic conductive part 5 on the projection surface at least covers the projection area of ​​the magnet 4 on the projection surface.

[0027] The lead screw nut insert structure provided in this application includes a nut sleeve 1, a magnet 4, and a magnetic conductive part 5. At least part of the magnetic conductive part 5 mates with the magnet 4. The surface perpendicular to the radial direction of the nut sleeve 1 is defined as the projection surface. The projection area of ​​the magnetic conductive part 5 on the projection surface at least covers the projection area of ​​the magnet 4 on the projection surface, thereby increasing the mating surface between the magnetic conductive part 5 and the magnet 4.

[0028] According to a specific embodiment of this application, please refer to Figures 1 to 4 The lead screw nut insert structure includes a nut sleeve 1 and a rotor assembly. The nut sleeve 1 and the rotor assembly are connected and fixed. Under the action of the rotor assembly, the nut sleeve 1 can rotate synchronously with the rotor assembly.

[0029] The lead screw and nut insert structure of this embodiment can be applied to linear actuators.

[0030] The lead screw nut insert structure of this embodiment includes a magnet sleeve 2 and a magnet 4. At least a portion of the nut sleeve 1 is connected to the magnet sleeve 2, and at least a portion of the magnet sleeve 2 is located between the nut sleeve 1 and the magnet 4.

[0031] Preferably, the nut sleeve 1 and the magnet sleeve 2 are assembled and connected.

[0032] Furthermore, the magnet sleeve 2 is designed as a tubular structure; please refer to [reference needed]. Figure 1 and Figure 3 As shown; the magnet sleeve 2 includes an outer tube wall 21 and an inner tube wall 22, the magnet 4 is located on the outer tube wall 21, and the nut sleeve 1 is located on the inner tube wall 22, as shown. Figure 2 As shown.

[0033] In this embodiment, the magnet sleeve 2 and the magnet 4 can be considered as part of the rotor assembly.

[0034] The lead screw nut insert structure includes a magnetically conductive part 5, which is also considered part of the rotor assembly. At least part of the magnetically conductive part 5 connects the magnet 4 and the magnet sleeve 2. The magnetically conductive part 5 has a magnetically conductive function between the magnet 4 and the magnet sleeve 2, and can conduct the magnetic field of the magnet 4 to the magnet sleeve 2.

[0035] At least a portion of the magnetically conductive part 5 is located between the nut sleeve 1 and the magnet 4. At least a portion of the magnetically conductive part 5 cooperates with the magnet 4. The surface perpendicular to the radial direction of the nut sleeve 1 is defined as the projection surface. The projection area of ​​the magnetically conductive part 5 on the projection surface at least covers the projection area of ​​the magnet 4 on the projection surface. That is, the entire projection area of ​​the magnet 4 is located within the projection area of ​​the magnetically conductive part 5. In other words, the projection area of ​​the magnetically conductive part 5 on the projection surface is not less than the projection area of ​​the magnet 4 on the same projection surface.

[0036] In this embodiment, the magnetic field of the magnet 4 can be transmitted to the magnet sleeve 2 through the magnetic conductive part 5. By designing the magnetic conductive part 5 to at least cover the projection area of ​​the magnet 4 on the projection surface, and at least part of the magnetic conductive part 5 cooperates with the magnet 4, the cooperation surface between the magnetic conductive part 5 and the magnet 4 is increased.

[0037] In addition, since the area of ​​magnet 4 is limited, when the connection surface between the magnetic conductive part 5 and magnet 4 is increased, the connection surface between nut sleeve 1 and magnet 4 can be reduced accordingly, thereby reducing the influence of nut sleeve 1 on the magnetic field of rotor assembly / magnet 4, and thus reducing the negative impact of nut sleeve 1 on linear drive.

