A linear rotary actuator

Abstract

The utility model discloses a linear rotary actuator, including an output shaft and a housing, wherein the housing has a cavity, wherein an elastic reset member, a linear drive mechanism, a rotary drive mechanism, a connecting member and a guide rail are arranged in the cavity, wherein the rotary drive mechanism drives the output shaft to rotate on the connecting member, wherein the linear drive mechanism drives the connecting member to move linearly along the guide rail, wherein the elastic reset member is arranged above the connecting member, and wherein the elastic reset member is connected to the connecting member, wherein the elastic reset member applies an upward pulling force to the connecting member; wherein the cavity includes an upper cavity and a lower cavity interconnected with each other, wherein the upper end of the rotary drive mechanism and / or the elastic reset member extends into the upper cavity; wherein two mounting seats are arranged on the outer side of the housing, wherein the two mounting seats correspond to the upper and lower corners of the lower cavity away from the rotary drive mechanism. The utility model reduces the installation size and improves the scope of application.

Description

Technical Field

[0001] The utility model relates to a linear rotary actuator, mainly to a linear rotary actuator with a large stroke. Background Art

[0002] Linear rotary actuators, also known as linear rotary actuators or ZR actuators, are used to achieve linear and rotary motions. They are mainly used in technical fields such as semiconductors, electronic equipment processing, and biopharmaceuticals, especially as core components of semiconductor chip mounting equipment. In the prior art, linear rotary actuators include linear motors and rotary motors. A slider is fixed to the output end of the linear motor, the slider is connected to the rotary motor, and the output of the rotary motor is connected to the motor output shaft. The voice coil motor drives the slider to move linearly, and the slider drives the rotary motor and the motor output shaft to move linearly. At the same time, the rotary motor drives the motor output shaft to perform rotational motion, thereby achieving both linear and rotational motions of the output shaft.

[0003] The existing linear rotary voice coil motor has the following shortcomings:

[0004] Mounting seats will be set at the top and bottom of one side of the shell for installing the linear rotary actuator. The installation size is determined by the overall length of the linear rotary actuator. For linear rotary actuators with large linear strokes (up and down movement strokes), the current square shell cannot further reduce the installation size, which will affect the convenience of installation and limit the scope of application. Summary of the invention

[0005] The utility model aims to provide a linear rotary actuator, which can reduce the size of the product, improve the convenience of installation and expand the scope of application by using the structure.

[0006] To achieve the above object, the technical solution adopted by the utility model is: a linear rotary actuator, comprising a housing, an output shaft and a driving mechanism, wherein the housing has a cavity, the output shaft is connected to the driving mechanism, the driving mechanism drives the output shaft to rotate and move linearly, and the moving direction of the output shaft away from the housing is a downward direction;

[0007] The driving mechanism comprises a linear driving mechanism, a rotary driving mechanism, a connecting member and a guide rail installed in the cavity, the rotary driving mechanism and the output shaft are installed on the connecting member, the rotary driving mechanism is configured to drive the output shaft to rotate, the connecting member is slidably installed on the guide rail, and the linear driving mechanism is configured to drive the connecting member to move linearly along the guide rail.

[0008] It also includes an elastic reset member connected to the connecting member, and the elastic reset member applies an upward pulling force to the connecting member;

[0009] The cavity comprises an upper cavity and a lower cavity which are interconnected, the output shaft, the guide rail, the linear drive mechanism, the rotary drive mechanism and the connecting member are arranged in the lower cavity, wherein the upper end of the rotary drive mechanism and / or the elastic reset member extends into the upper cavity;

[0010] Two mounting seats are arranged on the outer side of the shell, and the two mounting seats respectively correspond to the upper and lower corners of the lower cavity away from the rotating drive mechanism.

[0011] In the above technical solution, the guide rail is correspondingly arranged between the two mounting seats.

[0012] In the above technical solution, when the linear drive mechanism drives the output shaft to move upward, the top of the elastic return member is accommodated in the upper cavity, or the elastic return member and the top of the rotary drive mechanism are accommodated in the upper cavity.

