Electromechanical actuation system

Abstract

The present application relates to the technical field of electromechanical motion control, and particularly relates to an electromechanical actuating system, comprising: a driving motor comprising a motor shell, a stator and a rotor; a transmission part comprising a transmission shell and a transmission gear set; an actuating part comprising an outer cylinder, a lead screw, a planetary roller nut, a connecting block and an actuating sleeve; and a heat dissipation oil channel comprising an outer front oil chamber, a rear oil chamber, an external flow channel, a stator oil path channel and a reduction gearbox oil path channel. The present application does not need to additionally increase a cooling driving device such as an oil pump, simplifies the system structure, reduces the complexity and weight of the system, ensures normal operation of the actuating system, and drives the cooling oil to dissipate heat for the driving motor, thereby improving the heat dissipation efficiency.

Description

Technical Field

[0001] This invention relates to the field of electromechanical motion control technology, and in particular to an electromechanical actuation system. Background Technology

[0002] Electromechanical actuators, as core execution components of modern automation systems, play a crucial role in high-precision fields such as aerospace and industrial robotics. As electromechanical systems evolve towards higher power density, the temperature rise of motor windings has become a major bottleneck restricting actuator performance improvement. While current mainstream heat dissipation technologies have alleviated this problem to some extent, they still possess many inherent shortcomings.

[0003] Traditional heat dissipation solutions mainly employ two methods: passive cooling and active liquid cooling. Passive cooling relies on heat sinks or air-cooling systems to dissipate heat from the motor casing into the environment through natural convection or forced airflow. While this method is simple in structure, its heat dissipation efficiency is low, making it difficult to meet the heat dissipation requirements under continuous high-load conditions. Furthermore, the additional heat dissipation structures often increase the system's size and weight, affecting the actuator's compactness and dynamic performance.

[0004] More advanced active liquid cooling systems use external pumps to drive coolant circulation. While this significantly improves heat dissipation, it introduces additional energy consumption and complexity, increasing system cost and reducing overall reliability. The integration of standalone cooling systems presents significant challenges, especially in space-constrained or weight-sensitive applications.

[0005] Furthermore, existing technologies generally separate heat dissipation from actuation functions. This separation of functions not only wastes energy but also limits the improvement of system integration. Therefore, there is an urgent need for a new heat dissipation solution that can achieve efficient, compact, and energy-saving thermal management while ensuring actuation performance.

[0006] Chinese Patent Application Publication No. CN110855072A discloses an electromechanical actuator and an electromechanical servo system. The electromechanical actuator includes a servo motor, a housing, and components disposed within the housing. The components within the housing include a ball screw nut; the rotor shaft of the servo motor is connected to the ball screw nut via a key; the ball screw and the ball screw nut are connected by steel balls as rolling elements, and the ball screw extends from the front end cover of the housing; a mechanical position adjustment component is disposed at the rear end of the rotor shaft of the servo motor away from the ball screw. When the servo motor is not powered on, rotating the mechanical position adjustment component drives the rotor shaft to rotate, thereby causing the ball screw nut to rotate accordingly. The rotation of the ball screw nut causes the ball screw to extend and retract axially along the rotor shaft. The electromechanical servo system includes the aforementioned electromechanical actuator.

[0007] It can be seen that the above technical solutions do not consider using the motion of the actuation system itself to achieve efficient and integrated liquid cooling. The motor's heat dissipation is limited, and the heat needs to be conducted from the inside to the outer shell and then carried away by the coolant, resulting in high thermal resistance and thus low heat dissipation efficiency of the actuator. Summary of the Invention

[0008] To address this issue, the present invention provides an electromechanical actuation system to overcome the problem in the prior art where the motor's heat dissipation is limited, heat needs to be conducted from the inside to the outer casing and then carried away by the coolant, resulting in high thermal resistance and thus low heat dissipation efficiency of the actuator.

[0009] To achieve the above objectives, the present invention provides an electromechanical actuation system, comprising:

[0010] A drive motor, comprising a motor housing, a stator disposed on the inner wall of the motor housing, and a rotor disposed at the center of the motor housing;

[0011] A transmission unit for transmitting power from the drive motor includes a transmission housing and a transmission gear set, wherein the upper end of the transmission housing is fixedly connected to the motor housing, and the transmission gear set is disposed on one side of the transmission housing.