[0038] The magnet 4 and the magnetic conductive part 5 are assembled / connected, and the assembly / connection of the magnet 4 and the magnetic conductive part 5 is preferably, but not limited to, bonding. It should be noted that the area of ​​the magnet 4 near the magnetic conductive part 5, where the magnet 4 is coated with adhesive, is the connecting surface of the magnet 4 to the magnetic conductive part 5; similarly, the area of ​​the magnetic conductive part 5 near the magnet 4, where the magnetic conductive part 5 is coated with adhesive, is the connecting surface of the magnetic conductive part 5 to the magnet 4.

[0039] Furthermore, the magnetically conductive part 5 and the magnetic sleeve 2 are assembled or are integrated as a single unit. This embodiment will be described using the example of the magnetically conductive part 5 and the magnetic sleeve 2 being integrated as a single unit. Figure 2 As shown.

[0040] The materials of the nut sleeve 1 and the magnet sleeve 2 can be the same or different. This embodiment uses two different materials for the nut sleeve 1 and the magnet sleeve 2 as an example for further description.

[0041] In this embodiment, the nut sleeve 1 is preferably, but not limited to, a plastic part, and the magnet sleeve 2 is preferably, but not limited to, a steel structure. The magnet sleeve 2 is connected and fixed to the plastic nut sleeve 1, which can reduce the weight of the lead screw nut insert structure and achieve lightweighting of the lead screw nut insert structure.

[0042] Optionally, the nut sleeve 1 made of plastic material can be made of high-strength plastic.

[0043] In this embodiment, the nut sleeve 1 is an injection molded part. The nut sleeve 1 and the magnet sleeve 2 are integrally injection molded, which simplifies the processing technology of the nut sleeve 1.

[0044] The nut sleeve 1 includes an internal thread 11, which is an injection-molded structure.

[0045] The internal thread 11 can be integrally injection molded with the nut sleeve 1. In other words, when the nut sleeve 1 is injection molded, the internal thread 11 is also formed, which also simplifies the processing technology of the nut sleeve 1. It should be noted that after the internal thread 11 is injection molded together with the nut sleeve 1, if other processing methods such as grinding or machining the internal thread hole are used, it should also be regarded as the case where the internal thread 11 is injection molded together with the nut sleeve 1, and it should also fall within the protection scope of this application.

[0046] In this embodiment, the lead screw nut insert structure also includes a positioning part 3, which connects the nut sleeve 1 and the magnet sleeve 2. The positioning part 3 can improve the connection stability between the nut sleeve 1 and the magnet sleeve 2.

[0047] At least one of the nut sleeve 1 and the magnet sleeve 2 is connected to the positioning part 3. In other words, the nut sleeve 1 is connected to the positioning part 3, or the magnet sleeve 2 is connected to the positioning part 3, or both the nut sleeve 1 and the magnet sleeve 2 are connected to the positioning part 3.

[0048] This embodiment takes the connection between the positioning part 3 and the nut sleeve 1 as an example for description. Figure 2 and Figure 3 As shown.

[0049] The connection between the positioning part 3 and the nut sleeve 1 includes two cases: assembly connection of the positioning part 3 and the nut sleeve 1, and the positioning part 3 and the nut sleeve 1 being a single piece. Assembly connection of the positioning part 3 and the nut sleeve 1 includes, but is not limited to, one or more of the following: screw connection, bolt connection, adhesive bonding, and threaded connection. This embodiment describes the connection as a single piece, such as... Figure 2 As shown.

[0050] The projection area of ​​the positioning part 3 on the projection plane and the projection area of ​​the magnet 4 on the projection plane intersect at most by a line. In other words, the projection area of ​​the positioning part 3 on the projection plane and the projection area of ​​the magnet 4 on the projection plane do not intersect, that is, there is a gap between the positioning part 3 and the magnet 4; or, the projection area of ​​the positioning part 3 on the projection plane and the projection area of ​​the magnet 4 on the projection plane intersect by a point, or the projection area of ​​the positioning part 3 on the projection plane and the projection area of ​​the magnet 4 on the projection plane intersect by a line.

