Linear push rod device and robot

Abstract

The utility model provides a linear push rod device and robot, including mounting part, roller screw mechanism, encoder and controller, mounting part is provided with drive assembly, drive assembly includes rotor, roller screw mechanism is connected with drive assembly, roller screw mechanism is suitable for being connected with executive component, roller screw mechanism includes nut, the encoder is connected with the drive assembly, roller screw mechanism is suitable for being connected with executive component. At least one of the rotor and the nut is provided with a magnetic part, the encoder is installed on the installation part and used for detecting position information of the magnetic part, and the controller is connected with the encoder and the driving assembly so as to control starting and stopping of the driving assembly based on the position information of the magnetic part. The combination of the encoder and the magnetic piece can detect the position of the rotor or the roller screw mechanism, and then position information of the execution component is obtained through calculation, so that detection and feedback of the position of the execution component can be achieved, and starting and stopping of the driving assembly can be controlled according to the position information. Therefore, the position control precision of the execution component is improved.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a linear actuator and robot. Background Technology

[0002] The existing linear actuators lack real-time monitoring and feedback of the lead screw position, making it difficult to accurately control the position of the actuator. This results in large positional errors and low positional accuracy. Furthermore, due to the lack of real-time feedback, the control response speed is slow, making it impossible to achieve immediate feedback and adjustment of the actuator position. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in related technologies. To this end, this invention proposes a linear actuator device, designed to achieve real-time feedback and adjustment of the position of the actuator, thereby improving position control accuracy.

[0004] A second aspect of this utility model provides a robot.

[0005] The linear actuator according to a first aspect of the present invention includes:

[0006] The mounting component is provided with a drive assembly, the drive assembly including a rotor;

[0007] A ball screw mechanism is connected to the drive assembly, the ball screw mechanism is adapted to be connected to an actuating component, the ball screw mechanism includes a nut, and at least one of the rotor or the nut is provided with a magnetic element;

[0008] An encoder, mounted on the mounting component, is used to detect the position information of the magnetic component;

[0009] A controller, connected to the encoder and the drive assembly, controls the start and stop of the drive assembly based on the position information of the magnetic element.

[0010] The linear actuator of this utility model includes a mounting component, a ball screw mechanism, an encoder, and a controller. The mounting component is equipped with a drive assembly, which includes a rotor. The ball screw mechanism is connected to the drive assembly and is adapted to connect to an actuator. The ball screw mechanism includes a nut. At least one of the rotor or the nut is provided with a magnetic element. The encoder is mounted on the mounting component and is used to detect the position information of the magnetic element. The controller is connected to the encoder and the drive assembly to control the start and stop of the drive assembly based on the position information of the magnetic element. The combination of the encoder and the magnetic element can realize the detection of the position of the rotor or the ball screw mechanism, and then calculate the position information of the actuator. This enables the detection and feedback of the actuator position, and allows control of the start and stop of the drive assembly based on the position information, thereby improving the position control accuracy of the actuator.

[0011] According to the linear push rod device of this utility model embodiment, the magnetic component is provided with a first magnetic pole and a second magnetic pole;

[0012] Wherein, the number of the first magnetic pole and the number of the second magnetic pole are both one, and the first magnetic pole and the second magnetic pole are arranged adjacent to each other; or,

[0013] The number of first magnetic poles and second magnetic poles are both multiple, and the first magnetic poles and second magnetic poles are alternately arranged along the circumference of the magnetic component.

[0014] According to the linear push rod device of this utility model embodiment, the rotor or the nut is fitted with a mounting base, the magnetic element is installed in the middle of the mounting base, and the central axis of the magnetic element is on the same straight line as the central axis of the rotor.

[0015] According to an embodiment of the present invention, in the linear push rod device, a positioning groove is formed in the middle of the mounting base, and the magnetic component is engaged in the positioning groove.

[0016] According to the linear push rod device of this utility model embodiment, the roller screw mechanism is a differential planetary roller screw.

[0017] According to an embodiment of the present invention, the linear push rod device further includes the roller screw mechanism as follows:

[0018] A retainer is mounted on the nut;

[0019] A roller is mounted on the cage, the roller comprising a drive section and a threaded section, the drive section being drively connected to the nut;

[0020] A lead screw is threadedly connected to the threaded section to drive the lead screw to move linearly when the roller rotates.