[0013] In the above technical solution, the housing comprises:

[0014] A main body, with through holes at the upper and lower ends thereof, and the lower cavity is arranged in the main body;

[0015] A cover plate, detachably mounted on the through hole of the main body;

[0016] The upper cavity is arranged in the main body or the cover plate.

[0017] In the above technical solution, a first protrusion is provided at the upper end of the main body.

[0018] And / or, a second protrusion is provided on the upper end of the upper cover plate;

[0019] The upper cavity is disposed in the first protrusion or the second protrusion.

[0020] In the above technical solution, the linear drive mechanism includes a stator and a mover, the stator is installed in a cavity beside the guide rail, the guide rail is arranged between the output shaft and the stator, one end of the mover is movably arranged in the stator, and the other end of the mover is fixedly connected to the connecting member.

[0021] In the above technical solution, a circuit board and a flexible flat cable are further provided in the cavity, and the circuit board and the flexible flat cable are arranged between the mover and the connecting member.

[0022] In the above technical solution, the bottom of the shell is provided with an avoidance hole communicating with the cavity.

[0023] In the above technical solution, the avoidance hole is arranged opposite to the flexible flat cable, the connector and the output shaft.

[0024] In the above technical solution, there are two avoidance holes, and the two avoidance holes are respectively arranged opposite to the flexible flat cable and the connecting piece on the output shaft side.

[0025] Due to the application of the above technical solution, the utility model has the following advantages compared with the prior art:

[0026] 1. In the utility model, an upper cavity is provided above the cavity on one side of the output shaft for the elastic reset member and the rotary drive mechanism to make way, and the top of the upper mounting seat will be below the top surface of the upper cavity, that is, the top of the upper mounting seat will be below the top surface of the shell, which can reduce the installation size of the linear rotary actuator, improve the convenience of installation, and also increase the scope of application;

[0027] 2. The housing in the utility model can be set as a special-shaped housing, or the upper cover can be set as a special-shaped upper cover, and different support schemes can be selected to facilitate the design and production of the product;

[0028] 3. In the present invention, an avoidance hole is provided at the bottom of the shell for the flexible flat cable to pass through and make way when the flexible flat cable moves. This can reduce the space occupied by the components at the bottom of the shell, effectively reduce the installation size, facilitate installation, and improve the scope of application. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural schematic diagram of a preferred embodiment of the utility model (the housing is a special-shaped housing, and the housing is not provided with a avoidance hole);

[0030] Figure 2 It is a structural schematic diagram of a preferred embodiment of the utility model (a second protrusion is arranged on the upper cover plate, an upper cavity is arranged in the second protrusion, and the shell is not provided with an avoidance hole);

[0031] Figure 3 yes Figure 2 Left view of

[0032] Figure 4 It is a structural schematic diagram of a preferred embodiment of the utility model (a second protrusion is arranged on the upper cover plate, an upper cavity is arranged in the second protrusion, and an avoidance hole is arranged at the bottom of the shell);

[0033] Figure 5 It is a structural schematic diagram of a preferred embodiment of the utility model (a second protrusion is arranged on the upper cover plate, an upper cavity is arranged in the second protrusion, and two avoidance holes are arranged at the bottom of the shell).

[0034] Among them: 1. shell; 2. output shaft; 3. cavity; 4. rotary drive mechanism; 5. connector; 6. guide rail; 7. elastic reset member; 8. lower cavity; 9. upper cavity; 10. upper mounting seat; 11. lower mounting seat; 12. upper cover; 13. stator; 14. mover; 15. circuit board; 16. flexible flat cable; 17. avoidance hole; 19. magnetic spring stator; 20. magnetic spring mover; 21. lower cover; 22. main body; 23. first protrusion; 24. second protrusion. DETAILED DESCRIPTION

[0035] The utility model is further described below in conjunction with the accompanying drawings and embodiments:

[0036] Example 1: See Figures 1 to 5 As shown, a linear rotary actuator comprises a housing 1, an output shaft 2 and a driving mechanism, wherein the housing 1 has a cavity 3, the output shaft 2 is connected to the driving mechanism, the driving mechanism drives the output shaft 2 to rotate and move linearly, and the moving direction of the output shaft 2 away from the housing 1 is a downward direction;