[0051] It should be noted that, on the projection surface, the projection area of ​​the positioning part 3 and the projection area of ​​the magnet 4 intersect at a point, meaning that the projection area of ​​the positioning part 3 and the projection area of ​​the magnet 4 coincide at a point; similarly, on the projection surface, the projection area of ​​the positioning part 3 and the projection area of ​​the magnet 4 intersect at a line, meaning that the projection area of ​​the positioning part 3 and the projection area of ​​the magnet 4 coincide at a line.

[0052] In this embodiment, please refer to Figure 2 As shown, on the projection plane, the projection area of ​​the positioning part 3 does not intersect with the projection area of ​​the magnet 4.

[0053] In other embodiments, please refer to Figures 5 to 9 As shown, on the projection plane, the projection area of ​​the positioning part 3 and the projection area of ​​the magnet 4 intersect as a line.

[0054] In this embodiment, the magnet 4 includes a first end 41 and a second end 42, which are arranged along the axial direction of the nut sleeve 1, as shown below. Figure 2 As shown;

[0055] The axis of nut sleeve 1 coincides with the axis of magnet sleeve 2.

[0056] At least one set of positioning parts 3 is provided, and at least one set of positioning parts 3 can further improve the connection stability of the nut sleeve 1 and the magnet sleeve 2.

[0057] In this embodiment, as Figure 2 and Figure 4 As shown, the positioning part 3 includes a first positioning group 31 and a second positioning group 32 arranged along the axis L of the magnet sleeve 2. The first positioning group 31 is located on the side of the magnet 4 near the first end 41, and the second positioning group 32 is located on the side of the magnet 4 near the second end 42. The first positioning group 31 and the second positioning group 32 are used to further improve the connection stability between the nut sleeve 1 and the magnet sleeve 2.

[0058] Of course, the positions of the first positioning group 31 and the second positioning group 32 described above are only one implementation of this embodiment. In other embodiments, such as... Figure 5 , Figure 6 and Figure 9 As shown, the first positioning group 31 and the magnet 4 are arranged along the axial direction of the magnet sleeve 2, and the second positioning group 32 and the magnet 4 are arranged along the circumferential direction of the magnet sleeve 2. It should be noted that the circumferential direction of the magnet sleeve 2 means the circumferential direction of the magnet sleeve 2 with the axis L of the magnet sleeve 2 as the center line of rotation.

[0059] In this embodiment, the first positioning group 31 includes at least two positioning elements 310, and the at least two positioning elements 310 are arranged along the circumference of the magnet sleeve 2;

[0060] In this embodiment, the second positioning group 32 includes at least two positioning structures 320, and the at least two positioning structures 320 are arranged along the circumference of the magnet sleeve 2.

[0061] like Figure 1 and Figure 4 As shown, there is a certain gap between the positioning member 310 and the magnet 4 in this embodiment, that is, the positioning member 310 and the magnet 4 are not in contact in this embodiment.

[0062] Of course, in some other embodiments, the positioning part 3 can contact the magnet 4 to position the magnet 4. Specifically, such as... Figure 7As shown, the positioning element 310 in the first positioning group 31 extends out of the outer tube wall 21 of the magnet sleeve 2, and the positioning element 310 is in at least partial contact with the end of the magnet sleeve 2, thus the positioning element 310 has a positioning function for the magnet 4; as Figure 5 and Figure 8 As shown, the positioning structure 320 in the second positioning group 32 extends out of the outer tube wall 21 of the magnet sleeve 2, and the positioning structure 320 is in at least partial contact with the side wall of the magnet sleeve 2. The positioning structure 320 has a positioning function for the magnet 4.

[0063] The shape of the positioning element 310 may be the same as or different from the shape of the positioning structure 320. This embodiment describes the example where the shape of the positioning element 310 is the same as the shape of the positioning structure 320. Figure 3 As shown.

[0064] Similarly, the shapes of multiple positioning elements 310 may be the same or different, and the shapes of multiple positioning structures 320 may be the same or different. This embodiment takes the example of multiple positioning elements 310 having the same shape and multiple positioning structures 320 having the same shape for further description. Figure 1 and Figure 3 As shown.