[0021] According to the linear push rod device of this utility model embodiment, limit retaining rings are installed on both sides of the nut. The limit retaining rings are located on the side of the retainer away from the roller to axially limit the retainer.

[0022] According to the linear push rod device of this utility model embodiment, the inner side of the nut is provided with a clearance groove, and the clearance groove is provided corresponding to the threaded section.

[0023] According to an embodiment of the linear push rod device of the present invention, the threaded section is disposed in the middle of the roller, and the transmission section is disposed on both sides of the threaded section; or,

[0024] The transmission section is located in the middle of the roller, and the threaded section is provided on both sides of the transmission section.

[0025] A second aspect of this utility model provides a robot, comprising:

[0026] The linear actuator device described in any of the above embodiments;

[0027] robotic arm;

[0028] An actuator is connected to the robotic arm via the linear actuator.

[0029] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this utility model or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the linear push rod device provided in an embodiment of the present invention;

[0032] Figure 2 This is a side view of the linear push rod device provided in this embodiment of the utility model;

[0033] Figure 3 yes Figure 2 A schematic diagram of the cross-section of AA;

[0034] Figure 4 This is a schematic diagram of the magnetic component provided in this embodiment of the utility model. Figure 1 ;

[0035] Figure 5 This is a schematic diagram of the magnetic component provided in this embodiment of the utility model. Figure 2 ;

[0036] Figure 6 yes Figure 3 A magnified view of a portion of point B in the middle.

[0037] Figure label:

[0038] 100. Mounting components; 110. Bearings; 120. Locking seats;

[0039] 200. Drive assembly; 210. Stator; 220. Rotor; 230. Mounting base; 231. Positioning slot;

[0040] 300. Roller screw mechanism; 310. Nut; 311. Limiting ring; 312. Clearance groove; 320. Cage; 330. Roller; 340. Screw; 331. Transmission section; 332. Threaded section;

[0041] 400. Magnetic component; 410. First magnetic pole; 420. Second magnetic pole;

[0042] 500, Encoder. Detailed Implementation

[0043] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0044] In the description of the embodiments of this utility model, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this utility model 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 the embodiments of this utility model. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0045] In the description of the embodiments of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" 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. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this utility model based on the specific circumstances.

[0046] In this embodiment of the utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0047] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0048] The embodiments of this utility model are described with reference to... Figures 1-6 As shown, a linear actuator and a robot are provided.

[0049] According to one embodiment of this utility model, please refer to the reference. Figure 1 , Figure 2 and Figure 3According to an embodiment of the present invention, a linear actuator includes a mounting component 100, a ball screw mechanism 300, an encoder 500, and a controller. The mounting component 100 is provided with a drive assembly 200, which includes a rotor 220. The ball screw mechanism 300 is connected to the drive assembly 200 and is adapted to be connected to an actuating component. The ball screw mechanism 300 includes a nut 310. At least one of the rotor 220 or the nut 310 is provided with a magnetic element 400. The encoder 500 is mounted on the mounting component 100 and is used to detect the position information of the magnetic element 400. The controller is connected to the encoder 500 and the drive assembly 200 to control the start and stop of the drive assembly 200 based on the position information of the magnetic element 400.

[0050] In this embodiment, the position information of the magnetic component 400 may include the rotation angle information of the magnetic component 400. The magnetic component 400 is typically made of a permanent magnet, and its magnetic field strength should be sufficiently large to be detected by the encoder 500. The encoder 500 may be a Hall element, a magnetoresistive element, or a magnetoresistive element, etc. During operation, there is a gap between the magnetic component 400 and the encoder 500. The position or rotation angle of the magnetic component 400 determines the strength of the magnetic field in this gap. As the magnetic component 400 rotates with the rotor 220 or the nut 310, the encoder 500 can determine the rotation angle of the magnetic component 400 by detecting changes in the magnetic field, and then determine the rotation angle of the rotor 220 or the nut 310, thereby calculating the position information of the end effector and controlling the start and stop of the drive assembly 200 based on this position information.

