Actuator output structure

Abstract

The invention provides an actuator output structure which comprises a shell, a nut sleeve and a lead screw, at least part of the nut sleeve is located in the shell, at least part of the lead screw is located in the nut sleeve, and the lead screw is in threaded fit with the nut sleeve; the actuator output structure comprises an encoder assembly, the encoder assembly comprises a receiver and a generator, and when the receiver is connected with one of the nut sleeve and the shell, the generator is connected with the other one of the nut sleeve and the shell; and an interval L is formed between the projection of the receiver and the projection of the generator on a projection plane perpendicular to the axial direction of the nut sleeve. In the application, the interval L is formed between the projection of the receiver and the projection of the generator on the projection plane perpendicular to the axial direction of the nut sleeve, so that the contact between the receiver and the generator is reduced, the situation of monitoring failure caused by contact separation in the prior art is further reduced, and the monitoring stability is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of actuators, in particular to a sensing device of an actuator output structure. BACKGROUND

[0002] In the related art, an actuator output structure includes a nut sleeve and a screw threadedly matched with each other and a housing, the nut sleeve and the screw are located in the housing, a motor part drives the screw to rotate, and then converts the rotary motion of the screw into the linear motion of the nut sleeve. In order to monitor the displacement of the nut sleeve, a displacement sensing device is installed, the displacement sensing device includes a resistance sheet and a brush, the resistance sheet is connected with the housing, the brush is connected with the nut sleeve, the brush contacts the resistance sheet, the movement of the nut sleeve drives the brush to contact different positions of the resistance sheet, and then the displacement of the nut sleeve is monitored through the change of the resistance. However, long-term use or external impact will cause the brush to be separated from the resistance sheet, and then the monitoring fails, and the monitoring effect is not stable enough. SUMMARY

[0003] The present application provides an actuator output structure with more stable monitoring.

[0004] The present application provides an actuator output structure, which includes a housing, a nut sleeve and a screw, the nut sleeve is at least partially located in the housing, the screw is at least partially located in the nut sleeve, and the screw is threadedly matched with the nut sleeve.

[0005] The actuator output structure includes an encoder assembly, the encoder assembly includes a receiver and a generator, the receiver is connected with one of the nut sleeve and the housing, and the generator is connected with the other one; on a projection plane perpendicular to the axial direction of the nut sleeve, there is a gap L between the projection of the receiver and the projection of the generator, and the size of the gap is greater than 0.

[0006] In the present application, on the projection plane perpendicular to the axial direction of the nut sleeve, there is a gap L between the projection of the receiver and the projection of the generator, which reduces the contact between the receiver and the generator, and then reduces the situation that the monitoring fails due to the disconnection of the contact in the related art, and improves the stability of the monitoring. BRIEF DESCRIPTION OF DRAWINGS

[0007] Figure 1 It is a three-dimensional schematic view of the actuator output structure in the present application;

[0008] Figure 2 It is a three-dimensional schematic view of the actuator output structure in the present application; Figure One

[0009] Figure 3 It is a three-dimensional schematic view of the actuator output structure in the present application;​Figure Two ;

[0010] Figure 4 Decomposed schematic of actuator output structure in this application Figure One ;

[0011] Figure 5 Decomposed schematic of actuator output structure in this application Figure Two ;

[0012] Figure 6 Sectional view of actuator output structure in this application Figure Three ;

[0013] Figure 7 Decomposed schematic of actuator output structure in this application Figure Three . DETAILED DESCRIPTION

[0014] In order to better understand the technical solutions of the present application, the embodiments of the present application are described in detail below with reference to the drawings.

[0015] It should be clear that the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other technical solutions obtained by those of ordinary skill in the art without creative labor belong to the scope of protection of the present application.

[0016] For the sake of understanding, the features described in the related art will use the same or similar names as the technical features in the present application, so as to facilitate the understanding of the difference between the present application and the related art. Similarly, in order to distinguish the technical features of the present application and the technical features of the related art, the technical features in the related art are not labeled.

[0017] In the related art, the actuator output structure includes a threaded nut sleeve and a screw and a shell, the nut sleeve and the screw are located in the shell, the motor part drives the screw to rotate, and then converts the rotary motion of the screw into the linear motion of the nut sleeve. In order to monitor the displacement of the nut sleeve, a displacement sensing device is installed, which includes a resistance sheet and a brush. The resistance sheet is connected with the shell, and the brush is connected with the nut sleeve. The brush contacts the resistance sheet, the movement of the nut sleeve drives the brush to contact different positions of the resistance sheet, and then the displacement of the nut sleeve is monitored by the change of the resistance. However, long-term use or external impact will cause the brush and the resistance sheet to come off, which will cause monitoring failure and unstable monitoring effect. In addition, due to the connection and assembly of the brush and the resistance sheet, the accuracy of the position is also high. Not only the position of each of them needs to be positioned accurately, but also the good contact between them needs to be ensured. Therefore, the assembly difficulty will be increased, and the situation of poor monitoring effect caused by assembly error will also occur.