[0037] The driving mechanism includes a linear driving mechanism, a rotary driving mechanism 4, a connecting member 5 and a guide rail 6 installed in the cavity 3. The rotary driving mechanism 4 and the output shaft 2 are installed on the connecting member 5. The rotary driving mechanism 4 is configured to drive the output shaft 2 to rotate. The connecting member 5 is slidably installed on the guide rail 6. The linear driving mechanism is configured to drive the connecting member 5 to move linearly along the guide rail 6. An elastic reset member 7 that gives the connecting member 5 an upward pulling force is provided in the cavity 3 above the connecting member 5.

[0038] It also includes an elastic reset member 7, the bottom of which is connected to the connecting member 5 and the top is installed in the cavity, and the elastic reset member 7 applies an upward pulling force to the connecting member 5;

[0039] The cavity 3 includes an upper cavity 9 and a lower cavity 8 which are interconnected, and the output shaft 2, the guide rail 6, the linear drive mechanism, the rotary drive mechanism 4 and the connecting member 5 are arranged in the lower cavity, wherein the upper end of the rotary drive mechanism 4 and / or the elastic reset member 7 extends into the upper cavity 9;

[0040] Two mounting seats are disposed on the outer side of the housing 1 , and the two mounting seats correspond to the upper and lower corners of the lower cavity 8 on a side away from the rotary drive mechanism 4 .

[0041] In this embodiment, the mounting seat includes an upper mounting seat 10 and a lower mounting seat 11. The upper mounting seat 10 is arranged on the upper left side of the shell 1, and the lower mounting seat 11 is installed on the lower left side of the shell 1. The top of the upper mounting seat 10 will be below the left side of the top surface of the upper cavity 9.

[0042] In this embodiment, the output shaft is a hollow cylindrical structure, and the connecting piece has an air cavity inside. The top of the connecting piece is provided with an air pipe (not shown in the air pipe figure), the air pipe is connected to the air cavity, the air cavity is connected to the output shaft, the top of the air pipe is connected to the external air system, and the air system gives the output shaft air blowing, negative pressure, etc. through the air pipe and the air cavity, which is used to grab and discharge the product. In actual use, the shell is installed on the corresponding equipment. When in use, the linear drive mechanism drives the connecting piece and the output shaft to move down. After moving down to a predetermined position, the bottom of the output shaft contacts the product, and then negative pressure is given to the output shaft to suck the product, and then the connecting piece and the output shaft are driven to move upward, driving the product to move up, and then when it moves to the corresponding position where unloading is required, the rotary drive mechanism drives the output shaft to rotate, that is, drives the product to rotate to a predetermined angle, and then the linear drive mechanism drives the connecting piece, the output shaft and the product to move down to a predetermined position, and the air system stops the negative pressure, so that the product can fall, and the air system can also give positive pressure blowing to blow the product down to achieve unloading. Of course, there are other ways, the rotary drive mechanism drives the output shaft to rotate, and the linear drive mechanism drives the output shaft to move linearly along the guide rail.

[0043] The guide rail 6 is correspondingly arranged between the two mounting seats. In this way, the guide rail is arranged between the two mounting seats, which can bear most of the force of the output shaft during the movement process and ensure the stability of the actuator operation.

[0044] At the same time, in the present embodiment, the linear rotary actuator with a long stroke has a linear movement stroke longer than that of a conventional linear rotary actuator. The length of the shell of the conventional linear rotary actuator with a long stroke is relatively long (i.e., in the height direction), so that the upper mounting seat and the lower mounting seat will protrude from the top and bottom of the shell respectively, which will lead to a larger installation size, affecting the installation convenience and the scope of application. Therefore, in the present embodiment, a short-sized shell is adopted, and an upper cavity and a lower cavity that are interconnected are arranged therein, and the upper cavity is given a resilient reset member, or the top of the resilient reset member and the rotary drive mechanism is given way, so that there is a spacing between the top of the upper cavity and the side wall of the shell on which the upper mounting seat and the lower mounting seat are installed, so that the installation size of the upper mounting seat and the lower mounting seat will not increase, which can make the installation size of the linear rotary actuator with a long stroke smaller and improve the scope of application.