[0051] The combination of encoder 500 and magnetic component 400 enables non-contact measurement, reduces errors, and provides high position measurement accuracy. Magnetic encoder 500 uses digital signal output, enabling very fast position measurement, and is suitable for high-speed motion control systems such as robots and CNC machine tools. The magnetic field of magnetic component 400 is not easily affected by external factors such as dust, oil, and vibration, so it can work stably in harsh working environments, with high reliability and long service life.

[0052] It is understood that in this embodiment, the combination of encoder 500 and magnetic component 400 can detect the position of rotor 220 or roller screw mechanism 300, and then calculate the position information of the actuator. This enables the detection and feedback of the position of the actuator, and the start and stop of drive component 200 can be controlled according to the position information, thereby improving the position control accuracy of the actuator.

[0053] In one optional embodiment, the magnetic element 400 is circular or annular in shape, and the magnetic field lines should be uniform and regular. This design makes it easier for the encoder 500 to detect and identify the position information of the magnetic element 400, and to detect the position information of the magnetic element 400 more reliably and accurately, thereby achieving more precise position detection and feedback, and facilitating control. In other embodiments, the magnetic element 400 can also be other shapes, including but not limited to triangles, squares, etc., and can be designed according to specific actual needs. This embodiment does not make specific limitations in this regard.

[0054] According to one embodiment of the present invention, reference is made to... Figure 4 and Figure 5 As shown, the magnetic component 400 is provided with a first magnetic pole 410 and a second magnetic pole 420, wherein the number of the first magnetic pole 410 and the second magnetic pole 420 is one, and the first magnetic pole 410 and the second magnetic pole 420 are arranged adjacent to each other; or the number of the first magnetic pole 410 and the second magnetic pole 420 is multiple, and the first magnetic pole 410 and the second magnetic pole 420 are arranged alternately along the circumference of the magnetic component 400.

[0055] Optionally, the first magnetic pole 410 is the N pole and the second magnetic pole 420 is the S pole.

[0056] In one optional embodiment, the magnetic component 400 is provided with a first magnetic pole 410 and a second magnetic pole 420, and the first magnetic pole 410 and the second magnetic pole 420 are arranged adjacent to each other, that is, the first magnetic pole 410 and the second magnetic pole 420 are next to each other. In some embodiments, the encoder 500 is provided with four Hall devices. According to the Hall effect, under the action of the magnetic field of the magnetic component 400, the four Hall devices can sense corresponding voltage values. When the magnetic component 400 rotates at a constant speed for one revolution, the voltage waveform sensed by the four Hall devices is a four-way sine wave with a phase difference of 90°. Therefore, the rotation angle of the magnetic component 400 can be obtained according to the magnitude of the returned voltage.

[0057] In another alternative embodiment, there are multiple first magnetic poles 410 and second magnetic poles 420, and these multiple first magnetic poles 410 and second magnetic poles 420 are alternately arranged along the circumference of the magnetic component 400. The magnetic field strength of each magnetic pole can be the same or different, so that the encoder 500 can detect more magnetic field changes and provide more position information. Therefore, it can achieve higher position resolution and improve accuracy. Since there are multiple magnetic poles on the magnetic component 400 and the distance between each magnetic pole is small, it can resist more external interference. Furthermore, it can eliminate problems such as magnetic pole deviation by setting an automatic calibration program, thereby improving its measurement accuracy.

[0058] According to one embodiment of the present invention, reference is made to... Figure 3As shown, the rotor 220 or nut 310 is fitted with a mounting base 230, and the magnetic component 400 is installed in the middle of the mounting base 230, with the central axis of the magnetic component 400 and the central axis of the rotor 220 on the same straight line.

[0059] Understandably, in an alternative implementation, the magnetic component 400 is mounted on the rotor 220, and the position change of the rotor 220 is more rapid than the position change of the actuator. Furthermore, since there is a certain reduction ratio in the transmission between the rotor 220 and the actuator, using the position of the rotor 220 to control the start and stop of the motor can achieve faster response and higher precision.

