Double-output-shaft electric cylinder and position detection method thereof

Abstract

According to the double-output-shaft electric cylinder and the position detection method thereof, the two output parts are arranged in the double-output-shaft electric cylinder, so that the single electric cylinder is provided with the two output shafts, and the double-output-shaft electric cylinder can be controlled and operated in the face of the situation that double-output-shaft control operation is needed. The double-output-shaft electric cylinder with the two output parts can be used for completing work in the situation that double-output-shaft control operation is needed, motion control over a plurality of objects can be carried out at the same time within the same range, and the function is more powerful; moreover, the double-output-shaft electric cylinder can be obtained without combining and installing the two electric cylinders, so that the size of the double-output-shaft electric cylinder is reduced, and the defect that the combined and installed two electric cylinders occupy a large space is overcome; and moreover, the two output parts of the double-output-shaft electric cylinder are not mutually restricted, can be operated at the same time and can also be operated and used separately, so that the equipment is more flexible and convenient to use.

Description

Technical Field

[0001] This application relates to the field of electric cylinder technology, and more specifically, to a dual-output-shaft electric cylinder and its position detection method. Background Technology

[0002] In recent years, the development of electromechanical technology has been very rapid. The device that can represent electromechanical technology is the electric cylinder. Electric cylinders are widely used in various technical fields such as machine tools, semiconductor manufacturing equipment, conveying equipment and industrial robots. As a mechanism that converts the input power of an electric motor into linear motion in the axial direction, electric cylinders are commonly used in drive and conveying mechanisms such as guide rails, sliders, and feed screw mechanisms.

[0003] Electric cylinders generally have only a single output shaft and their functions are relatively simple. When a scenario requires dual output shaft control, two electric cylinders can only be combined and installed. However, when combining two electric cylinders, it is necessary to control the relative position between the two electric cylinders. Moreover, the combined electric cylinders have the disadvantage of occupying a large amount of space. Summary of the Invention

[0004] To address the aforementioned problems, the purpose of this application is to provide a dual-output-shaft electric cylinder and its position detection method.

[0005] In a first aspect, embodiments of this application provide a dual-output shaft electric cylinder, comprising: a mounting housing, a first output section, a second output section, a first circuit board bracket, and a position recognition structure gear bracket;

[0006] The first output unit, the second output unit, the first circuit board bracket, and the position recognition structure gear bracket are all disposed within the mounting housing;

[0007] The mounting housing includes: a mounting frame, a first bearing housing, a gearbox housing, a gearbox end cover, a second bearing housing, a bearing end cover, a push rod housing, and an output shaft end cover;

[0008] One end of the mounting frame is sequentially fixed with bolts to the first bearing housing, the gearbox housing, and the gearbox end cover; the other end of the mounting frame is sequentially fixed with bolts to the second bearing housing, the bearing end cover, the push rod housing, and the output shaft end cover.

[0009] The first circuit board bracket is located between the gearbox housing and the gearbox end cover and is fixed on the gearbox housing. The position recognition structure gear bracket is embedded in the end face of the gearbox housing facing the first circuit board bracket. The second circuit board is fixedly provided on the end face of the first circuit board bracket facing the gearbox end cover.

[0010] The first output section is located inside the mounting frame, the second bearing housing, the bearing end cover, the push rod housing, and the output shaft end cover;

[0011] The second output section is located inside the mounting frame, the first bearing housing, the gearbox housing, and the gearbox end cover.

[0012] Secondly, embodiments of this application also provide a position detection method for a dual-output-shaft electric cylinder, used to detect the displacement change of the second output shaft in the dual-output-shaft electric cylinder described in the first aspect above. The method includes:

[0013] Obtain the first initial angle before the fifth transmission gear rotates and the second initial angle before the second transmission gear rotates, and calculate the angle difference between the first initial angle and the second initial angle;

[0014] Obtain the first rotation angle after the fifth transmission gear rotates and the second rotation angle after the second transmission gear rotates.

[0015] Based on the first initial angle and the first rotation angle, a first angular change of the first rotation angle relative to the first initial angle is obtained, and based on the second initial angle and the second rotation angle, a second angular change of the second rotation angle relative to the second initial angle is obtained;

[0016] Obtain the reduction ratio between the fifth transmission gear and the second transmission gear, and calculate the number of rotations of the second transmission gear based on the reduction ratio between the fifth transmission gear and the second transmission gear, the first angle change, and the second angle change.

[0017] The pitch of the second thrust screw is obtained, and the displacement change of the second output shaft is calculated based on the number of rotations of the second transmission gear, the pitch of the second thrust screw, and the change in the second angle, thereby completing the position detection of the dual output shaft electric cylinder.

[0018] In the solutions provided by the first to second aspects of the embodiments of this application, by setting two output sections in the dual-output shaft electric cylinder, a single electric cylinder has two output shafts. Compared with the related art, which can only use two electric cylinders in combination to meet the needs of dual-output shaft control operation, the dual-output shaft electric cylinder with two output sections can complete the work in the scenario requiring dual-output shaft control operation. It can simultaneously control the motion of multiple objects within the same range, making it more powerful. Moreover, the dual-output shaft electric cylinder can be obtained without combining two electric cylinders, reducing its size and avoiding the disadvantage of large space occupation caused by combining two electric cylinders. Furthermore, the two output sections of the dual-output shaft electric cylinder do not restrict each other and can be operated simultaneously or separately, making the equipment more flexible and convenient to use.

[0019] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the 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.

[0021] Figure 1 A cross-sectional structural schematic diagram of a dual-output shaft electric cylinder provided in Embodiment 1 of this application is shown;

[0022] Figure 2 An exploded view of the mounting frame provided in Embodiment 1 of this application is shown;

[0023] Figure 3 The embodiment provided in this application 1 is shown. Figure 1 Enlarged view of point B in the middle;

[0024] Figure 4 This paper shows a three-dimensional structural diagram of the first thrust screw provided in Embodiment 1 of this application;

[0025] Figure 5 The embodiment provided in this application 1 is shown. Figure 1 Sectional view at AA;

[0026] Figure 6 An exploded view of the first nut and the return device provided in Embodiment 1 of this application is shown.

