ZR-axis electric actuator

Abstract

The utility model belongs to the field of actuators, and particularly relates to a ZR shaft electric actuator which comprises an actuator body. A driving source group is arranged in the shell and is used for driving the straight rod group to do linear motion and rotary motion; the driving source set comprises a first motor, and the output end of the first motor is connected with a first ball spline. The straight rod set comprises a ball screw, and the ball screw is connected with the first ball spline in a matched and penetrating mode. The output torsion of the first motor is amplified through the first ball spline, so that the first motor can enable the ball screw to obtain larger torsion to generate larger thrust only by using smaller current, and a better energy-saving effect is achieved; the driving source group is provided with a position encoder in signal connection with the driving source group, and the position encoder is used for identifying the position of the straight rod group so as to conveniently adjust the output speed of the driving source group, so that energy is saved, and resource waste is reduced; the heat dissipation grooves in the side wall of the shell facilitate heat dissipation, so that the service life of internal parts is prolonged.

Description

Technical Field

[0001] The utility model belongs to the field of actuators, and in particular relates to a ZR-axis electric actuator. Background Art

[0002] The ZR axis electric actuator is a linear actuator that integrates the functions of the Z axis (linear motion axis) and the R axis (rotational motion axis). It combines the linear drive mechanism and the rotary drive mechanism in one, and can achieve precise motion control in both the linear and rotational directions.

[0003] The linear actuator in the prior art usually uses a motor to drive the screw to move. For example, the Chinese utility model patent CN210629262U discloses a linear module actuator with an integrated structure, including a ball screw; a motor is arranged on the ball screw, and the ball screw passes through the rotor of the motor; the rotor and the ball screw are fixedly connected by a first ball spline; and a first bearing is arranged on the first ball spline. The utility model integrates the motor and the ball screw through the above structure, which is convenient for controlling the external dimensions of the actuator.

[0004] However, in the above-mentioned patent and the electric actuators currently on the market, the movement of the ball screw will generate heat, and the shell of the electric actuator is mostly set to a flat cube shape, which makes the contact area between the shell and the internal and external spaces small, limits the heat transfer range, is not conducive to heat dissipation, and is likely to reduce the service life of internal components if used for too long. Utility Model Content

[0005] The utility model aims to provide a ZR-axis electric actuator, aiming to solve the technical problem that in the prior art, the housing of the electric actuator is mostly set to a flat cube shape, which makes the contact area between the housing and the internal space and the external space small, limits the heat transfer range, and is not conducive to heat dissipation.

[0006] To achieve the above-mentioned purpose, an embodiment of the utility model provides a ZR-axis electric actuator, including an actuator body, which includes a shell; a drive source group is provided in the shell, and the drive source group is used to drive the straight rod group to perform linear motion and rotational motion; the side wall of the shell is provided with a plurality of heat dissipation grooves, and the heat dissipation grooves are used to increase the surface area of ​​the side wall of the shell to expand the heat dissipation area of ​​the shell.

[0007] Optionally, the driving source group includes a first motor; the output end of the first motor is connected to a first ball spline; the straight rod group includes a ball screw; the ball screw is adapted to be threaded with the first ball spline.

[0008] Optionally, the driving source group includes a second motor; the output end of the second motor is connected to a second ball spline; the straight rod group includes a rotating rod, which is adapted to be interlocked with the second ball spline; a connecting piece is provided at one end of the ball screw; one end of the rotating rod is rotatably connected to the connecting piece; the length direction of the rotating rod and the length direction of the connecting piece are parallel to each other.

[0009] Optionally, a connecting hole is formed on the shell, and one end of the rotating rod passes through the connecting hole and extends out of the shell to form an output end.

[0010] Optionally, the first motor and / or the second motor is configured as a brushless DC motor.

[0011] Optionally, the two ends of the connecting member are respectively provided with a first connecting groove and a second connecting groove; one end of the ball screw is fixedly plugged into the first connecting groove; and one end of the rotating rod is rotatably connected to the second connecting groove via a bearing.