[0060] In this embodiment, by aligning the central axis of the magnetic component 400 and the central axis of the rotor 220 on the same straight line, it can be ensured that the magnetic component 400 rotates synchronously with the rotor 220. This avoids measurement errors caused by the relative rotation between the rotor 220 and the magnetic component 400. By detecting the rotation angle of the magnetic component 400, the rotation angle of the rotor 220 can be determined. The sensor can monitor changes in the magnetic field on the magnetic component 400 and convert them into position or angular information of the rotor 220. This synchronous rotation structure can provide more accurate measurement results because the relative positional relationship between the rotor 220 and the magnetic component 400 is fixed.

[0061] In one optional embodiment, the rotor 220 and the mounting base 230 are integrally formed, which ensures that the relative position between the rotor 220 and the mounting base 230 is fixed. In another optional embodiment, the nut 310 and the mounting base 230 are integrally formed, which also ensures that the relative position between the nut 310 and the mounting base 230 is fixed. No assembly is required, thereby reducing deviations caused by assembly errors. This improves the accuracy and reliability of rotor 220 position measurement. Furthermore, this integral design simplifies the manufacturing process and reduces production costs by reducing the number of parts and assembly steps, thus improving production efficiency.

[0062] In another optional embodiment, when the magnetic component 400 is designed to rotate synchronously with the nut 310, the mounting base 230 is sleeved on the nut 310. At this time, the central axis of the magnetic component 400 and the central axis of the nut 310 are on the same straight line. The specific principle and implementation method can be referred to the above embodiment, and will not be repeated in this embodiment.

[0063] According to one embodiment of the present invention, reference is made to... Figure 3 As shown, a positioning groove 231 is formed in the middle of the mounting base 230, and the magnetic component 400 is snapped into the positioning groove 231.

[0064] It is understood that in this embodiment, by forming a positioning groove 231 in the middle of the mounting base 230, the magnetic component 400 can be snapped into the positioning groove 231, thus positioning the magnetic component 400 at the center of the mounting base 230 and ensuring the accuracy of the installation position of the magnetic component 400. Furthermore, this design facilitates the installation and removal of the magnetic component 400. By snapping the magnetic component 400 into the positioning groove 231, the installation process is simplified and installation efficiency is improved. If replacement or repair of the magnetic component 400 is required, it can be easily removed without extensive disassembly of the entire structure.

[0065] According to one embodiment of the present invention, reference is made to... Figure 3 and Figure 6 As shown, the roller screw mechanism 300 also includes a cage 320, a roller 330, and a screw 340. The cage 320 is mounted on the nut 310, and the roller 330 is mounted on the cage 320. The roller 330 includes a transmission section 331 and a threaded section 332. The transmission section 331 is connected to the nut 310 for transmission. The transmission section 331 may be provided with multiple teeth for meshing transmission with the nut 310, so as to realize the transmission between the roller 330 and the nut 310. When the nut 310 rotates, it drives the roller 330 to rotate. The screw 340 is threadedly connected to the threaded section 332 so as to drive the screw 340 to move linearly when the roller 330 rotates.

[0066] The roller screw mechanism 300 is used to convert rotary motion into linear motion. The screw 340 is a rod-like structure with threads on its surface, typically having a circular cross-section. The threads helically rise or fall along the axis of the screw 340. The screw 340 is threadedly connected to a threaded section 332. The roller screw mechanism 300 reduces friction and wear by placing rollers 330 between the threaded surfaces. The rollers 330 are typically cylindrical parts that transmit force and motion by rolling rather than sliding. The diameter and number of rollers 330 can depend on the actual load and speed requirements, and this embodiment does not specifically limit this.

[0067] Compared to ball screw mechanisms, roller screw mechanisms use rolling contact instead of sliding contact, resulting in higher rigidity, the ability to withstand greater loads, less friction and wear, and a longer service life. Furthermore, they have lower precision requirements and lower manufacturing costs compared to ball screw mechanisms.

[0068] In this embodiment, a retainer 320 is installed on the nut 310, and the roller 330 is installed on the retainer 320. The retainer 320 is used to fix the position of the roller 330, which can ensure that the roller 330 maintains the correct position when the nut 310 rotates and prevent the roller 330 from falling off the nut 310.

[0069] When the nut 310 rotates, it drives the roller 330 to rotate on its own axis and revolve around the lead screw 340. The revolution of the roller 330 is converted into the axial movement of the lead screw 340, which allows the lead screw 340 to extend or retract. The lead screw 340 is connected to the actuator, realizing the linear movement of the actuator.