[0027] Figure 7 This paper shows a schematic diagram of the meshing relationship between the transmission mechanism and the position recognition structure provided in Embodiment 1 of this application;

[0028] Figure 8 A partial three-dimensional structural schematic diagram of the second output section provided in Embodiment 1 of this application is shown;

[0029] Figure 9 This paper shows a partial structural schematic of the dual-output shaft electric cylinder provided in Embodiment 1 of this application. Figure 1 ;

[0030] Figure 10 This paper shows a partial structural schematic of the dual-output shaft electric cylinder provided in Embodiment 1 of this application. Figure 2 ;

[0031] Figure 11 This paper shows a partial structural schematic of the dual-output shaft electric cylinder provided in Embodiment 1 of this application. Figure 3 ;

[0032] Figure 12 This paper shows a partial structural schematic of the dual-output shaft electric cylinder provided in Embodiment 1 of this application. Figure 4 ;

[0033] Figure 13 This paper shows a partial structural schematic of the dual-output shaft electric cylinder provided in Embodiment 1 of this application. Figure 5 ;

[0034] Figure 14 A flowchart of a position detection method for a dual-output shaft electric cylinder provided in Embodiment 2 of this application is shown. Detailed Implementation

[0035] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0036] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0037] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0038] In recent years, the development of electromechanical technology has been very rapid. The device that can represent electromechanical technology is the electric cylinder. Electric cylinders are widely used in various technical fields such as machine tools, semiconductor manufacturing equipment, conveying equipment and industrial robots. As a mechanism that converts the input power of an electric motor into linear motion in the axial direction, electric cylinders are commonly used in drive and conveying mechanisms such as guide rails, sliders, and feed screw mechanisms.

[0039] Electric cylinders generally have only a single output shaft and their functions are relatively simple. When a scenario requires dual output shaft control, two electric cylinders can only be combined and installed. However, when combining two electric cylinders, it is necessary to control the relative position between the two electric cylinders. Moreover, the combined electric cylinders have the disadvantage of occupying a large amount of space.

[0040] Based on this, this embodiment proposes a dual-output-shaft electric cylinder and its position detection method. By setting two output sections in the dual-output-shaft electric cylinder, a single electric cylinder has two output shafts. When facing scenarios requiring dual-output-shaft control operations, the dual-output-shaft electric cylinder with two output sections can complete the work in such scenarios. It can simultaneously control the motion of multiple objects within the same range, making its functions more powerful. Moreover, the dual-output-shaft electric cylinder can be obtained without combining two electric cylinders, reducing its size and avoiding the disadvantage of large space occupation caused by combining two electric cylinders. Furthermore, the two output sections of the dual-output-shaft electric cylinder do not restrict each other and can be operated simultaneously or separately, making the equipment more flexible and convenient to use.

[0041] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and embodiments.

[0042] Example 1

[0043] See Figure 1 The diagram shows a cross-sectional structure of a dual-output shaft electric cylinder. This embodiment proposes a dual-output shaft electric cylinder, including: a mounting housing, a first output part, a second output part, a first circuit board bracket 4, and a position recognition structure gear bracket 5.

[0044] The first output unit, the second output unit, the first circuit board bracket 4, and the position recognition structure gear bracket 5 are all disposed within the mounting housing;

[0045] The mounting housing includes: a mounting frame 101, a first bearing housing 102, a gearbox housing 103, a gearbox end cover 104, a second bearing housing 105, a bearing end cover 106, a push rod housing 107, and an output shaft end cover 108.

[0046] One end of the mounting frame 101 is sequentially fixed with bolts to the first bearing housing 102, the gearbox housing 103 and the gearbox end cover 104, and the other end of the mounting frame 101 is sequentially fixed with bolts to the second bearing housing 105, the bearing end cover 106, the push rod housing 107 and the output shaft end cover 108.

[0047] The first circuit board bracket 4 is located between the gearbox housing 103 and the gearbox end cover 104 and is fixed on the gearbox housing 103. The position identification structure gear bracket 5 is embedded in the end face of the gearbox housing 103 facing the first circuit board bracket 4. The second circuit board 6 is fixedly disposed on the end face of the first circuit board bracket 4 facing the gearbox end cover 104.

[0048] The first output section is located inside the mounting frame 101, the second bearing housing 105, the bearing end cover 106, the push rod housing 107, and the output shaft end cover 108.

[0049] The second output section is located inside the mounting frame 101, the first bearing housing 102, the gearbox housing 103, and the gearbox end cover 104.

[0050] Specifically, see Figure 2 The exploded view of the mounting frame shown is shown. The mounting frame 101 includes: the mounting frame body 1011 and the motor housing 1012.

[0051] The motor housing 1012 is fixed to the mounting frame body 1011.

[0052] The mounting frame body 1011 is fixedly connected to the first bearing housing 102 by bolts.

[0053] The mounting frame body 1011 and the motor housing 1012 are fixedly connected by screws.

[0054] Specifically, the first output part includes: a first drive component 201, a first coupling 202, a first thrust screw 204, and a first nut 205.

[0055] The first drive component 201 is disposed inside the motor housing 1012 and fixed on the mounting frame body 1011.

[0056] The first thrust screw 204 includes: an integrally formed smooth rod portion and a threaded portion.

[0057] The end of the smooth part of the first thrust screw 204 away from the threaded part is connected to the output shaft of the first drive component 201 through the first coupling 202. The threaded part of the first thrust screw 204 passes through the first nut 205 and is connected to the first nut 205 in a transmission manner. The end of the first nut 205 away from the smooth part is fixedly connected to the first output shaft 206. Similarly, the first output shaft 206 is sleeved on the first thrust screw 204 and the other end of the first output shaft 206 passes through the output shaft end cover 108. The first nut 205 can carry the first output shaft 206 to make linear motion.