[0012] Optionally, a position encoder is provided on the driving source group; the position encoder is connected to the driving source group for signals; the position encoder is used to identify the position of the straight rod group so as to adjust the output speed of the driving source group.

[0013] Optionally, the heat dissipation groove is arranged on the outer side wall of the shell.

[0014] Optionally, the heat dissipation grooves are provided on at least three side walls of the shell at the same time; or, the heat dissipation grooves are provided on two side walls of the shell at the same time; or, the heat dissipation grooves are provided on only one side wall of the shell.

[0015] Optionally, an arc portion is provided on the periphery of the heat dissipation slot.

[0016] Compared with the prior art, the above one or more technical solutions in the ZR-axis electric actuator provided by the embodiment of the utility model have at least one of the following technical effects:

[0017] 1. The side wall of the shell is provided with a number of heat dissipation grooves, so that the side wall of the shell has a larger surface area. The heat generated by the movement of the straight rod group is transferred to the outside through the shell. Compared with the flat side wall, it has a better heat dissipation effect, which is convenient for reducing the internal heat of the shell and extending the service life of the internal components.

[0018] 2. The heat dissipation groove is arranged on the outer surface of the shell, and the heat dissipation groove can be used as a gripping part to increase the anti-slip ability of the outer side wall of the shell, making it easier to grip the shell.

[0019] 3. The first motor and / or the second motor is set as a brushless DC motor. The output torque of the first motor is amplified by the first ball spline, so that the first motor can make the ball screw obtain a large torque with only a small current. The ball screw slides while rotating to form thrust, which has a better energy-saving effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0021] Figure 1 It is a structural schematic diagram of the utility model.

[0022] Figure 2 It is a cutaway view from one perspective of the utility model.

[0023] Figure 3 for Figure 2 Enlarged schematic diagram of circle A in the middle.

[0024] Figure 4 This is a cutaway view from another perspective of the present invention.

[0025] Among them, the reference numerals in the figure are:

[0026] 1. Shell;

[0027] 11. heat dissipation slot; 111. arc-shaped portion; 12. connection hole;

[0028] 21. Position encoder; 22. First motor; 221. First ball spline; 23. Second motor; 231. Second ball spline;

[0029] 31. ball screw; 32. rotating rod; 321. output end; 33. connecting piece; 331. first connecting groove; 332. second connecting groove; 333. bearing. DETAILED DESCRIPTION

[0030] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the embodiments of the present invention, and should not be construed as limiting the present invention.

[0031] In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of 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.

[0032] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present utility model, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0033] In the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0034] In the first embodiment of the present utility model, a ZR axis electric actuator is provided, including an actuator body, Figure 1-Figure 2 The actuator body includes a shell 1; the shell 1 is used to provide protection and support, and a cavity for accommodating components is provided inside the shell 1; a driving source group is provided inside the shell 1, and the driving source group is used to drive the straight rod group to perform linear motion and rotational motion; the driving function of the driving source group is provided by a motor; the straight rod group provides a transmission force in the length direction through a long straight rod, such as a screw rod; the straight rod group performs linear motion along its length direction and rotational motion along its circumference.

[0035] Further, refer to Figure 1 The side wall of the housing 1 is provided with a plurality of heat dissipation grooves 11 , and the heat dissipation grooves 11 are used to increase the surface area of ​​the side wall of the housing 1 to expand the heat dissipation area of ​​the housing 1 .

[0036] Compared with the prior art, the above one or more technical solutions in the ZR-axis electric actuator provided by the embodiment of the utility model have at least one of the following technical effects: a plurality of heat dissipation grooves 11 are provided on the side wall of the shell 1, so that the side wall of the shell 1 has a larger surface area, and the heat generated by the movement of the straight rod group is transferred to the outside through the shell 1, which has a better heat dissipation effect than the shell 1, which is convenient for reducing the internal heat of the shell 1 and extending the service life of internal components.