[0012] An actuator, used to convert the rotation of the motor transmitted by the transmission unit into reciprocating linear motion, includes an outer cylinder, a lead screw, a planetary roller nut, a connecting block, and an actuating sleeve. The lower end of the transmission housing is fixedly connected to the outer cylinder. The lead screw is disposed inside the outer cylinder. The actuating sleeve is disposed between the outer cylinder and the lead screw. The lead screw is connected to the output end of the transmission gear set. The planetary roller nut is sleeved on the lead screw and is connected to the actuating sleeve through the connecting block.

[0013] The cooling oil passage includes a front oil chamber formed by the outer cylinder and the actuating sleeve, and a rear oil chamber formed by the outer cylinder and the lead screw;

[0014] An external flow channel is set at the output end of the front oil chamber. The output end of the external flow channel is connected to the stator oil circuit channel. The output end of the stator oil circuit channel is connected to the gearbox oil circuit channel. The gearbox oil circuit channel is connected to the rear oil chamber.

[0015] When the actuating sleeve moves forward, it compresses the front oil chamber and expands the rear oil chamber, so that the cooling oil dissipates heat to the drive motor in a counterclockwise direction.

[0016] When the actuating sleeve moves backward, it compresses the rear oil chamber and expands the front oil chamber, so that the cooling oil dissipates heat to the drive motor in a clockwise direction.

[0017] Furthermore, the stator of the drive motor is provided with oil delivery grooves evenly distributed around its circumference, and the oil delivery grooves together with the inner wall of the motor housing form the stator oil passage.

[0018] Furthermore, the transmission gear set consists of a planetary gear train and a three-gear device, wherein the planetary gear train and the three-gear device mesh and transmit power, the output end of the three-gear device is connected to the lead screw, and the sun gear in the planetary gear train is connected to the drive motor.

[0019] Furthermore, the three-gear device includes a first gear, a second gear, and a third gear, wherein the first gear is coaxial with the planet carrier of the planetary gear train, the second gear meshes with the first gear, the third gear meshes with the second gear, and the third gear is coaxially connected to the lead screw.

[0020] Furthermore, the front ear ring contacts the inner surface of the end of the actuating sleeve away from the planetary roller nut, and the front ear ring is provided with a transmission groove on the side facing the lead screw to form a transmission engagement with the lead screw.

[0021] Furthermore, an earring locking nut is fitted onto the front earring, and the earring locking nut is used to axially position the front earring.

[0022] Furthermore, the rear earring is positioned on the side of the transmission housing away from the transmission gear set.

[0023] Furthermore, a stop block is provided between the outer cylinder and the actuating sleeve to ensure that the coolant flows along the external flow channel.

[0024] Furthermore, a first sealing ring is provided on the contact surface between the actuating sleeve and the outer cylinder.

[0025] Furthermore, a second sealing ring is provided on the contact surface between the transmission housing and the motor housing.

[0026] Compared with the prior art, the beneficial effects of the present invention are that it uses the volume change that inevitably occurs when the actuator performs reciprocating linear motion as the driving force to drive the cooling oil to circulate in a closed-loop channel formed by the internal structure of the actuator, the drive motor stator and the transmission part. This eliminates the need for additional cooling drive devices such as oil pumps, simplifies the system structure, and reduces the complexity and weight of the system. While ensuring the normal operation of the actuation system, the cooling oil is driven to dissipate heat from the drive motor, thereby improving the heat dissipation efficiency.

[0027] Furthermore, this invention sets up a front oil chamber surrounded by an outer cylinder and an actuating sleeve, and a rear oil chamber surrounded by an outer cylinder and a lead screw. The output end of the front oil chamber is sequentially connected to the stator oil passage and the gearbox oil passage, ultimately connecting the gearbox oil passage to the rear oil chamber. When the actuating sleeve reciprocates, it utilizes the natural volume change of compressing one side of the oil chamber (generating high pressure) and expanding the other side of the oil chamber (generating low pressure) to directly drive the cooling oil to circulate in a closed-loop path. By utilizing the forward movement of the actuating sleeve to compress the front oil chamber and expand the rear oil chamber, and the backward movement to compress the rear oil chamber and expand the front oil chamber, the cooling oil circulation is automatically and continuously driven when the actuator performs the extension and retraction strokes, thereby achieving heat dissipation for the drive motor and ensuring timely heat dissipation.