[0058] See Figure 3 shown Figure 1 Enlarged diagram at point B and Figure 4 The schematic diagram of the three-dimensional structure of the first thrust screw shown shows that a bearing limiting ring 2041 is provided on the smooth part of the first thrust screw 204, and thrust bearing assemblies 203 are respectively provided on both sides of the bearing limiting ring 2041. Ball tracks 20411 are respectively opened on both sides of the bearing limiting ring 2041. The thrust bearing assembly 203 has a groove structure, and the steel balls of the thrust bearing are placed in the groove. The two sets of thrust bearing assemblies 203 can withstand bidirectional thrust loads and limit axial clearance.

[0059] Among them, the 20411 lane has a groove structure.

[0060] The end face of the thrust bearing assembly 203 near the first drive component 201 abuts against the interior of the second bearing housing 105, while the end face of the thrust bearing assembly 203 away from the first drive component 201 abuts against the bearing end cover 106 through the elastic member 15.

[0061] Specifically, the thrust bearing assembly 203 includes a steel ball and a thrust bearing assembly body, with a portion of the steel ball placed in the thrust bearing assembly body and the other portion of the steel ball placed in the ball track 20411.

[0062] Since the first thrust screw 204 is subjected to axial force, the thrust bearing assembly 203 can axially limit the first thrust screw 204.

[0063] A first bearing 209 is also provided at the smooth part of the first thrust screw 204. The first bearing 209 is located between the first coupling 202 and the thrust bearing assembly 203. The first bearing 209 can provide radial support for the first thrust screw 204 to prevent the screw from swaying.

[0064] A first circuit board 208 is also provided between the first driving component 201 and the second output part; a second circuit board bracket is also provided between the first circuit board 208 and the first driving component 201, and the first circuit board 208 is fixed on the second circuit board bracket.

[0065] In order to control the first driving component, the dual-output shaft electric cylinder proposed in this embodiment also includes: a first position signal generator.

[0066] A first position signal generator is disposed between the first driving component 201 and the first circuit board 208. The first position signal generator includes a first magnet holder 7, which is located on the rotating shaft of the first driving component 201 facing the first circuit board 208. The first magnet holder 7 has a [missing information - likely a component or element] embedded within it. third Magnet, embedded in the first magnet holder 7 third The magnet faces the first circuit board 208, on which a chip is disposed, and the chip is disposed opposite to the third magnet.

[0067] See Figure 5 shown Figure 1 Sectional view at AA and Figure 6 The exploded structural diagram of the first nut and the reversing device shown, and as shown in the diagram... Figure 1 As shown, in the dual-output shaft electric cylinder proposed in this embodiment, a second guide groove 13 is also provided on the inner wall of the push rod housing 107.

[0068] The second guide groove 13 is parallel to the first output shaft 206. The first nut 205 includes a nut body 2051 and a base 2052. The base 2052 is located on the circumferential sidewall of the nut body 2051. The base 2052 has two straight first guide grooves 20521 on its two sides parallel to the extending direction of the nut body 2051, which are opposite to the second guide groove 13. That is, the first guide grooves 20521 are set on the sides of the base 2052 opposite to the second guide groove 13 and are set at the same height as the second guide groove 13. The steel ball 16 is installed in the accommodating space formed by the second guide groove 13. The base 2052 also has two steel ball return holes 20522 corresponding to the first guide groove 20521. That is, the base 2052 has one corresponding first guide groove. A steel ball return hole 20522 is provided at 20521. Two steel ball return holes 20522 are located below the nut body 2051. At both ends of the base 2052, there are return devices 12 that connect the steel ball return hole 20522 and the first guide groove 20521 respectively. A steel ball 16 is installed between the second guide groove 13 and the first guide groove 20521 and rolls in the second guide groove 13 and the first guide groove 20521. When the base 2052 moves relative to the push rod housing 107, the steel ball 16 forms a cycle of rolling through the second guide groove 13, the first guide groove 20521, the return device 12, and the steel ball return hole 20522, realizing the relative movement of the base 2052 and the push rod housing 107, so that the first nut 205 can move linearly along the inner wall of the push rod housing 107.

[0069] The base 2052 can move relative to the push rod housing 107 and move linearly along the inner wall of the push rod housing 107. The relative movement between the base 2052 and the push rod housing 107 can serve as a guide, reduce lateral sway, and replace sliding friction with rolling friction, resulting in low frictional resistance.

[0070] Of course, in the dual-output shaft electric cylinder proposed in this embodiment, the specific structure of the first output part can be implemented by any existing electric cylinder structure with a single output shaft, in addition to the structure described above, and will not be elaborated here.

[0071] After introducing the first output section, we will now introduce the specific structure of the second output section.

[0072] In the dual-output shaft electric cylinder proposed in this embodiment, the second output part includes: a second drive component 301, a transmission mechanism 302, a position recognition structure 303, a second nut 304, a second bearing 305, a second coupling 306, a second thrust screw 307, and a second output shaft 308.

[0073] The second drive component 301 is disposed inside the motor housing 1012 and fixed to the first bearing housing 102.

[0074] The second coupling 306 is rotatably connected to the first bearing housing 102 via the second bearing 305. The second driving component 301 is fixedly connected to the transmission mechanism 302. The transmission mechanism 302 is connected to the second coupling 306 and drives the second coupling 306 to rotate. One end of the second coupling 306 is provided with the second thrust screw 307. The second nut 304 is sleeved on the second thrust screw 307 and is pulsatorically connected to the second nut 304. The end of the second nut 304 away from the second coupling 306 is fixedly connected to the second output shaft 308. The second output shaft 308 is sleeved on the second thrust screw 307. The second output shaft 308 is arranged in the same direction as the first output shaft 206. The second nut 304 can carry the second output shaft 308 through the mounting frame body 1011 and move linearly along the mounting frame body 1011. The position recognition structure 303 is fixedly connected to the position recognition structure gear bracket 5.

[0075] The first drive component 201 and the second drive component 301 are both located at the mounting frame 101 and are designed in opposite directions. In one embodiment, the first drive component 201 and the second drive component 301 may be motors.