[0037] In another embodiment of the present invention, reference Figure 1 The heat dissipation groove 11 is arranged on the outer wall of the shell 1, and is specifically arranged to be recessed from the outer wall of the shell 1 toward the inside thereof, so that the heat dissipation groove 11 can also be used as a gripping part, thereby increasing the anti-slip ability of the outer wall of the shell 1 and facilitating gripping.

[0038] For further reference, Figure 1 The periphery of the heat dissipation slot 11 is provided with an arc portion 111 to increase the visual effect of the heat dissipation slot 11 and improve the ornamental value.

[0039] In another embodiment of the present invention, the heat dissipation slots 11 are simultaneously disposed on at least three side walls of the housing 1 ; or, the heat dissipation slots 11 are simultaneously disposed on two side walls of the housing 1 ; or, the heat dissipation slots 11 are only disposed on one side wall of the housing 1 .

[0040] In another embodiment of the present invention, reference Figure 3 , a position encoder 21 is provided on the driving source group; the position encoder 21 is connected to the driving source group by signal, such as electrical connection through wires or wireless connection through Bluetooth; the position encoder 21 is used to identify the position of the straight rod group so as to adjust the output speed of the driving source group. For example, when it is identified that the straight rod group is in the working position, the position encoder 21 transmits a signal to reduce the output value of the driving source group, thereby saving energy and reducing energy waste while the straight rod group is in a normal working state; it should be noted that the signal recognition and transmission principles of the position encoder 21 are existing technologies that can be directly obtained by those skilled in the art and will not be elaborated here; in this embodiment, the power source group is controlled by a FOC (Field-Oriented Control) control algorithm to improve work efficiency.

[0041] In another embodiment of the present invention, reference Figure 2 and Figure 4 The driving source group includes a first motor 22; the output end 321 of the first motor 22 is connected to the first ball spline 221; the straight rod group includes a ball screw 31; the ball screw 31 is adapted to be connected with the first ball spline 221; the first motor 22 is used to drive the ball screw 31 to perform linear motion and rotational motion.

[0042] Further, refer to Figure 2 and Figure 4 The driving source group includes a second motor 23; the output end 321 of the second motor 23 is connected to the second ball spline 231; the straight rod group includes a rotating rod 32, and the rotating rod 32 is adapted to be connected with the second ball spline 231; one end of the ball screw 31 is provided with a connecting piece 33; one end of the rotating rod 32 is rotatably connected to the connecting piece 33; the length direction of the rotating rod 32 and the length direction of the connecting piece 33 are parallel to each other. When the ball screw 31 performs a linear motion, it can drive the rotating rod 32 to move together. At this time, the second motor 23 simultaneously drives the rotating rod 32 to rotate, so as to improve the rotation speed and the accuracy of the rotation angle of the rotating rod 32.

[0043] Further, refer to Figure 1 and Figure 2 A connecting hole 12 is formed on the shell 1, and one end of the rotating rod 32 passes through the connecting hole 12 and extends out of the shell 1 to form an output end 321. A connecting seat or abutment block can be set at the output end 321 to facilitate pushing the workpiece when the rotating rod 32 performs linear motion and rotational motion.

[0044] Furthermore, the first motor 22 and / or the second motor 23 are configured as brushless DC motors to improve driving efficiency; in other embodiments, the first motor 22 and / or the second motor 23 are configured as servo motors to increase control accuracy of the ball screw 31 and / or the rotating rod 32 .

[0045] Further, refer to Figure 3 The two ends of the connecting member 33 are respectively provided with a first connecting groove 331 and a second connecting groove 332; one end of the ball screw 31 is fixedly plugged into the first connecting groove 331, such as a threaded connection or a bayonet connection; one end of the rotating rod 32 is rotatably connected to the second connecting groove 332 through a bearing 333.

[0046] Furthermore, a temperature sensor is provided in the housing 1 to detect the internal temperature and improve the safety performance; the controller connected to the driving source group has a current monitoring function and an automatic adjustment function to monitor the current flow so as to automatically adjust the output value of the driving source group.

