Linear actuator

Abstract

The utility model discloses a linear actuator which comprises a mounting seat, a motor, an output seat, a guide mechanism and an elastic mechanism, and the mounting seat comprises a base plate and a mounting plate which are fixedly connected; a stator of a motor is fixed to a mounting plate, an output base is located on one side, in the first linear direction, of a rotor of the motor, and the output base is connected with the rotor, so that the output base moves in the first linear direction along with the rotor under the driving of the stator; the guide mechanism is arranged between the mounting base and the output base and used for guiding the output base to move in the first linear direction, the elastic mechanism is arranged between the mounting base and the output base and arranged in the first linear direction, and the motor, the output base and the guide mechanism are arranged on the same side of the mounting plate. Meanwhile, the maximum distance from the motor to the base plate is larger than the maximum distance from the guide mechanism to the base plate, so that all assemblies of the linear actuator are reasonably arranged, the size is reduced, the structure is more compact, and operation is more stable.

Description

Technical Field

[0001] The utility model relates to the technical field of drive equipment, in particular to a linear actuator. Background Art

[0002] Linear actuators usually include motors, lead screws, and sliders, etc., which can accurately and repeatably push, pull, lift, and position loads. They are widely used in robotics, CNC machine tools, medical equipment, and semiconductor manufacturing. Linear actuators are often assembled in mechanical equipment as drive actuators. Therefore, the performance of linear actuators has a great impact on these mechanical equipment. The linear actuators in the prior art are large in size, not compact in structure, and unstable in operation. Utility Model Content

[0003] The main technical problem solved by the utility model is to provide a linear actuator, which solves the problems of the existing linear actuator being large in size, not compact in structure and unstable in operation.

[0004] In order to solve the above technical problems, a technical solution adopted by the utility model is to provide a linear actuator, comprising:

[0005] A mounting base, comprising a base plate and a mounting plate that are fixedly connected;

[0006] A motor, the motor comprising a stator and a mover magnetically coupled to the stator, the stator being fixed to a mounting plate, and the mover being movable along a first linear direction driven by the stator;

[0007] An output seat connected to the mover so that the output seat can move along the first straight line direction with the mover, and the output seat is located on one side of the mover along the first straight line direction;

[0008] A guide mechanism is disposed between the mounting seat and the output seat, and is used to guide the output seat to move along a first straight line direction;

[0009] An elastic mechanism is disposed between the mounting seat and the output seat, and the elastic mechanism is arranged along a first straight line direction;

[0010] The motor, the output seat and the guide mechanism are located on the same side of the mounting plate, and the maximum distance from the motor to the base plate is greater than the maximum distance from the guide mechanism to the base plate.

[0011] In some embodiments, the linear actuator further includes an external force detection mechanism, which is used to connect to an external load and detect the force of the external load along the first straight line direction, so as to adjust the output force of the motor according to the force.

[0012] In some embodiments, the guide mechanism is a crossed roller guide.

[0013] In some embodiments, the elastic mechanism is a magnetic spring, and the elastic mechanism includes a magnetic stator and a magnetic mover. The magnetic stator is mounted on the mounting seat and extends along the first straight line direction, and the magnetic mover is connected to the output seat.

[0014] In some embodiments, the linear actuator also includes a connecting member, which includes a first connecting part and a second connecting part. The first connecting part is provided with a positioning groove adapted to the mover. One end of the mover adjacent to the output seat is clamped in the positioning groove and fixedly connected to the first connecting part. The first connecting part is fixedly connected to one end of the output seat adjacent to the mover, and the second connecting part is mounted on the magnetic mover.

[0015] In some embodiments, a receiving groove is provided on one side of the output seat adjacent to the mounting seat, a protrusion is provided on one side of the mounting seat adjacent to the receiving groove, the protrusion extends along a first straight line direction, two guide mechanisms are provided, the guide mechanisms are accommodated in the receiving groove, and are respectively located on both sides of the protrusion, and the extension direction of the guide mechanism is parallel to the first straight line direction.

[0016] In some embodiments, a displacement detection mechanism is further provided between the mounting seat and the output seat, and the displacement detection mechanism is used to detect the displacement of the output seat so as to correct the output force of the motor according to the applied force and the displacement.

[0017] In some embodiments, the displacement detection mechanism includes a fixed plate, a first detection part and a second detection part. A mounting notch is provided on one side of the output seat adjacent to the mounting seat. The fixed plate is located in the mounting notch and is mounted on the output seat. The first detection part is provided on the fixed plate. The second detection part is installed on one side of the mounting seat adjacent to the output seat and is arranged opposite to the first detection part. The first detection part can move along a first straight line direction with the output seat. The second detection part is used to detect the displacement of the first detection part relative to the mounting seat along the first straight line direction.

[0018] In some embodiments, the output seat is stepped, and the output seat includes a first step portion, a vertical connecting portion, and a second step portion connected in sequence. The external force detection mechanism includes a sensor mounting plate and an external force sensor. One side of the sensor mounting plate is connected to the first step portion, and the other side of the sensor mounting plate is flush with the second step portion. A mounting groove is provided on the side of the sensor mounting plate close to the first step portion, and the external force sensor is provided in the mounting groove.