[0076] Specifically, see Figure 7 The diagram showing the meshing relationship between the transmission mechanism and the position recognition structure is provided in the original text. Figure 9 The diagram shows a partial structure of the dual-output shaft electric cylinder. Figure 1 The transmission mechanism 302 includes: a drive gear 3021, a first double gear 3022, a first transmission gear 3023, a second transmission gear 3024, a first gear pin 3025, and a second gear pin 3026.

[0077] The first double gear 3022 includes a large gear and a small gear arranged coaxially.

[0078] The drive gear 3021 is fixedly connected to the output shaft of the second drive component 301. The drive gear 3021 meshes with the large gear of the first double gear 3022. The small gear of the first double gear 3022 meshes with the first transmission gear 3023. The first transmission gear 3023 meshes with the second transmission gear 3024. The second transmission gear 3024 is sleeved on the second coupling 306 and fixedly connected to the second coupling 306. One end of the first gear pin 3025 and the second gear pin 3026 are fixedly connected to the first bearing housing 102, respectively. The other end of the first gear pin 3025 and the second gear pin 3026 are fixedly connected to the first circuit board bracket 4, respectively. The first double gear 3022 is coaxial with the first gear pin 3025 and rotatably connected to the first gear pin 3025. The first transmission gear 3023 is coaxial with the second gear pin 3026 and rotatably connected to the second gear pin 3026.

[0079] Specifically, such as Figure 5 As shown and see Figure 10 The diagram shows a partial structure of the dual-output shaft electric cylinder. Figure 2 See also Figure 11 The diagram shows a partial structure of the dual-output shaft electric cylinder. Figure 3 See also Figure 12 The diagram shows a partial structure of the dual-output shaft electric cylinder. Figure 4 And see also Figure 13 The diagram shows a partial structure of the dual-output shaft electric cylinder. Figure 5 The position identification structure 303 includes: a third transmission gear 3031, a second double gear 3032, a third double gear 3033, a fourth transmission gear 3034, a fifth transmission gear 3035, a third gear pin 3036, a first screw magnet bracket 3037, and a second screw magnet bracket 3038.

[0080] The second double gear 3032 and the third double gear 3033 each include two gears of different sizes arranged coaxially.

[0081] The third transmission gear 3031 is located between the first transmission gear 3023 and the third double gear 3033 and is integrally formed with the first transmission gear 3023. The third transmission gear 3031 and the third double gear 3033 are coaxial with the second gear pin 3026 and rotatably connected to the second gear pin 3026. The third transmission gear 3031 can rotate synchronously with the first transmission gear 3023. The second double gear 3032 is coaxial with the first gear pin 3025 and rotatably connected to the first gear pin 3025. The two ends of the third gear pin 3036 are fixedly connected to the first circuit board bracket 4 and the position recognition structure gear bracket 5, respectively. The fourth transmission gear 3034 is coaxial with the third gear pin 3036 and rotatably connected to the third gear pin 3036. The third transmission gear 3031 meshes with the large gear of the second double gear 3032. The pinion of gear 3032 meshes with the large gear of the third double gear 3033. The pinion of the third double gear 3033 meshes with the fourth transmission gear 3034. The fourth transmission gear 3034 meshes with the fifth transmission gear 3035. The first screw magnet bracket 3037 and the second screw magnet bracket 3038 are rotatably connected to the gearbox housing 103. The first screw magnet bracket 3037 is coaxial with the second coupling 306. One end of the first screw magnet bracket 3037 is fixedly connected to the second coupling 306, and the other end of the first screw magnet bracket 3037 is rotatably connected to the gearbox housing 103 through a bearing. The fifth transmission gear 3035 is coaxially fixedly connected to the second screw magnet bracket 3038. The end faces of the first screw magnet bracket 3037 and the second screw magnet bracket 3038 facing the second circuit board 6 are each embedded with a first magnet 9.

[0082] When the drive gear 3021 starts to rotate, it drives the first double gear 3022 to rotate. The first double gear 3022 drives the first transmission gear 3023 to rotate. At this time, the third transmission gear 3031 rotates synchronously with the first transmission gear 3023 and drives the second double gear 3032, which meshes with the third transmission gear 3031, to rotate. The third double gear 3033 rotates under the drive of the second double gear 3032 and drives the fourth transmission gear 3034 to rotate. The fifth transmission gear 3035, which meshes with the fourth transmission gear 3034, starts to rotate. At this time, the second screw magnet bracket 3038 rotates synchronously with the fifth transmission gear 3035, so that the first magnet 9 on the second screw magnet bracket 3038 rotates synchronously with the fifth transmission gear 3035 and rotates at the same angle.

[0083] After the first transmission gear 3023 rotates, the second transmission gear 3024 meshing with the first transmission gear 3023 rotates, and the second coupling 306 rotates with the rotating second transmission gear 3024. When the second coupling 306 rotates, the first screw magnet bracket 3037 fixedly connected to the second coupling 306 starts to rotate, so that the first magnet 9 on the first screw magnet bracket 3037 rotates synchronously with the second transmission gear 3024 and rotates at the same angle.

[0084] Here, the third transmission gear 3031 and the first transmission gear 3023 form a double gear.

[0085] The first screw magnet bracket 3037 and the second screw magnet bracket 3038 are rotatably connected to the gearbox housing 103 via bearings.

[0086] In order to control the second drive component, the dual-output shaft electric cylinder proposed in this embodiment also includes: a second position signal generator;

[0087] The second position signal generator is disposed between the second drive component 301 and the second circuit board 6;

[0088] The second position signal generator includes: a second magnet holder 8 disposed on the output end of the second drive component;

[0089] The second magnet holder 8 has a second magnet embedded inside it, and the second magnet embedded in the second magnet holder 8 faces the second circuit board 8;

[0090] A chip is disposed on the second circuit board 8, and the chip is disposed opposite to the second magnet.

[0091] The chip is used to acquire a first magnetic signal emitted by the first magnet 9 on the first screw magnet bracket 3037 and a second magnetic signal emitted by the first magnet 9 on the second screw magnet bracket 3038; convert the second magnetic signal into an electrical signal to obtain a first initial angle before the fifth transmission gear 3035 rotates and a first rotation angle after the fifth transmission gear rotates; and convert the first magnetic signal into an electrical signal to obtain a second initial angle before the second transmission gear 3024 rotates and a second rotation angle after the second transmission gear rotates.