[0018] This application provides an actuator output structure, such as Figures 1 to 7 As shown, its specific structure includes a housing 1, a nut sleeve 2, and a lead screw 3. The nut sleeve 2 is at least partially located inside the housing 1, and the lead screw 3 is at least partially located inside the nut sleeve 2. The lead screw 3 is threadedly engaged with the nut sleeve 2. The actuator output structure includes an encoder assembly 4, which includes a receiver 401 and a generator 402. The receiver 401 is connected to one of the nut sleeve 2 and the housing 1, and the generator 402 is connected to the other one. On a projection plane perpendicular to the axial direction of the nut sleeve 2, there is a gap L between the projection of the receiver 401 and the projection of the generator 402, and the size of the gap L is greater than 0.

[0019] A gap L exists between the receiver 401 and the generator 402, eliminating the need for electrical connection as in related technologies. Utilizing the principle of a sliding rheostat, the movement of the nut sleeve 2 is monitored by detecting changes in resistance at different contact positions. When relative movement occurs between the receiver 401 and the generator 402, the receiver 401 can sense the displacement change, reducing the need for connection and thus minimizing the possibility of poor contact in related technologies. Furthermore, it simplifies assembly and connection, reduces the precision requirements for positioning, and improves monitoring effectiveness.

[0020] like Figures 4 to 6 As shown, the generator 402 includes a magnetic strip 4021, which is connected to the nut sleeve 2, and the receiver 401 is connected to the housing 1.

[0021] The nut sleeve 2 has a mounting groove 201 located on the circumferential sidewall of the nut sleeve 2. The mounting groove 201 extends along the axial direction of the nut sleeve 2, and the magnetic strip 4021 is at least partially located in the mounting groove 201.

[0022] In one embodiment, the encoder assembly 4 is a magnetic encoder, wherein the generator 402 is mainly composed of a magnetic strip 4021. When the lead screw 3 is driven to rotate, it can drive the nut sleeve 2 to move, converting the rotational motion into linear motion. When the nut sleeve 2 is driven to move by the lead screw 3, it can drive the magnetic strip 4021 to move together. Then, after the receiver 401 senses the change in magnetism, it monitors the movement of the nut sleeve 2.

[0023] The mounting groove 201 is recessed from the circumferential side wall surface of the nut sleeve 2, providing space for the installation of the magnetic strip 4021. This ensures that the installation of the magnetic strip 4021 will not affect the linear movement of the nut sleeve 2. The machining method can be formed by milling or integral casting, etc., which is not limited here.

[0024] The shell 1 has an assembly hole 101, which penetrates the wall of the shell 1 in the radial direction of the nut sleeve 2, and the receiver 401 is at least partially located in the assembly hole 101.

[0025] The assembly hole 101 is arranged to facilitate the installation of the receiver 401, and the assembly hole 101 penetrates the wall of the shell 1 and can communicate with the inner cavity of the shell 1, further improving the space utilization. After the receiver 401 is installed, the distance between the receiver 401 and the magnetic stripe 4021 can be closer, thereby improving the magnetic induction effect and further improving the monitoring effect. If the receiver 401 is installed on the outer circumferential side wall of the shell 1, the overall size of the actuator output structure in the radial direction will be increased, and if the receiver 401 is installed on the inner wall of the shell 1, the space in the inner cavity of the shell 1 will be reduced, which may adversely affect the movement of the nut sleeve 2. The embedded connection of the receiver 401 can also improve the tightness of the receiver 401 connection.

[0026] Further, in the radial direction of the nut sleeve 2, the depth of the mounting groove 201 is defined as D1, and the thickness of the magnetic stripe 4021 is defined as D2; wherein the depth D1 of the mounting groove 201 and the thickness D2 of the magnetic stripe 4021 satisfy the following relationship: D2≤D1.

[0027] In actual operation, the nut sleeve 2 can extend out of or retract into the shell 1, so the depth of the mounting groove 201 is greater than or equal to the thickness of the magnetic stripe 4021, which reduces the risk of contact interference between the magnetic stripe 4021 and the shell 1, and also reduces the risk of wear of the magnetic stripe 4021.

[0028] More specifically, as shown in Figures 3 to 6 The shell 1 includes a boss 102, which constitutes part of the wall of the assembly hole 101, and the boss 102 constitutes part of the inner wall of the shell 1, and the receiver 401 is connected to the boss 102.