[0047] The utility model increases the output torque of the first motor 22 through the first ball spline 221; when the first motor 22 outputs torque with a relatively small current, the ball screw 31 can have a relatively large thrust to push the rotating rod 32 to perform linear motion, so as to save energy and protect the environment; the second motor 23 rotates the rotating rod 32 through the connection of the second ball spline 231, and can have a more accurate rotation speed and rotation angle compared to the single use of the ball screw 31; when the position encoder 21 recognizes that the rotating rod 32 is in the working position, it outputs a signal to reduce the output value of the first motor 22 and / or the second motor 23, which can further reduce energy consumption and improve energy utilization while maintaining the working state of the rotating rod 32.

[0048] The rest of this embodiment is the same as the first embodiment. The features not explained in this embodiment are all based on the explanations in the first embodiment and will not be repeated here.

[0049] The above content is a further detailed description of the utility model in combination with specific preferred implementation methods, and it cannot be determined that the specific implementation of the utility model is limited to these descriptions. For ordinary technicians in the technical field to which the utility model belongs, without departing from the concept of the utility model, its architecture can be flexible and can derive a series of products. Just making a few simple deductions or substitutions should be regarded as belonging to the patent protection scope of the utility model determined by the submitted claims.

Claims

1. A ZR axis electric actuator, characterized in that: The actuator comprises an actuator body, wherein the actuator body comprises a shell (1); a driving source group is arranged inside the shell (1), and the driving source group is used to drive a straight rod group to perform linear motion and rotational motion; a side wall of the shell (1) is provided with a plurality of heat dissipation grooves (11), and the heat dissipation grooves (11) are used to increase the surface area of ​​the side wall of the shell (1) so as to expand the heat dissipation area of ​​the shell (1).

2. The ZR-axis electric actuator according to claim 1, characterized in that: The driving source group comprises a first motor (22); the output end (321) of the first motor (22) is connected to a first ball spline (221); the straight rod group comprises a ball screw (31); the ball screw (31) is adapted to be threaded with the first ball spline (221).

3. The ZR-axis electric actuator according to claim 2, characterized in that: The driving source group comprises a second motor (23); the output end (321) of the second motor (23) is connected to a second ball spline (231); the straight rod group comprises a rotating rod (32), and the rotating rod (32) is adapted to be threaded with the second ball spline (231); one end of the ball screw (31) is provided with a connecting piece (33); one end of the rotating rod (32) is rotatably connected to the connecting piece (33); the length direction of the rotating rod (32) and the length direction of the connecting piece (33) are parallel to each other.

4. The ZR-axis electric actuator according to claim 3, characterized in that: The shell (1) is provided with a connection hole (12), and one end of the rotating rod (32) passes through the connection hole (12) and extends out of the shell (1) to form an output end (321).

5. The ZR-axis electric actuator according to claim 3, characterized in that: The first motor (22) and / or the second motor (23) are configured as brushless DC motors.

6. The ZR-axis electric actuator according to claim 3, characterized in that: The two ends of the connecting member (33) are respectively provided with a first connecting groove (331) and a second connecting groove (332); one end of the ball screw (31) is fixedly plugged into the first connecting groove (331); and one end of the rotating rod (32) is rotatably connected to the second connecting groove (332) via a bearing (333).

7. The ZR axis electric actuator according to any one of claims 1 to 6, characterized in that: The driving source group is provided with a position encoder (21); the position encoder (21) is connected to the driving source group by signals; the position encoder (21) is used to identify the position of the straight rod group so as to adjust the output speed of the driving source group.

8. The ZR axis electric actuator according to any one of claims 1 to 6, characterized in that: The heat dissipation groove (11) is arranged on the outer side wall of the housing (1).

9. The ZR axis electric actuator according to any one of claims 1 to 6, characterized in that: The heat dissipation groove (11) is simultaneously provided on at least three side walls of the shell (1); or, the heat dissipation groove (11) is simultaneously provided on two side walls of the shell (1); or, the heat dissipation groove (11) is only provided on one side wall of the shell (1).

10. The ZR axis electric actuator according to any one of claims 1 to 6, characterized in that: An arc-shaped portion (111) is provided on the periphery of the heat dissipation groove (11).

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