[0092] The chip converts the second magnetic signal into an electrical signal to obtain the first initial angle before the fifth transmission gear 3035 rotates and the first rotation angle after the fifth transmission gear rotates. The specific process of converting the first magnetic signal into an electrical signal to obtain the second initial angle before the second transmission gear 3024 rotates and the second rotation angle after the second transmission gear rotates is prior art and will not be described here.

[0093] In the aforementioned position recognition structure 303, the design of the first magnet 9 and chip at the second screw magnet bracket 3038 can be coordinated with the design of the first magnet 9 and chip at the first screw magnet bracket 3037. Through the aforementioned design, the absolute position change of the second output shaft can be obtained, replacing the use of existing position recognition structures such as reading heads and magnetic gratings, reducing the cost of using the electric cylinder and achieving high performance of the electric cylinder.

[0094] See Figure 8 The partial three-dimensional structural schematic diagram of the second output section shown in this embodiment also includes: steel balls and a return device 12.

[0095] The inner wall of the mounting frame body 1011 is also provided with a second guide groove 13. The second guide groove 13 provided on the inner wall of the mounting frame body 1011 is a different guide groove from the "second guide groove 13 provided on the inner wall of the push rod housing 107" mentioned above.

[0096] The second guide groove 13 is parallel to the second output shaft 308.

[0097] The second nut 304 has the same structure as the first nut 205. The second nut 304 includes: an integrally formed nut body 2051 and a base 2052, wherein the base 2052 is located on the circumferential side wall of the nut body 2051.

[0098] The base 2052 has a first guide groove 20521 on two sides parallel to the extension direction of the nut body 2051, which is opposite to the second guide groove 13. The first guide groove 20521 and the second guide groove 13 form an accommodating space, and the steel ball is installed in the accommodating space.

[0099] The base 2052 is also provided with two steel ball return holes 20522 corresponding to the first guide groove 20521. The two steel ball return holes 20522 are both located below the nut body 2051. The two ends of the base 2052 are respectively provided with the return device 12 connecting the two steel ball return holes 20522 and the first guide groove 20521.

[0100] As the base 2052 moves relative to the mounting frame body 1011 and moves linearly along the inner wall of the mounting frame body 1011, the steel ball will circulate and roll within the second guide groove 13, the first guide groove 20521, the return device 12, and the steel ball return hole 20522.

[0101] The steel ball circulates within the second guide groove 13, the first guide groove 20521, the return device 12, and the steel ball return hole 20522.

[0102] The steel balls act as guides, reducing lateral swaying, and rolling friction replaces sliding friction, resulting in low frictional resistance; thus, the first nut 205 and the second nut 304 can move linearly along the inner walls of the push rod housing 107 and the mounting frame body 1011, respectively.

[0103] Both the second guide groove 13 and the first guide groove 20521 are straight grooves.

[0104] The base 2052 has a first guide groove 20521 on two sides parallel to the extension direction of the nut body 2051, which is opposite to the second guide groove 13. That is to say, the first guide groove 20521 is set on the side of the base 2052 opposite to the second guide groove 13, and is set at the same height as the second guide groove 13.

[0105] The base 2052 is also provided with two steel ball return holes 20522 corresponding to the first guide groove 20521. That is to say, there is one steel ball return hole 20522 for each first guide groove 20521 in the base 2052.

[0106] To limit the radial displacement of the second output shaft 308 and reduce lateral sway, such as Figure 1 and Figure 2 As shown, the dual-output shaft electric cylinder proposed in this embodiment further includes: a sliding sleeve 14; the mounting frame body 1011 is also provided with a through hole 10111, one end of the second output shaft 308 passing through the mounting frame body 1011 is located in the through hole 10111, the sliding sleeve 14 is disposed in the through hole 10111 and is slidably connected to one end of the second output shaft 308 located in the through hole 10111.

[0107] The sliding sleeve 14 can further limit the radial displacement of the second output shaft 308, reduce lateral sway, and improve the control accuracy of the dual output shaft electric cylinder.

[0108] In one embodiment, a magnetic shielding ring 10 is provided at each of the third magnet, the first magnet 9, and the second magnet. The magnetic shielding ring 10 is fixed to the second circuit board support.

[0109] In one embodiment, the thrust bearing assembly 203 may be a thrust bearing, a diagonal contact bearing, or a four-point contact bearing.

[0110] In one embodiment, the first driving component 201 and the second driving component 301 are rotary driving components, which may be a motor or a rotary cylinder, etc.

[0111] Preferably, to simplify the structure, the first drive component 201 and the second drive component 301 are motors.

[0112] In one embodiment, elastic components 15 that can provide preload are respectively provided between the thrust bearing assembly 203 and the bearing end cover 106, between the second bearing 305 and the second transmission gear 3024, and between the second bearing 305 and the first bearing housing 102, so as to eliminate axial backlash. The elastic components 15 are disc springs or polyurethane elastomers and other elastic elements.

[0113] In one embodiment, the motor housing 1012 is provided with heat dissipation holes 10121 to dissipate heat from the first drive component 201 and the second drive component 301.

[0114] In one embodiment, the first transmission gear 3023 and the third transmission gear 3031 may be a single double gear.

[0115] In summary, this embodiment proposes a dual-output-shaft electric cylinder. By setting two output sections in the dual-output-shaft electric cylinder, a single electric cylinder has two output shafts. Compared with related technologies that require combining two electric cylinders to perform dual-output-shaft control operations, this dual-output-shaft electric cylinder with two output sections can complete the work in scenarios requiring dual-output-shaft control. It can simultaneously control the motion of multiple objects within the same range, making it more powerful. Moreover, the dual-output-shaft electric cylinder can be obtained without combining two electric cylinders, reducing its size and avoiding the space-consuming drawback of combined electric cylinders. Furthermore, the two output sections of the dual-output-shaft electric cylinder do not restrict each other and can be operated simultaneously or separately, making the equipment more flexible and convenient to use.