[0045] Among them, the elastic reset member gives the connecting member an upward pulling force, so that when the power is off, the output shaft will not fall and cause the product to be crushed. The elastic reset member can be a tension spring or a magnetic spring. If a tension spring is selected, the top of the tension spring will be installed in the upper cavity, and the bottom of the tension spring will be connected to the top of the connecting member, so that a longer linear space is given to the tension spring. If a magnetic spring is selected, the magnetic spring will include a magnetic spring stator and a magnetic spring mover. The bottom of the magnetic spring mover is connected to the top of the connecting member, the middle of the magnetic spring mover passes through the magnetic spring stator, and is movably connected to the magnetic spring stator. The top of the magnetic spring mover will pass through the magnetic spring stator and be above the magnetic spring stator.

[0046] See also Figures 1 to 5 As shown, the housing 1 comprises:

[0047] The main body 22 has through holes at its upper and lower ends, and the lower cavity 8 is disposed in the main body 22;

[0048] A cover plate, detachably mounted on the through hole of the main body 22;

[0049] The upper cavity 9 is disposed in the main body 22 or the cover plate.

[0050] Among them, the upper through hole is located at the top of the main body, and the lower through hole is located at the bottom of the main body. The cover plate includes an upper cover plate 12 and a lower cover plate 21. The upper cover plate 12 is installed on the upper through hole at the top of the main body 22, and the lower cover plate 21 is installed on the lower through hole at the bottom of the main body 22.

[0051] Wherein, the upper end of the elastic reset member extends into the upper cavity, or the top of the elastic reset member and the rotary drive mechanism extend into the upper cavity.

[0052] In the present utility model, there are two ways to arrange the elastic reset member. If the elastic reset member adopts a tension spring, the top of the tension spring will be accommodated in the upper cavity and directly connected to the upper cavity. If the elastic reset member adopts a magnetic spring, there are also two ways of arrangement. The magnetic spring stator is installed in the lower cavity, and the upper cavity is used to accommodate the magnetic spring mover, that is, when the linear drive mechanism drives the output shaft 2 to move upward, the top of the elastic reset member 7 is accommodated in the upper cavity 9. Alternatively, the magnetic spring stator can be installed in the upper cavity, so that no matter whether the output shaft moves upward or downward, the upper cavity is used to accommodate the elastic reset member.

[0053] The rotary drive mechanism will adopt a rotary motor, wherein the rotary drive mechanism will be arranged just above the output shaft, and the rotary drive mechanism directly drives the output shaft to rotate. If the length of the rotary motor is shorter, when the output shaft moves upward, the top of the rotary motor will still be in the lower cavity, so that the upper cavity only needs to accommodate the top of the elastic reset member, so that the size of the upper cavity can be smaller. If the rotary drive mechanism is longer in size, or due to layout problems, when the output shaft moves upward, the upper height of the lower cavity is not enough to accommodate the rotary drive mechanism, so the size of the upper cavity will be set larger for accommodating the rotary drive mechanism. Therefore, when the linear drive mechanism drives the output shaft 2 to move upward, the elastic reset member 7 and the top of the rotary drive mechanism 4 are accommodated in the upper cavity 9.

[0054] In a preferred embodiment, see Figure 1 As shown, the upper end of the main body 22 is provided with a first protrusion 23, and the upper cavity 9 is arranged in the first protrusion 23. The through hole above the main body is arranged on the top of the first protrusion, and the upper cover plate is installed on the through hole above the first protrusion.

[0055] In this embodiment, see Figure 1 As shown, the housing is a special-shaped housing. Taking the output shaft arranged at the lower right side of the housing as an example, the housing is a special-shaped housing with a protrusion at the upper right side, so that the first protrusion is arranged at the upper right side of the housing, and it is an integral structure with the housing. The upper cavity is used to accommodate the elastic reset member and the top of the rotary drive mechanism. The top of the elastic reset member and the top of the rotary drive mechanism are accommodated in the upper cavity, and the top of the upper mounting seat will be arranged at the lower left of the top of the first protrusion, and the bottom of the lower mounting seat will be below the bottom of the housing. In this embodiment, the elastic reset member adopts a magnetic spring, and the magnetic spring stator 19 and the magnetic spring mover 20 are both arranged in the upper cavity.