[0029] The nut sleeve 2 includes an extension 202 extending in the radial direction of the nut sleeve 2, and the extension 202 includes a limiting segment 2021 in contact with the boss 102.

[0030] In the process of converting the rotary motion of the lead screw 3 into the linear motion of the nut sleeve 2, the nut sleeve 2 needs to be limited in the circumferential direction. The limiting segment 2021 and the boss 102 are arranged to limit the nut sleeve 2 in the circumferential direction, and the extension 202 limits the nut sleeve 2 in the axial direction to prevent the nut sleeve 2 from disengaging from the lead screw 3 and the shell 1, thereby serving as a safety function.

[0031] On the other hand, the boss 102 can also support the connection of the receiver 401, increase the connection fixing area of the receiver 401, and further make the connection of the receiver 401 more compact.

[0032] As shown in Figure 2 and 7 The actuator output structure includes a reduction part 5, the reduction part 5 includes a reduction part shell 501, the reduction part shell 501 is connected with the shell 1, and the reduction part shell 501 is arranged along the axial direction of the screw rod 3; the reduction part 5 includes a reduction assembly 502, the reduction assembly 502 is at least partially located in the reduction part shell 501, the reduction assembly 502 is engaged with the reduction part shell 501, and the reduction assembly 502 is connected with the screw rod 3.

[0033] The reduction assembly 502 includes a primary reduction assembly 503, a primary wheel disc 504, a secondary reduction assembly 505, and a secondary wheel disc 506; the screw rod 3 is connected with the primary wheel disc 504, the primary reduction assembly 503 is connected with the primary wheel disc 504, the primary reduction assembly 503 is connected with the secondary wheel disc 506, and the secondary wheel disc 506 is connected with the secondary reduction assembly 505.

[0034] The primary reduction assembly 503 includes a primary planetary gear 5031 and a primary sun gear 5032, and the secondary reduction assembly 505 includes a secondary planetary gear 5051 and a secondary sun gear 5052; the primary planetary gear 5031 and the primary sun gear 5032 are engaged, the primary planetary gear 5031 is connected with the primary wheel disc 504, the primary planetary gear 5031 is engaged with the inner wall of the reduction part shell 501, the primary sun gear 5032 is connected with the secondary wheel disc 506, the secondary planetary gear 5051 and the secondary sun gear 5052 are engaged, the secondary planetary gear 5051 is connected with the secondary wheel disc 506, and the secondary planetary gear 5051 is engaged with the inner wall of the reduction part shell 501; the screw rod 3 is an integral part of the primary wheel disc 504.

[0035] The actuator output structure is also integrated with the reduction part 5, which can be applied to the joint part of a robot or other devices, wherein the reduction principle of the planetary gear and the sun gear in the reduction assembly 502 is not described here, and the principle can be referred to in the related art, and the reduction ratio can also be designed according to the actual product demand, which is not limited here.

[0036] The screw rod 3 and the primary wheel disc 504 can be configured as an integral part, which can reduce the setting and processing of the connecting parts, and also improve the transmission efficiency and coaxiality; when the motor part drives the reduction part 5 to rotate, the rotation of the primary wheel disc 504 driven by the gear in the reduction part 5 drives the rotation of the screw rod 3, which further improves the transmission accuracy.

[0037] The actuator output structure comprises a bearing 6 supporting the screw rod 3, the bearing 6 is at least partially located in the speed reduction part housing 501, the screw rod 3 is partially located in the housing 1 and partially located in the speed reduction part housing 501. On the one hand, the overall length of the nut sleeve 2 and the screw rod 3 in the axial direction is longer than the overall length of the speed reduction assembly 502 in the axial direction, so if the screw rod 3 is located in the housing 1, the overall length of the housing 1 in the axial direction will be longer, which may cause the structural strength to be reduced, and it is also not conducive to the cooperation of the nut sleeve 2 and the screw rod 3, because in the actual operation process, the nut sleeve 2 also has contact cooperation with the housing 1.

[0038] And the bearing 6 is arranged in the speed reduction part housing 501, and part of the screw rod 3 is arranged in the speed reduction part housing 501, so that the length of the housing 1 and the speed reduction part housing 501 in the axial direction can be processed more evenly, and the length is equivalent, which can not only improve the structural strength of the housing 1 and the speed reduction part housing 501, so that the transmission between the screw rod 3 and the nut sleeve 2 is more stable, and the precision is higher, and the overall structure is more beautiful, and the assembly and connection of each part are more convenient.

[0039] When the housing 1 and the speed reduction part housing 501 are connected, they can be fixed by bolt connection or welding, which is not limited here.