[0116] Example 2

[0117] The execution subject of the position detection method for a dual-output shaft electric cylinder proposed in this embodiment is a chip.

[0118] See Figure 14The flowchart shown illustrates a position detection method for a dual-output-shaft electric cylinder. This embodiment proposes a position detection method for a dual-output-shaft electric cylinder, used to detect the displacement change of the second output shaft in the dual-output-shaft electric cylinder proposed in Embodiment 1. The method includes the following specific steps:

[0119] Step 1400: Obtain the first initial angle before the fifth transmission gear rotates and the second initial angle before the second transmission gear rotates, and calculate the angle difference between the first initial angle and the second initial angle.

[0120] Step 1402: Obtain the first rotation angle after the fifth transmission gear rotates and the second rotation angle after the second transmission gear rotates.

[0121] In step 1402 above, the first rotation angle is the rotation angle of the fifth transmission gear during its last rotation.

[0122] The second rotation angle is the rotation angle of the second transmission gear during its last revolution.

[0123] For the specific process of obtaining the first initial angle before the fifth transmission gear rotates and the second initial angle before the second transmission gear rotates, as well as the first rotation angle after the fifth transmission gear rotates and the second rotation angle after the second transmission gear rotates, in steps 1400 and 1402 above, please refer to the description of the chip function in Embodiment 1, which will not be repeated here.

[0124] Step 1404: Based on the first initial angle and the first rotation angle, obtain the first angle change of the first rotation angle relative to the first initial angle, and based on the second initial angle and the second rotation angle, obtain the second angle change of the second rotation angle relative to the second initial angle.

[0125] Step 1406: Obtain the reduction ratio between the fifth transmission gear and the second transmission gear. Based on the reduction ratio between the fifth transmission gear and the second transmission gear, the first angle change, and the second angle change, calculate the number of rotations of the second transmission gear.

[0126] In step 1406 above, the number of rotations of the second transmission gear is calculated using the following formula:

[0127] n = (i * α² - β²) / 360

[0128] Where n represents the number of rotations of the second transmission gear; i represents the reduction ratio between the fifth transmission gear and the second transmission gear; α2 represents the first angle change; and β2 represents the second angle change.

[0129] Step 1408: Obtain the pitch of the second thrust screw, and calculate the displacement change of the second output shaft based on the number of rotations of the second transmission gear, the pitch of the second thrust screw, and the second angle change, thereby completing the position detection of the dual output shaft electric cylinder.

[0130] In step 1408 above, the displacement change of the second output shaft is calculated using the following formula:

[0131] L=[n+β2 / 360]*P

[0132] Where L represents the displacement change of the second output shaft; P represents the pitch of the second thrust screw.

[0133] It should be noted that in the position detection method for the dual-output shaft electric cylinder proposed in this embodiment, the position recognition structure uses the combination of magnet 9 at the first screw magnet bracket 3037 and magnet 9 at the second screw magnet bracket 3038 with the chip, instead of using the combination of magnet 9 at the second magnet seat 8 and magnet 9 at the second screw magnet bracket 3038 with the chip, because:

[0134] First: The pitch of the second output shaft 308 and the second thrust screw 307 is 1.2 mm. The stroke of the second output shaft 308 is 50 mm. Therefore, the transmission gear 3024 will rotate less than 42 times after completing one stroke.

[0135] Secondly, due to the requirements for speed and torque, the speed transmitted from the drive gear 3021 to the second transmission gear 3024 needs to be reduced, that is, the reduction ratio i1 between the drive gear 3021 and the second transmission gear 3024 is greater than 1. The transmission ratio i1 of this scheme is (43 / 12). 2 Therefore, when the second transmission gear 3024 rotates one revolution, the drive gear 3021 will rotate multiple revolutions. Thus, the following correspondence exists:

[0136] γ1+Δ+i1*γ2+360*n1=β1+β2+360*n2

[0137] γ1+Δ=β1

[0138] n 1＝ n2*i1

[0139] Wherein, γ1 represents the initial angle of the drive gear 3021; ​​γ2 represents the change in the angle γ2 relative to the initial angle γ1 during the last revolution of the drive gear 3021; ​​Δ represents the difference between γ1 and β1, and Δ=β1-α1; n1 represents the number of revolutions of the drive gear 3021; ​​and n2 represents the number of revolutions of the second transmission gear 3024.

[0140] This can lead to the following situations:

[0141] The first case: When γ2 and β2 are zero, within the range of the number of revolutions of the second transmission gear 3024, there are multiple sets of values ​​for n1 and n2 that make the above equation equal, so the actual values ​​of n1 and n2 cannot be obtained.

[0142] The second scenario: When γ2 is zero and β2 is not zero, for each revolution of the drive gear 3021, the second transmission gear 3024 will have a corresponding rotation angle β2. Furthermore, β2 is irregular for different numbers of revolutions of the drive gear 3021, and there will be backlash between the drive gear 3021 and the second transmission gear 3024. This will cause errors in power transmission, and the wear of the gear roots due to prolonged use will also affect transmission accuracy. This will lead to a deviation in the value of β2 when γ2 is zero, potentially resulting in a value closer to the value corresponding to other numbers of revolutions of the drive gear 3021. Consequently, the calculation of the number of revolutions n1 of the drive gear 3021 based on the value of β2 will be inaccurate, leading to errors in the calculation results, or causing the electric cylinder to malfunction and stop operating.

[0143] The third scenario: When both γ2 and β2 are not zero, similar to the second scenario, due to errors in the transmission process, the value of β2 may be closer to the value corresponding to other rotations of the drive gear 3021. As a result, the value of n1, which is the number of rotations of the drive gear 3021, obtained from the value of β2, will be deviated, leading to errors in the calculation results, or the electric cylinder will report an error and cannot continue to operate.