[0028] Furthermore, the present invention provides oil-feeding grooves evenly distributed around the yoke of the stator, forming a stator oil passage together with the inner wall of the motor housing. This allows cooling oil to flow directly through the yoke region of the stator core closest to the heating winding, thereby ensuring the heat dissipation effect on the core heating components of the drive motor.

[0029] Furthermore, the present invention employs a transmission gear set composed of a planetary gear train and a three-gear device connected in series, wherein the sun gear of the planetary gear train is connected to the drive motor, and the output end of the three-gear device is connected to the lead screw, thereby forming a clear multi-stage gear transmission path within a compact transmission housing space, thus improving transmission efficiency.

[0030] Furthermore, by setting an earring locking nut on the front earring, the present invention axially positions the front earring, effectively preventing axial movement of the front earring during operation, thereby ensuring the stability of the transmission and engagement.

[0031] Furthermore, by providing a rear lug on the side of the transmission housing away from the transmission gear set, the present invention provides a stable rear mounting support point for the actuation system, facilitating the connection and fixation of the entire actuation system to external equipment, thereby enhancing the flexibility of system installation.

[0032] Furthermore, by setting a stop block between the outer cylinder and the actuating sleeve, the present invention ensures that the coolant flows along the external flow channel, avoids the coolant from splitting during the flow process, and ensures that the cooling oil can flow through the components that need heat dissipation according to the preset path, thereby ensuring the stability of the heat dissipation effect of the cooling oil channel. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the electromechanical actuation system according to an embodiment of the present invention;

[0034] Figure 2 This is a schematic diagram of the cooling oil flow path according to an embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram of the stator structure according to an embodiment of the present invention;

[0036] In the diagram, 101 is the motor housing; 102 is the stator; 1021 is the oil supply groove; 103 is the rotor; 201 is the transmission housing; 2021 is the planetary gear train; 20221 is the first gear; 20222 is the second gear; 20223 is the third gear; 301 is the outer cylinder; 302 is the lead screw; 303 is the planetary roller nut; 304 is the actuating sleeve; 305 is the front lug; 3051 is the lug locking nut; 306 is the rear lug; 307 is the stop block; 308 is the first sealing ring; 309 is the second sealing ring; 401 is the cooling oil; 402 is the front oil chamber; 403 is the rear oil chamber; 404 is the external flow channel; 405 is the stator oil passage; and 406 is the gearbox oil passage. Detailed Implementation

[0037] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0038] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0039] Please see Figure 1 , Figure 2 as well as Figure 3 The figures shown are schematic diagrams of the electromechanical actuation system according to an embodiment of the present invention; flow direction of the cooling oil flow path according to an embodiment of the present invention; and structure of the stator according to an embodiment of the present invention.

[0040] This invention provides an electromechanical actuation system, comprising:

[0041] The drive motor includes a motor housing 101, a stator 102 disposed on the inner wall of the motor housing, and a rotor 103 disposed at the center of the motor housing.

[0042] The transmission unit, which is used to transmit the power of the drive motor, includes a transmission housing 201 and a transmission gear set, wherein the upper end of the transmission housing 201 is fixedly connected to the motor housing 101, and the transmission gear set is disposed on one side of the transmission housing 201.

[0043] An actuator, used to convert the rotation of the motor transmitted by the transmission unit into reciprocating linear motion, includes an outer cylinder 301, a lead screw 302, a planetary roller nut 303, a connecting block, and an actuating sleeve 304. The lower end of the transmission housing 201 is fixedly connected to the outer cylinder 301. The lead screw 302 is disposed inside the outer cylinder. The actuating sleeve 304 is disposed between the outer cylinder 301 and the lead screw 302. The lead screw 302 is connected to the output end of the transmission gear set. The planetary roller nut 303 is sleeved on the lead screw 302. The planetary roller nut 303 is connected to the actuating sleeve 304 through the connecting block.