[0056] In another preferred embodiment, see Figures 2 to 5 As shown, a second protrusion 24 is provided at the upper end of the upper cover plate 12 ; the upper cavity 9 is provided in the second protrusion 24 .

[0057] This makes it easier to install and remove the upper cover. At the same time, a conventional non-long-stroke shell can be used for production and improvement, and there is no need to customize a large-stroke shell separately, so that secondary development can be carried out on the basis of the original mold, which can reduce mold opening costs and reduce costs. In this embodiment, the elastic reset member uses a magnetic spring, the magnetic spring stator is installed in the cavity, and the top of the magnetic spring mover is inserted into the upper cavity.

[0058] See also Figure 1 , 2As shown in Figures 4 and 5, the linear drive mechanism includes a stator 13 and a mover 14. The stator 13 is installed in the cavity 3 beside the guide rail 6. The guide rail 6 is arranged between the output shaft 2 and the stator 13. One end of the mover 14 is movably arranged in the stator 13, and the other end of the mover 14 is fixedly connected to the connecting member 5.

[0059] In this embodiment, the stator is installed on the left side of the guide rail, and the upper mounting seat and the lower mounting seat are installed on the top and bottom of the left side of the shell. The stator drives the mover to move up and down along the guide rail, thereby driving the output shaft and the rotating drive mechanism to move up and down through the connecting piece.

[0060] See also Figure 1 , 2 As shown in FIGS. 4 and 5 , a circuit board 15 and a flexible flat cable 16 are further provided in the cavity 3 , and the circuit board 15 and the flexible flat cable 16 are arranged between the mover 14 and the connector 5 .

[0061] Among them, the circuit board will be fixed in the cavity, one end of the soft cable will be connected to the circuit board, and the other end will be connected to the mover. Since the mover needs to move up and down with the connecting part, in order to ensure that the mover is always electrically connected to the circuit board during the movement, a soft cable will be set to connect the circuit board and the mover. Since the mover moves up and down, the length of the soft cable will be set longer to ensure that the circuit board and the mover are always electrically connected when the mover moves up and down.

[0062] See also Figure 4 , 5 As shown, the bottom of the housing 1 is provided with an avoidance hole 17 connected to the cavity 3. In order to reduce the height of the housing and shorten the housing as much as possible, the avoidance hole is arranged directly opposite to the flexible flat cable, so that when the output shaft moves downward, the flexible flat cable can also move out from the avoidance hole, and will not be blocked by the cavity, resulting in folding, damage and other problems of the flexible flat cable. The avoidance hole is arranged on the lower cover.

[0063] Of course, the avoidance hole may not be provided, so that the length of the upper cavity can be set longer, which can also ensure that the stroke of the actuator is longer.

[0064] There are two types of avoidance holes. The first type: see Figure 4 As shown, the avoidance hole 17 is arranged opposite to the flexible flat cable 16 , the connecting member 5 and the output shaft 2 .

[0065] In this way, the right side of the bottom of the shell is an avoidance hole (the avoidance hole is set on the lower cover plate). When the output shaft moves downward (the bottom of the output shaft will always be below the bottom of the shell), the bottom of the connector and the flexible cable can be exposed from the avoidance hole.

[0066] The second method: See Figure 5 As shown, there are two avoidance holes 17 , and the two avoidance holes 17 are respectively arranged opposite to the flexible flat cable 16 and the connecting member 5 on the output shaft 2 side.

[0067] Among them, a part of the right bottom of the connecting piece will extend downward, and the top of the output shaft and the connecting piece of the extended part are rotatably connected, so that when the output shaft moves downward, the connecting piece can also extend out of the avoidance hole and be exposed at the bottom of the shell, and the soft cable can also be exposed from another avoidance hole.

[0068] Both forms of avoidance holes enable the output shaft to extend downward by a longer length, that is, the stroke is longer, the size of the housing can be shorter, and the installation size can also be smaller.