[0144] Therefore, in the position detection method of the dual-output shaft electric cylinder proposed in this embodiment, the position recognition structure 303 adopts a combination of magnet 9 at the first screw magnet bracket 3037 and magnet 9 at the second screw magnet bracket 3038 with the chip. The principle is as follows: the reduction ratio i2 between the drive gear 3021 and the fifth transmission gear 3035 is designed to be greater than i1. Therefore, the fifth transmission gear 3035 will only rotate once for the second transmission gear 3024 to rotate multiple times. In this scheme, i2 / i1 = (43 / 12). 3The pitch of the second thrust screw 307 is 1.2mm, meaning the second transmission gear 3024 rotates approximately 46 times before the fifth transmission gear 3035 rotates only once. The stroke of the second output shaft 308 is 50mm, so the second transmission gear 3024 rotates at most approximately 42 times. Therefore, in practical applications, the fifth transmission gear 3035 will not rotate more than once. Thus, the three scenarios mentioned above do not exist. The number of rotations n of the second transmission gear 3024, i.e., the number of rotations n of the second thrust screw 307, can be determined based on the angle α2 through which the fifth transmission gear 3035 rotates. Even with transmission errors, the magnitude of the error is insufficient to affect the number of rotations n of the second thrust screw 307. When the value obtained from angle α2 is the critical value of the number of rotations (i.e., the range from n-1 rotations to n rotations or from n rotations to n+1 rotations), the number of rotations n can also be determined based on β2. Therefore, the result obtained by this position recognition structure 303 is more accurate and has a wider range of applications, which is an advantage over existing technologies.

[0145] In summary, this embodiment proposes a position detection method for a dual-output-shaft electric cylinder. By setting two output sections in the dual-output-shaft electric cylinder, a single electric cylinder has two output shafts. Compared with related technologies that require combining two electric cylinders to perform dual-output-shaft control operations, this method allows for simultaneous motion control of multiple objects within the same range, resulting in more powerful functionality. Furthermore, the dual-output-shaft electric cylinder can be obtained without combining two electric cylinders, reducing its size and avoiding the space-consuming drawback of combined electric cylinders. Moreover, the two output sections of the dual-output-shaft electric cylinder do not restrict each other and can be operated simultaneously or separately, making the equipment more flexible and convenient to use.

[0146] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A dual output shaft electric cylinder characterized by, The installation shell, the first output part, the second output part, the first circuit board support and the position identification structure gear support are arranged in the installation shell. The installation shell comprises a mounting frame body, a first bearing shell, a gear box shell, a gear box end cover, a second bearing shell, a bearing end cover, a push rod shell and an output shaft end cover. One end of the mounting frame body is sequentially provided with the first bearing shell, the gear box shell and the gear box end cover through bolt fixation, and the other end of the mounting frame body is sequentially provided with the second bearing shell, the bearing end cover, the push rod shell and the output shaft end cover through bolt fixation. The first circuit board support is located between the gear box shell and the gear box end cover and is fixed on the gear box shell, the position identification structure gear support is embedded on the end face of the gear box shell facing the first circuit board support, and the end face of the first circuit board support facing the gear box end cover is fixedly provided with a second circuit board. The first output part is located in the interior of the mounting frame body, the second bearing shell, the bearing end cover, the push rod shell and the output shaft end cover. The second output part is located in the interior of the mounting frame body, the first bearing shell, the gear box shell and the gear box end cover. The mounting frame body comprises a mounting frame body and a motor housing. The motor housing is fixed on the mounting frame body.

2. The dual-output shaft electric cylinder according to claim 1, characterized by, The mounting frame body is fixedly connected with the first bearing shell through bolts. The second output part comprises a second driving component, a transmission mechanism, a position identification structure, a second nut, a second bearing, a second thrust screw, a second output shaft and a second coupling. The second driving component is arranged in the motor housing and is fixed on the first bearing shell.

3. The dual-output shaft electric cylinder according to claim 2, characterized by, The second coupling is rotatably connected to the first bearing shell through the second bearing, the second driving component is fixedly connected with the transmission mechanism, the transmission mechanism is connected with and drives the second coupling to rotate, one end of the second coupling is provided with the second thrust screw, the second thrust screw is sleeved with the second nut and is in transmission connection with the second nut, one end of the second nut away from the second coupling is fixedly connected with the second output shaft, the second output shaft is sleeved on the second thrust screw, the second output shaft is arranged in the same direction as the first output shaft, the second nut can penetrate through the mounting frame body along with the second output shaft and move linearly along the mounting frame body, and the position identification structure is fixedly connected with the position identification structure gear support. The transmission mechanism comprises a driving gear, a first double coupling gear, a first transmission gear, a second transmission gear, a first gear pin shaft and a second gear pin shaft. ​ 4. The dual-output shaft electric cylinder according to claim 3, characterized by, ​ The first double gear includes a large gear and a small gear coaxially arranged, the driving gear is fixedly connected with an output shaft of the second driving part, the driving gear is engaged with the large gear of the first double gear, the small gear of the first double gear is engaged with the first transmission gear, the first transmission gear is engaged with the second transmission gear, the second transmission gear is sleeved on the second shaft coupling and fixedly connected with the second shaft coupling, one end of the first gear pin shaft and the second gear pin shaft is respectively fixedly connected with the first bearing shell, the other end of the first gear pin shaft and the second gear pin shaft is respectively fixedly connected with the first circuit board support, the first double gear is coaxial with the first gear pin shaft and rotationally connected with the first gear pin shaft, and the first transmission gear is coaxial with the second gear pin shaft and rotationally connected with the second gear pin shaft.