[0044] The cooling oil passage includes a front oil chamber 402 formed by the outer cylinder 301 and the actuating sleeve 304, and a rear oil chamber 403 formed by the outer cylinder 301 and the lead screw 302.

[0045] An external flow channel 404 is provided at the output end of the front oil chamber 402. The output end of the external flow channel 404 is connected to the oil passage of the stator 102. The output end of the oil passage of the stator 102 is connected to the oil passage of the gearbox 406. The oil passage of the gearbox 406 is connected to the rear oil chamber 403.

[0046] When the actuating sleeve 304 moves forward, it compresses the front oil chamber 402 and expands the rear oil chamber 403, so that the cooling oil 401 dissipates heat to the drive motor in a counterclockwise direction.

[0047] When the actuating sleeve 304 moves backward, it compresses the rear oil chamber 403 and expands the front oil chamber 402, so that the cooling oil 401 dissipates heat from the drive motor in a clockwise direction.

[0048] Specifically, the stator 102 of the drive motor has oil delivery grooves 1021 uniformly arranged circumferentially on the yoke portion, and the oil delivery grooves 1021 and the inner wall of the motor housing 101 together form the stator oil passage 405.

[0049] Specifically, the transmission gear set consists of a planetary gear train 2021 and a three-gear device, wherein the planetary gear train 2021 and the three-gear device mesh and transmit power, the output end of the three-gear device is connected to the lead screw 302, and the sun gear in the planetary gear train 2021 is connected to the drive motor.

[0050] Specifically, the planetary gear train 2021 consists of a sun gear, three planet gears, a planet carrier, and an internal gear ring.

[0051] Specifically, the three-gear device includes a first gear 20221, a second gear 20222, and a third gear 20223. The first gear 20221 is coaxial with the planet carrier of the planetary gear train 2021, the second gear 20222 meshes with the first gear 20221, the third gear 20223 meshes with the second gear 20222, and the third gear 20223 is coaxially connected to the lead screw 302.

[0052] Specifically, the front ear ring 305 contacts the inner surface of the end of the actuating sleeve 304 away from the planetary roller nut 303, and the front ear ring 305 is provided with a transmission groove on the side facing the lead screw 302 to form a transmission engagement with the lead screw 302.

[0053] Specifically, the earring locking nut 3051 is sleeved on the front earring 305, and the earring locking nut 3051 is used to axially position the front earring 305.

[0054] Specifically, the rear earring 306 is located on the side of the transmission housing 201 away from the transmission gear set.

[0055] Specifically, a stop block 307 is provided between the outer cylinder 301 and the actuating sleeve 304, and the stop block 307 is used to ensure that the coolant flows along the external flow channel 404.

[0056] Specifically, a first sealing ring 308 is provided on the contact surface between the actuating sleeve 304 and the outer cylinder 301.

[0057] Specifically, a second sealing ring 309 is provided on the contact surface of the transmission housing 201 and the motor housing 101.

[0058] In this embodiment, the outer surfaces of the motor housing 101, the transmission housing 201, and the outer cylinder 301 are all provided with heat dissipation structures. The heat dissipation structures can be a number of evenly distributed heat dissipation fins, and there is no specific limitation. They only need to meet the requirement of dissipating the heat carried by the cooling oil 401 to the external environment.

[0059] Working process: When the electromechanical actuation system receives the working command, the drive motor starts, and the rotor 103 of the drive motor begins to rotate. The rotation of the rotor 103 directly drives the sun gear in the planetary gear train 2021 connected to it to rotate synchronously. The rotation of the sun gear drives the planet gears to rotate on their own axes and revolve around the axis of the sun gear, which in turn drives the planet carrier to rotate together with the planet gears, thus completing the deceleration and torque increase.

[0060] The rotation of the planetary carrier drives the first gear 20221 in the three-gear device to rotate. The first gear 20221 meshes with the second gear 20222. The rotation of the first gear 20221 drives the second gear 20222 to rotate. Subsequently, the third gear 20223, which meshes with the second gear 20222, is driven to rotate. The central shaft of the third gear 20223 transmits the rotational motion to the lead screw 302 through a coupling, so that the lead screw 302 rotates synchronously.