[0065] In this embodiment, the positioning element 310 / positioning structure 320 is configured as a circular protrusion. Of course, the circular protrusion structure of the positioning element 310 / positioning structure 320 is only one manifestation of the positioning element 310 / positioning structure 320, and it can also be configured as follows: Figure 9 The square bumps shown can be other shapes of bumps.

[0066] In this embodiment, the magnetic sleeve 2 has a positioning groove 20, the positioning element 310 is located in the positioning groove 20, and the positioning structure 320 is located in the positioning groove 20. Please refer to... Figure 1 and Figure 3 As shown.

[0067] The nut sleeve 1 and the positioning part 3 are integrated. Therefore, the positioning part 3 in this embodiment is also a plastic part.

[0068] In this embodiment, the positioning groove 20 is configured as a through groove, that is, the positioning groove 20 penetrates the outer tube wall 21 and the inner tube wall 22 of the magnet sleeve 2 radially. The positioning groove 20 with the through groove structure can be used as an injection port, that is, injection molding material can be filled into the cavity of the magnet sleeve 2 through the positioning groove 20.

[0069] In some other embodiments, at least one of the nut sleeve 1 and the magnet sleeve 2 includes a positioning part 3, and the positioning part 3 and the magnetic guiding part 5 are arranged radially along the magnet sleeve 2, such as... Figure 12 As shown, the nut sleeve 1 includes a positioning part 3, and at least part of the magnetic conductive part 5 is located between the positioning part 3 and the magnet 4.

[0070] like Figure 12 As shown, a projection is made along the radial direction of the magnet sleeve 2 and pointing towards the axis L of the magnet sleeve 2. The projection area of ​​the magnet 4 coincides with the projection area of ​​the magnetically conductive part 5, and the projection area of ​​the positioning part 3 coincides with the projection area of ​​the magnet 4. In other words, along the axis L of the magnet sleeve 2, the length dimension of the magnet 4 in the direction of the axis L of the magnet sleeve 2 is the same as the length dimension of the magnetically conductive part 5 in the direction of the axis L of the magnet sleeve 2, and the length dimension of the positioning part 3 in the direction of the axis L of the magnet sleeve 2 is the same as the length dimension of the magnet 4 in the direction of the axis L of the magnet sleeve 2.

[0071] Please refer to Figure 12 As shown, at least two positioning parts 3 are provided, and at least two positioning parts 3 are arranged along the circumference of the magnetic sleeve 2, forming a plurality of positioning parts 3 as shown. Figure 12 This is one of the positioning groups shown. Of course, in some other embodiments, Figure 12 The positioning part 3 shown can be divided into multiple positioning groups, namely Figure 12 The positioning part 3 shown is divided into multiple positioning sub-parts along the length of the magnet sleeve 2. In other words, there are gaps between the multiple positioning sub-parts. The multiple positioning sub-parts distributed along the circumferential wall of the nut sleeve 1 can be regarded as a group of positioning parts 3.

[0072] like Figure 12 As shown, the magnetic sleeve 2 has a positioning groove 20, and the positioning part 30 is at least partially located in the positioning groove 20. The positioning groove 20 is set as a blind hole, that is, the positioning groove 20 does not penetrate the outer tube wall 21 of the magnetic sleeve 2 along the radial direction of the magnetic sleeve 2.

[0073] In this application, the axis of the nut sleeve 1 coincides with the axis of the magnet sleeve 2.

[0074] In addition, in this application, the magnet sleeve 2 includes an external thread 23, which is located at the end of the magnet sleeve 2. The magnet sleeve 2 can be connected and fixed to other components of the linear actuator through the external thread 23.

[0075] The magnet sleeve 2 also includes a boss 24, which is located on the side of the magnet 4 near the external thread 23. The boss 24 protrudes from the outer tube wall 21 of the magnet sleeve 2 and can limit the assembly of other components of the linear actuator.