[0070] It is understood that in this embodiment, the drive component 200 is a frameless motor, which includes a stator 210 and a rotor 220. The nut 310 is sleeved on the rotor 220. When the rotor 220 rotates, it directly drives the nut 310 to rotate. The structure is more compact, reducing the overall size and space occupied, and is suitable for the miniature linear actuator of the robot.

[0071] According to one embodiment of the present invention, the roller screw mechanism 300 is a differential planetary roller screw.

[0072] Differential roller screws are transmission components with performance far exceeding that of traditional roller screw mechanisms. They have a simple structure, no reversing mechanism, and good processability of raceway tooth profiles, which can reduce processing difficulty and cost. They are easy to install and can also reduce speed by a certain ratio, increasing thrust output. They have many advantages such as high precision, high efficiency, high load ratio, high reliability, and high stability.

[0073] In some embodiments, the ball screw mechanism 300 can be a PWG differential planetary ball screw or other types of differential planetary ball screws; in one optional embodiment, the number of rollers 330 is four, and the starting position of the threaded section 332 of each roller 330 differs from the thread pitch on the ball screw 340 by 1 / 4 to achieve differential transmission. In other embodiments, the number of rollers 330 can also be other values, and the starting position of the thread of each roller 330 can be adjusted accordingly to achieve differential transmission. This embodiment does not specifically limit this.

[0074] According to one embodiment of the present invention, reference is made to... Figure 3 and Figure 6 As shown, limit rings 311 are installed on both sides of the nut 310. The limit rings 311 are located on the side of the cage 320 away from the roller 330 to axially limit the cage 320.

[0075] It is understood that in this embodiment, limit rings 311 are installed at both ends of the nut 310, and the retainers 320 at both ends of the roller 330 are axially limited by the limit rings 311, keeping the retainers 320 and the roller 330 in a predetermined position, avoiding transmission errors, and ensuring that the retainers 320 do not exceed the predetermined range during operation, avoiding malfunctions or damage caused by excessive displacement, and improving stability and reliability. In some embodiments, the limit rings 311 can be elastic rings made of elastic materials, such as spring steel or rubber, with certain elasticity and resilience, facilitating the installation of the retainers 320.

[0076] According to one embodiment of the present invention, wiping and viewing Figure 3 As shown, the inner side of the nut 310 is provided with a relief groove 312, which is provided corresponding to the threaded section 332.

[0077] In this embodiment, in order to ensure the smooth movement of the roller 330 and avoid interference, the inner side of the nut 310 is provided with specially shaped relief grooves 312. The position and size of these relief grooves 312 correspond to the threaded section 332 of the roller 330, so as to ensure that there is no interference between the threaded section 332 and the nut 310 during the rotation of the roller 330. By setting the relief grooves 312, interference between the threaded section 332 and the nut 310 can be effectively prevented, thereby ensuring the reliability and smoothness of the transmission.

[0078] According to one embodiment of the present invention, reference is made to... Figure 3 As shown, the threaded section 332 is located in the middle of the roller 330, and the transmission section 331 is provided on both sides of the threaded section 332, or the transmission section 331 is located in the middle of the roller 330, and the threaded section 332 is provided on both sides of the transmission section 331.

[0079] In one optional embodiment, the threaded section 332 is disposed in the middle of the roller 330, and a transmission section 331 is provided on both sides of the threaded section 332. That is, the two ends of the roller 330 are connected to the nut 310 through the transmission section 331, which reduces the eccentricity and unbalanced torque during the transmission process and ensures smooth transmission between the nut 310 and the roller 330. In another optional embodiment, the transmission section 331 is disposed in the middle of the roller 330, and a threaded section 332 is provided on both sides of the transmission section 331. That is, the two ends of the roller 330 are connected to the lead screw 340 through the threaded section 332, which reduces the eccentricity and unbalanced torque during the transmission process and ensures smooth transmission between the roller 330 and the lead screw 340.