[0040] The above embodiments are only used to illustrate the application and not to limit the technical solutions described in the application. The understanding of the specification should be based on the skilled person in the art, for example, the directional description of "front", "rear", "left", "right", "up", "down" and the like, is only used to describe the relationship between objects, and is not substantially limited. "Multiple" means at least two or more.

[0041] Although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that those skilled in the art can still modify or equivalently replace the present application, and all technical solutions and improvements which do not deviate from the spirit and scope of the present application should be covered in the scope of the claims of the present application.

Claims

1. An actuator output structure, characterized by, The actuator output structure comprises a nut sleeve (2) and a screw rod (3), the nut sleeve (2) is at least partially located in the housing (1), the screw rod (3) is at least partially located in the nut sleeve (2), and the screw rod (3) is in threaded cooperation with the nut sleeve (2); The actuator output structure comprises an encoder assembly (4), the encoder assembly (4) comprises a receiver (401) and a generator (402), the receiver (401) is connected with one of the nut sleeve (2) and the housing (1), and the generator (402) is connected with the other one; in a projection plane perpendicular to the axial direction of the nut sleeve (2), there is a spacing (L) between the projection of the receiver (401) and the projection of the generator (402), and the size of the spacing (L) is greater than 0.

2. The actuator output structure according to claim 1, characterized in that, The generator (402) comprises a magnetic strip (4021), the magnetic strip (4021) is connected with the nut sleeve (2), and the receiver (401) is connected with the housing (1).

3. The actuator output structure of claim 2, wherein The nut sleeve (2) has a mounting groove (201), the mounting groove (201) is located on the circumferential side wall of the nut sleeve (2), the mounting groove (201) extends along the axial direction of the nut sleeve (2), and the magnetic strip (4021) is at least partially located in the mounting groove (201).

4. The actuator output structure according to claim 2 or 3, characterized in that, The housing (1) has an assembly hole (101), the assembly hole (101) penetrates the wall of the housing (1) in the radial direction of the nut sleeve (2), and the receiver (401) is at least partially located in the assembly hole (101).

5. The actuator output structure according to claim 4, characterized in that, In the radial direction of the nut sleeve (2), the depth of the mounting groove (201) is defined as D1, and the thickness of the magnetic strip (4021) is defined as D2; wherein the depth D1 of the mounting groove (201) and the thickness D2 of the magnetic strip (4021) satisfy the following relationship: D2≤D1.

6. The actuator output structure of claim 4, wherein The housing (1) comprises a boss (102), the boss (102) constitutes part of the wall of the assembly hole (101), the boss (102) constitutes part of the inner wall of the housing (1), and the receiver (401) is connected with the boss (102).

7. The actuator output structure of claim 5, wherein, The nut sleeve (2) comprises an extension (202), the extension (202) extends in the radial direction of the nut sleeve (2), the extension (202) comprises a limiting section (2021), and the limiting section (2021) is in contact with the boss (102).

8. The actuator output structure according to claim 1 or 7, characterized in that, The actuator output structure comprises a speed reduction part (5), the speed reduction part (5) comprises a speed reduction part housing (501), the speed reduction part housing (501) is connected with the housing (1), and the speed reduction part housing (501) and the housing (1) are arranged in the axial direction of the screw rod (3); The deceleration part (5) comprises a deceleration assembly (502) which is at least partially located in the deceleration part shell (501), the deceleration assembly (502) is engaged with the deceleration part shell (501), and the deceleration assembly (502) is connected with the lead screw (3).

9. The actuator output structure of claim 8, wherein, The deceleration assembly (502) comprises a primary deceleration assembly (503), a primary wheel disc (504), a secondary deceleration assembly (505) and a secondary wheel disc (506). The lead screw (3) is connected with the primary wheel disc (504), the primary deceleration assembly (503) is connected with the primary wheel disc (504), the primary deceleration assembly (503) is connected with the secondary wheel disc (506), and the secondary wheel disc (506) is connected with the secondary deceleration assembly (505).

10. The actuator output structure of claim 9, wherein, The primary deceleration assembly (503) comprises a primary planetary gear (5031) and a primary sun gear (5032), and the secondary deceleration assembly (505) comprises a secondary planetary gear (5051) and a secondary sun gear (5052). The primary planetary gear (5031) and the primary sun gear (5032) are engaged, the primary planetary gear (5031) is connected with the primary wheel disc (504), the primary planetary gear (5031) is engaged with the inner wall of the deceleration part shell (501), the primary sun gear (5032) is connected with the secondary wheel disc (506), the secondary planetary gear (5051) and the secondary sun gear (5052) are engaged, the secondary planetary gear (5051) is connected with the secondary wheel disc (506), and the secondary planetary gear (5051) is engaged with the inner wall of the deceleration part shell (501). The lead screw (3) and the primary wheel disc (504) are an integral piece.

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