5. The dual-output shaft electric cylinder according to claim 4, characterized by, The position recognition structure comprises a third transmission gear, a second double gear, a third double gear, a fourth transmission gear, a fifth transmission gear, a third gear pin shaft, a first screw magnet support and a second screw magnet support. The second double gear and the third double gear respectively comprise two gears coaxially arranged, the third transmission gear is located between the first transmission gear and the third double gear and is integrally formed with the first transmission gear, the third transmission gear and the third double gear are coaxial with the second gear pin shaft and rotationally connected with the second gear pin shaft, the third transmission gear can rotate synchronously with the first transmission gear, the second double gear is coaxial with the first gear pin shaft and rotationally connected with the first gear pin shaft, both ends of the third gear pin shaft are respectively fixedly connected with the first circuit board support and the position recognition structure gear support, the fourth transmission gear is coaxial with the third gear pin shaft and rotationally connected with the third gear pin shaft, the third transmission gear is engaged with the large gear of the second double gear, the small gear of the second double gear is engaged with the large gear of the third double gear, the small gear of the third double gear is engaged with the fourth transmission gear, the fourth transmission gear is engaged with the fifth transmission gear, the first screw magnet support and the second screw magnet support are respectively rotationally connected to the gear box shell, the first screw magnet support is coaxial with the second shaft coupling, one end of the first screw magnet support is fixedly connected with the second shaft coupling, and the other end of the first screw magnet support is rotationally connected with the gear box shell through a bearing; the fifth transmission gear is coaxially and fixedly connected with the second screw magnet support, and the end surface of the first screw magnet support and the second screw magnet support towards the second circuit board is embedded with a first magnet. Wherein, the driving gear starts to rotate, drives the first double gear to rotate, the first double gear drives the first transmission gear to rotate, at this time, the third transmission gear rotates synchronously with the first transmission gear, and drives the second double gear meshing with the third transmission gear to rotate, the third double gear rotates under the drive of the second double gear, and drives the fourth transmission gear to rotate, the fifth transmission gear meshing with the fourth transmission gear starts to rotate; At this time, the second screw magnet bracket rotates synchronously with the fifth transmission gear, so that the first magnet on the second screw magnet bracket rotates synchronously with the fifth transmission gear and the angle of rotation is the same; After the first transmission gear rotates, the second transmission gear meshing with the first transmission gear rotates, the second shaft coupling rotates with the rotating second transmission gear, under the rotation of the second shaft coupling, the first screw magnet bracket fixedly connected with the second shaft coupling starts to rotate, so that the first magnet on the first screw magnet bracket rotates synchronously with the second transmission gear and the angle of rotation is the same.

6. The dual-output shaft electric cylinder according to claim 3, characterized by, Also includes: Second position signal generator; The second position signal generator is arranged between the second driving part and the second circuit board; The second position signal generator comprises a second magnet seat arranged on the output end of the second driving part; The second magnet seat is embedded with a second magnet, and the embedded second magnet in the second magnet seat faces the second circuit board; The second circuit board is provided with a chip, and the chip is arranged opposite to the second magnet; The chip is used for acquiring the first magnetic signal emitted by the first magnet on the first screw magnet bracket and the second magnetic signal emitted by the first magnet on the second screw magnet bracket respectively; the second magnetic signal is converted into an electric signal, so as to obtain the first initial angle before the fifth transmission gear rotates and the first rotation angle after the fifth transmission gear rotates; the first magnetic signal is converted into an electric signal, so as to obtain the second initial angle before the second transmission gear rotates and the second rotation angle after the second transmission gear rotates.

7. The dual-output shaft electric cylinder according to claim 3, characterized by, Also includes: Steel ball and returner; A second guide groove is further formed in the inner wall of the mounting frame body; The second guide groove is parallel to the second output shaft; The second nut comprises an integrally formed nut body and a base, and the base is located on the circumferential side wall of the nut body; The base is provided with a first guide groove opposite to the second guide groove on the two sides parallel to the extension direction of the nut body, the first guide groove and the second guide groove form a containing space, and the steel ball is matched and installed in the containing space; The base is further provided with two steel ball return holes corresponding to the first guide groove, and the two steel ball return holes are arranged below the nut body, and the two ends of the base are respectively provided with the returners communicating the two steel ball return holes and the first guide groove; In the process that the base is movable relative to the mounting frame body and linearly moves along the inner wall of the mounting frame body, the steel ball circulates and rolls in the second guide groove, the first guide groove, the reverser and the steel ball return flow hole.

8. The dual-output shaft electric cylinder according to claim 3, characterized by, Further comprising: a sliding sleeve; The mounting frame body is further provided with a through hole, one end of the second output shaft penetrating through the mounting frame body is located in the through hole, and the sliding sleeve is arranged in the through hole and in sliding connection with one end of the second output shaft located in the through hole.

9. A position detection method of a dual-output-shaft electric cylinder, characterized by, The method for detecting the displacement change amount of the second output shaft in the double-output-shaft electric cylinder of any one of claims 1-8, comprising: obtaining a first initial angle before the fifth transmission gear rotates and a second initial angle before the second transmission gear rotates, and calculating an angle difference between the first initial angle and the second initial angle; obtaining a first rotation angle after the fifth transmission gear rotates and a second rotation angle after the second transmission gear rotates; obtaining a first angle change amount of the first rotation angle relative to the first initial angle based on the first initial angle and the first rotation angle, and obtaining a second angle change amount of the second rotation angle relative to the second initial angle based on the second initial angle and the second rotation angle; obtaining a speed reduction ratio between the fifth transmission gear and the second transmission gear, and calculating a rotation number of the second transmission gear based on the speed reduction ratio between the fifth transmission gear and the second transmission gear, the first angle change amount and the second angle change amount; obtaining a pitch of the second thrust screw, and calculating the displacement change amount of the second output shaft according to the rotation number of the second transmission gear, the pitch of the second thrust screw and the second angle change amount, so as to complete the position detection of the double-output-shaft electric cylinder.

10. The method of claim 9, wherein, The calculation of the rotation number of the second transmission gear based on the speed reduction ratio, the first angle change amount and the second angle change amount comprises: the rotation number of the second transmission gear is calculated by the following formula: n = (i * α2- β2) / 360 wherein n represents the rotation number of the second transmission gear, i represents the speed reduction ratio between the fifth transmission gear and the second transmission gear, α2 represents the first angle change amount, and β2 represents the second angle change amount; The calculation of the displacement change amount of the second output shaft according to the rotation number of the second transmission gear, the pitch of the second thrust screw and the second angle change amount comprises: the displacement change amount of the second output shaft is calculated by the following formula: L = [n + β2 / 360] * P wherein L represents the displacement change amount of the second output shaft, and P represents the pitch of the second thrust screw.

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