[0080] According to one embodiment of the present invention, reference is made to... Figure 3As shown, bearings 110 are installed at both ends of the nut 310 to ensure that the nut 310 can rotate normally. The outer end face of the bearing 110 is installed on the locking seat 120 and fixed by the locking seat 120, which is installed on the mounting component 100. The mounting component 100 can be a housing structure with a mounting cavity. The roller 330, lead screw 340 structure, encoder 500, drive assembly 200 and magnetic component 400 are all placed in the mounting cavity, making the structure more compact.

[0081] A second aspect of this utility model provides a robot, comprising: a linear actuator, a robotic arm, and an execution component as described in any of the above embodiments, wherein the execution component is connected to the robotic arm via the linear actuator.

[0082] It is understood that the robotic arm is the core component of the robotic hand. It can be composed of multiple joints and links and has a structure similar to that of a human arm. The actuator is the end device of the robotic hand, which can perform tasks such as grasping, placing and manipulating objects. The types of actuators include, but are not limited to, grippers, suction cups, pliers, etc. This embodiment does not make specific limitations on them.

[0083] It is understood that since the linear actuator has the beneficial effects of the above embodiments, the robot will also have the beneficial effects of the above embodiments. The specific implementation method can be referred to the above embodiments, and will not be repeated in this application.

[0084] Finally, it should be noted that the above embodiments are only used to illustrate the present utility model and are not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the embodiments, those skilled in the art should understand that various combinations, modifications, or equivalent substitutions of the technical solutions of the present utility model do not depart from the spirit and scope of the technical solutions of the present utility model and should be covered within the protection scope of the present utility model.

Claims

1. A linear actuator device, characterized in that: include: A mounting component, wherein the mounting component is provided with a drive assembly, and the drive assembly includes a rotor; A roller screw mechanism connected to the driving assembly, the roller screw mechanism being suitable for being connected to an actuator, the roller screw mechanism comprising a nut, and at least one of the rotor or the nut being provided with a magnetic member; An encoder, mounted on the mounting component, for detecting position information of the magnetic component; A controller is connected to the encoder and the driving assembly to control the start and stop of the driving assembly based on the position information of the magnetic component.

2. The linear actuator device according to claim 1, characterized in that: The magnetic member is provided with a first magnetic pole and a second magnetic pole; Wherein, the number of the first magnetic pole and the number of the second magnetic pole are both one, and the first magnetic pole and the second magnetic pole are arranged adjacent to each other; or, The number of the first magnetic poles and the number of the second magnetic poles are both plural, and the first magnetic poles and the second magnetic poles are alternately arranged along the circumferential direction of the magnetic component.

3. The linear actuator device according to claim 1, characterized in that: The rotor or the nut sleeve is provided with a mounting seat, the magnetic component is installed in the middle of the mounting seat, and the central axis of the magnetic component is in the same straight line as the central axis of the rotor.

4. The linear actuator device according to claim 3, characterized in that: A positioning groove is formed in the middle of the mounting seat, and the magnetic member is clamped in the positioning groove.

5. The linear actuator device according to claim 1, characterized in that: The roller screw mechanism is a differential planetary roller screw.

6. The linear actuator device according to any one of claims 1 to 5, characterized in that: The roller screw mechanism comprises: A retainer mounted on the nut; A roller, mounted on the retaining frame, the roller comprising a transmission section and a threaded section, the transmission section being in transmission connection with the nut; A lead screw is threadedly connected to the threaded section so as to drive the lead screw to move linearly when the roller rotates.

7. The linear actuator device according to claim 6, characterized in that: Limiting retaining rings are installed on both sides of the nut, and the limiting retaining ring is located on a side of the retaining frame away from the roller to limit the axial position of the retaining frame.

8. The linear actuator device according to claim 6, characterized in that: An avoidance groove is arranged on the inner side of the nut, and the avoidance groove is arranged corresponding to the thread segment.

9. The linear actuator device according to claim 6, characterized in that: The threaded section is arranged in the middle of the roller, and the transmission sections are arranged on both sides of the threaded section; or, The transmission section is arranged in the middle of the roller, and the thread sections are arranged on both sides of the transmission section.

10. A robot, characterized in that: include: A linear actuator device as claimed in any one of claims 1 to 9; Robotic arm; An actuator is connected to the mechanical arm via the linear push rod device.

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