[0076] The actuator also includes a lead screw 6, such as Figure 14 As shown, the internal thread 11 of the nut sleeve 1 is engaged with the lead screw 6, and the lead screw 6 can move along the axis L of the nut sleeve 1 under the action of the nut sleeve 1.

[0077] Some of the technical implementation methods described above can be combined or replaced.

[0078] The technical principles of this application have been described above in conjunction with specific embodiments. However, it should be noted that these descriptions are merely for explaining the principles of this application and should not be construed as limiting the scope of protection of this application in any way. Based on this explanation, other specific embodiments or equivalent substitutions of this application that can be conceived by those skilled in the art without creative effort will fall within the scope of protection of this application.

Claims

1. An actuator, characterized in that: The device includes a nut sleeve, a magnet, and a magnetic conductive part. At least a portion of the magnetic conductive part mates with the magnet. At least a portion of the magnetic conductive part is located between the nut sleeve and the magnet, and at least a portion of the magnetic conductive part connects the nut sleeve and the magnet. A surface perpendicular to the radial direction of the nut sleeve is defined as a projection surface. The projection area of ​​the magnetic conductive part on the projection surface at least covers the projection area of ​​the magnet on the projection surface.

2. The actuator according to claim 1, characterized in that: The actuator includes a magnet sleeve, the magnetic conductive part is assembled with the magnet sleeve or is an integral part, at least part of the magnet sleeve is connected to the nut sleeve, and the entire projection area of ​​the magnet on the projection surface is located within the projection area of ​​the magnetic conductive part on the projection surface.

3. The actuator according to claim 2, characterized in that: The actuator further includes a positioning part, which connects at least one of the magnet sleeve and the magnetic guide part to the nut sleeve. The projection area of ​​the positioning part on the projection plane and the projection area of ​​the magnet on the projection plane intersect by at most a line.

4. The actuator according to claim 3, characterized in that: The magnet includes a first end and a second end, which are arranged along the axial direction of the nut sleeve; At least one of the nut sleeve and the magnet sleeve is connected to the positioning part. The positioning part includes a first positioning group and a second positioning group arranged along the axial direction of the nut sleeve. The first positioning group is located on the side of the magnet near the first end, and the second positioning group is located on the side of the magnet near the second end.

5. The actuator according to claim 3, characterized in that: The positioning part includes a first positioning group and a second positioning group arranged along the axial direction of the nut sleeve. The first positioning group and the magnet are arranged along the axial direction of the nut sleeve, and the second positioning group and the magnet are arranged along the circumferential direction of the nut sleeve.

6. The actuator according to claim 4 or 5, characterized in that: The first positioning group includes at least two positioning elements, and the at least two positioning elements are arranged along the circumference of the nut sleeve; The second positioning group includes at least two positioning structures, and at least two of the positioning structures are arranged along the circumference of the nut sleeve; The magnet sleeve has a positioning groove, the positioning element is located in the positioning groove, and the positioning structure is located in the positioning groove.

7. The actuator according to claim 4 or 5, characterized in that: The nut sleeve is an injection molded part, and the nut sleeve and the positioning part are an integral part; The nut sleeve includes an internal thread, which is an injection-molded structure.

8. The actuator according to claim 1 or 2, characterized in that: At least one of the nut sleeve and the magnet sleeve includes a positioning portion, the positioning portion and the magnetic conductive portion are arranged radially along the nut sleeve, and at least a portion of the magnetic conductive portion is located between the positioning portion and the magnet.

9. The actuator according to claim 8, characterized in that: The projection area of ​​the magnet on the projection surface coincides with the projection area of ​​the magnetic conductive part on the projection surface, and the projection area of ​​the positioning part on the projection surface coincides with the projection area of ​​the magnet on the projection surface.

10. The actuator according to claim 8, characterized in that: At least two positioning parts are provided, and at least two positioning parts are provided along the circumference of the nut sleeve; The magnet sleeve includes an outer tube wall and an inner tube wall, with the magnet located on the outer tube wall and the nut sleeve located on the inner tube wall; The axis of the nut sleeve coincides with the axis of the magnet sleeve.

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