[0061] When the lead screw 302 rotates, the planetary roller nut 303 sleeved on the lead screw 302 converts the rotational motion of the lead screw 302 into axial linear motion. The axial motion of the planetary roller nut 303 drives the actuating sleeve 304 to perform reciprocating linear motion through the connecting block: when the lead screw 302 rotates, the planetary roller nut 303 drives the actuating sleeve 304 to extend outward; when the lead screw 302 rotates in the opposite direction, the planetary roller nut 303 drives the actuating sleeve 304 to retract inward.

[0062] As the actuating sleeve 304 extends outward, its outer wall compresses the front oil chamber 402 (the space enclosed by the outer cylinder 301 and the actuating sleeve 304), causing the volume of the front oil chamber 402 to decrease and the internal pressure to increase. At the same time, the forward movement of the actuating sleeve 304 causes the volume of the rear oil chamber 403 (the space enclosed by the outer cylinder 301 and the lead screw 302) to increase and create a negative pressure inside. Under the pressure push of the front oil chamber 402 and the negative pressure attraction of the rear oil chamber 403, the cooling oil 401 in the front oil chamber 402 flows out through the external flow channel 404 and enters the stator oil passage 405 (formed by the oil delivery groove 1021 of the stator 102 yoke and the inner wall of the motor housing 101) and the gearbox oil passage 406 in sequence. When the cooling oil 401 flows in the stator oil passage 405, it comes into full contact with the windings, absorbing a large amount of heat generated by the windings during operation. Afterward, the cooling oil 401 flows into the gearbox oil passage 406, passes through the transmission housing 201 where the transmission gear set is located, and finally flows into the rear oil chamber 403 to complete the circulation. During this process, the heat carried by the cooling oil 401 is dissipated to the external environment through the heat dissipation structures of the motor housing 101, transmission housing 201, and outer cylinder 301, utilizing the entire electromechanical actuator body for heat dissipation.

[0063] When the actuator sleeve 304 retracts inward, its movement direction is reversed, compressing the rear oil chamber 403, causing the volume of the rear oil chamber 403 to decrease and the pressure to increase. At the same time, the volume of the front oil chamber 402 increases, creating a negative pressure. At this time, the cooling oil 401 in the rear oil chamber 403 flows out in the reverse direction through the gearbox oil passage 406 under pressure. It first flows through the gearbox to absorb heat, then enters the stator oil passage 405 to absorb the winding heat, and then flows back to the front oil chamber 402 through the external flow channel 404, completing the reverse circulation heat dissipation.

[0064] Throughout the operation, the front earring 305, through its engagement with the lead screw 302 via the transmission groove, transmits the linear motion of the actuating sleeve 304 to the external load. The earring locking nut 3051 ensures the axial position of the front earring 305 remains stable during movement, preventing loosening that could affect the accuracy of power transmission. The rear earring 306 provides a robust mounting support for the system, ensuring the stability of the overall structure during movement.

[0065] The stop block 307 prevents the cooling oil 401 from flowing freely between the actuating sleeve 304 and the outer cylinder 301, ensuring that the cooling oil 401 circulates along the preset path of the external flow channel 404, the stator oil passage 405, and the gearbox oil passage 406, thus ensuring heat dissipation. The first sealing ring 308 and the second sealing ring 309 form seals at the contact surfaces of the actuating sleeve 304 and the outer cylinder 301, and the transmission housing 201 and the motor housing 101, respectively, preventing the cooling oil 401 from leaking, ensuring a stable oil volume in the cooling oil passages, and ensuring continuous and effective heat dissipation circulation.

[0066] Specifically, the stop block 307 is an annular flange provided on the inner wall of the outer cylinder 301 and the stop block 307 circumferentially surrounds the outer wall of the actuating sleeve 304.