[0069] In the description of the present invention, it should be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0070] In the present utility model, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, or a detachable connection, or an integral one; it can be a mechanical connection, or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, for example, the two can form a mechanical abutment or abutment connection through abutment, contact, etc., the two can also be directly hung or hung through an intermediate medium, etc., or it can be the internal connection of the two elements or the interaction relationship between the two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. A linear rotary actuator, comprising a housing (1), an output shaft (2) and a driving mechanism, wherein the housing (1) has a cavity (3), the output shaft (2) is connected to the driving mechanism, the driving mechanism drives the output shaft (2) to rotate and move linearly, and the direction in which the output shaft (2) moves away from the housing (1) is a downward direction; The driving mechanism comprises a linear driving mechanism, a rotary driving mechanism (4), a connecting member (5) and a guide rail (6) installed in the cavity (3); the rotary driving mechanism (4) and the output shaft (2) are installed on the connecting member (5); the rotary driving mechanism (4) is configured to drive the output shaft (2) to rotate; the connecting member (5) is slidably installed on the guide rail (6); the linear driving mechanism is configured to drive the connecting member (5) to move linearly along the guide rail (6); and the invention is characterized in that: It also includes an elastic reset member (7) which is connected to the connecting member (5), and the elastic reset member (7) applies an upward pulling force to the connecting member (5); The cavity (3) comprises an upper cavity (9) and a lower cavity (8) which are interconnected, the output shaft (2), the guide rail (6), the linear drive mechanism, the rotary drive mechanism (4) and the connecting member (5) are arranged in the lower cavity, wherein the upper ends of the rotary drive mechanism (4) and / or the elastic return member (7) extend into the upper cavity (9); Two mounting seats are provided on the outside of the shell (1), and the two mounting seats respectively correspond to the upper and lower corners of the lower cavity (8) on a side away from the rotary drive mechanism (4).

2. The linear-rotary actuator according to claim 1, characterized in that: The guide rail (6) is correspondingly arranged between the two mounting seats.

3. The linear-rotary actuator according to claim 1, characterized in that: When the linear drive mechanism drives the output shaft (2) to move upward, the top of the elastic return member (7) is accommodated in the upper cavity (9), or the top of the elastic return member (7) and the rotary drive mechanism (4) are accommodated in the upper cavity (9).

4. The linear-rotary actuator according to claim 1, characterized in that: The housing (1) comprises: A main body (22) is provided with through holes at its upper and lower ends, and the lower cavity (8) is provided in the main body (22); A cover plate, detachably mounted on the through hole of the main body (22); The upper cavity (9) is arranged in the main body (22) or the cover plate.

5. The linear-rotary actuator according to claim 4, characterized in that: The upper end of the main body (22) is provided with a first protrusion (23). And / or, a second protrusion (24) is provided on the upper end of the upper cover plate; The upper cavity (9) is arranged in the first protrusion (23) or the second protrusion (24).

6. The linear-rotary actuator according to claim 1, characterized in that: The linear drive mechanism comprises a stator (13) and a mover (14); the stator (13) is installed in a cavity (3) beside the guide rail (6); the guide rail (6) is arranged between the output shaft (2) and the stator (13); one end of the mover (14) is movably arranged in the stator (13); and the other end of the mover (14) is fixedly connected to the connecting member (5).

7. The linear-rotary actuator according to claim 6, characterized in that: A circuit board (15) and a flexible flat cable (16) are also provided in the cavity (3); the circuit board (15) and the flexible flat cable (16) are arranged between the mover (14) and the connecting member (5).

8. The linear-rotary actuator according to claim 7, characterized in that: The bottom of the housing (1) is provided with an avoidance hole (17) communicating with the cavity (3).

9. The linear-rotary actuator according to claim 8, characterized in that: The avoidance hole (17) is arranged opposite to the flexible flat cable (16), the connecting member (5) and the output shaft (2).

10. The linear-rotary actuator according to claim 8, characterized in that: There are two avoidance holes (17), and the two avoidance holes (17) are respectively arranged opposite to the flexible flat cable (16) and the connecting piece (5) on the output shaft (2) side.

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