[0067] Through the above process, the electromechanical actuation system converts the rotational motion of the drive motor into the reciprocating linear motion of the actuating sleeve 304 to drive the external load. At the same time, the motion of the actuating sleeve 304 drives the cooling oil 401 to circulate, continuously absorbing the heat generated by the drive motor and using the motor housing 101, transmission housing 201, and outer cylinder 301 to dissipate heat from the cooling oil 401, thus achieving the coordinated operation of power output and efficient heat dissipation.

[0068] Specifically, Figure 2 The large arrow in the diagram indicates the direction of movement of the actuator sleeve, and the small arrow indicates the direction of coolant flow.

[0069] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

[0070] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An electromechanical actuation system, characterized in that, The application relates to a driving motor, which comprises a motor shell, a stator arranged on the inner wall of the motor shell and a rotor arranged at the center of the motor shell. The driving motor comprises a transmission part for transmitting the power of the driving motor, which comprises a transmission shell and a transmission gear set, wherein the upper end of the transmission shell is fixedly connected with the motor shell, and the transmission gear set is arranged on one side of the transmission shell. The driving motor further comprises an actuating part for converting the rotation of the driving motor transmitted by the transmission part into reciprocating linear motion, which comprises an outer cylinder, a screw rod, a planetary roller nut, a connecting block and an actuating sleeve, wherein the lower end of the transmission shell is fixedly connected with the outer cylinder, the screw rod is arranged in the outer cylinder, the actuating sleeve is arranged between the outer cylinder and the screw rod, the screw rod is connected with the output end of the transmission gear set, the planetary roller nut is sleeved on the screw rod, and the planetary roller nut is connected with the actuating sleeve through the connecting block. The driving motor further comprises a heat dissipation oil channel, which comprises a front oil chamber formed by the outer cylinder and the actuating sleeve and a rear oil chamber formed by the outer cylinder and the screw rod. An external flow channel is arranged at the output end of the front oil chamber, the output end of the external flow channel is connected with a stator oil passage, the output end of the stator oil passage is connected with a reduction box oil passage, and the reduction box oil passage is communicated with the rear oil chamber. When the actuating sleeve moves forward, the front oil chamber is compressed and the rear oil chamber is expanded, so that the cooling oil is cooled in the counterclockwise direction of the driving motor. When the actuating sleeve moves backward, the rear oil chamber is compressed and the front oil chamber is expanded, so that the cooling oil is cooled in the clockwise direction of the driving motor. The yoke part of the stator of the driving motor is uniformly provided with oil conveying grooves in the circumferential direction, and the oil conveying grooves and the inner wall of the motor shell jointly form the stator oil passage.

2. The electromechanical actuation system of claim 1, wherein, The transmission gear set is composed of a planetary gear train and a three-gear device, the planetary gear train and the three-gear device are in meshing transmission, the output end of the three-gear device is connected with the screw rod, and the sun gear in the planetary gear train is connected with the driving motor.

3. The electromechanical actuation system of claim 1, wherein, The three-gear device comprises a first gear, a second gear and a third gear, the first gear is coaxial with the planet carrier of the planetary gear train, the second gear is in meshing transmission with the first gear, the third gear is in meshing transmission with the second gear, and the third gear is coaxially connected with the screw rod.

4. The electromechanical actuation system of claim 3, wherein, A front ear ring is in contact with the inner surface of the end of the actuating sleeve away from the planetary roller nut, and the side of the front ear ring facing the screw rod is provided with a transmission groove in transmission cooperation with the screw rod.

5. The electromechanical actuation system of claim 1, wherein, An ear ring locking nut is sleeved on the front ear ring, and the ear ring locking nut is used for axially positioning the front ear ring.

6. The electromechanical actuation system of claim 5, wherein, A rear ear ring is arranged on the side of the transmission shell away from the transmission gear set.

7. The electromechanical actuation system of claim 1, wherein, A stop block is arranged between the outer cylinder and the actuating sleeve, and the stop block is used for ensuring the flow of the cooling liquid along the external flow channel.

8. The electromechanical actuation system of claim 1, wherein, A first sealing ring is arranged on the contact surface between the actuating sleeve and the outer cylinder.

9. The electromechanical actuation system of claim 1, wherein, A second sealing ring is arranged on the contact surface between the transmission shell and the motor shell.

10. The electromechanical actuation system of claim 1, wherein, ​

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