[0019] In some embodiments, the mounting seat also includes a support plate, the mounting plate is arranged at one end of the substrate along the first straight line direction, the support plate is arranged at the other end of the substrate along the first straight line direction, the support plate is located between the substrate and the output seat, and a limiting structure is arranged on one side of the support plate adjacent to the output seat, the limiting structure is used to limit the displacement of the output seat along the first straight line direction; and / or, the motor is a circular voice coil motor.

[0020] The beneficial effects of the utility model are as follows: the utility model discloses a linear actuator, which fixes the stator of the motor to the mounting plate, the output seat is located on one side of the mover of the motor along the first straight line direction, and the output seat is connected to the mover so that the output seat follows the mover and moves along the first straight line direction under the drive of the stator. A guide mechanism is arranged between the mounting seat and the output seat, the guide mechanism is used to guide the output seat to move along the first straight line direction, the elastic mechanism is arranged between the mounting seat and the output seat and arranged along the first straight line direction, and the motor, the output seat and the guide mechanism are arranged on the same side of the mounting plate, and at the same time, the maximum distance from the motor to the substrate is greater than the maximum distance from the guide mechanism to the substrate, thereby realizing the reasonable arrangement of the various components of the linear actuator, reducing the volume, making the structure more compact, and operating more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of an embodiment of the utility model;

[0022] Figure 2 It is a structural schematic diagram of another perspective of an embodiment of the utility model;

[0023] Figure 3 It is a front structural schematic diagram of an embodiment of the utility model;

[0024] Figure 4 It is a right side structural schematic diagram of an embodiment of the utility model;

[0025] Figure 5 It is a structural schematic diagram of an output seat, a mounting plate, an external force detection mechanism and a displacement detection mechanism in an embodiment of the utility model when they are combined;

[0026] Figure 6 It is a schematic diagram of the exploded structure when the output seat, the mounting plate, the external force detection mechanism and the displacement detection mechanism are combined in one embodiment of the utility model;

[0027] Figure 7 This is a schematic structural diagram of a connecting piece according to an embodiment of the utility model;

[0028] Figure 8 It is a structural schematic diagram of a guide mechanism according to an embodiment of the utility model.

[0029] Description of the accompanying drawings: mounting seat 1, motor 2, output seat 3, guide mechanism 4, elastic mechanism 5, power cable 6, limiting structure 7, connecting piece 8, anti-collision rubber block 9, external force detection mechanism 10, first signal transmission cable 20, displacement detection mechanism 30, second signal transmission cable 40, substrate 11, mounting plate 12, support plate 13, protrusion 14, stator 21, mover 22, accommodating groove 31, first step portion 32, vertical connecting portion 33, second step portion 34, mounting notch 35, sliding guide seat 41, fixed guide seat 42, retaining frame 43, roller 44, slide groove 45, magnetic stator 51, magnetic mover 52, first connecting portion 81, second connecting portion 82, positioning groove 83, sensor mounting plate 101, external force sensor 102, mounting groove 103, connecting hole 104, fixing portion 301, first detection portion 302, second detection portion 303. DETAILED DESCRIPTION

[0030] In order to facilitate the understanding of the present invention, the present invention is described in more detail below in conjunction with the accompanying drawings and specific embodiments. The accompanying drawings provide preferred embodiments of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0031] It should be noted that, unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in this specification includes any and all combinations of one or more related listed items.

[0032] Figure 1-Figure 8 The embodiment of the linear actuator of the utility model is shown, including a mounting seat 1, a motor 2, an output seat 3, a guide mechanism 4 and an elastic mechanism 5. The mounting seat 1 includes a fixedly connected base plate 11 and a mounting plate 12; the motor 2 is connected to an external control system through a power cable 6, and the motor 2 includes a stator 21 and a mover 22 magnetically coupled to the stator 21. The stator 21 is fixed to the mounting plate 12, and the mover 22 can move along a first linear direction under the drive of the stator 21. The first linear direction is Figure 1The extending directions indicated by arrows a and b in the middle; the output seat 3 is connected to the mover 22 so that the output seat 3 can move along the first straight line direction with the mover 22, and the output seat 3 is located on one side of the mover 22 along the first straight line direction; the guide mechanism 4 is arranged between the mounting seat 1 and the output seat 3, and the guide mechanism 4 is used to guide the output seat 3 to move along the first straight line direction; the elastic mechanism 5 is arranged between the mounting seat 1 and the output seat 3, and the elastic mechanism 5 is arranged along the first straight line direction; wherein, the motor 2, the output seat 3 and the guide mechanism 4 are located on the same side of the mounting plate 12, and the maximum distance L from the motor 2 to the substrate 11 is greater than the maximum distance S from the guide mechanism 4 to the substrate 11.

[0033] In the utility model, the stator 21 of the motor 2 is fixed to the mounting plate 12, the output seat 3 is located on one side of the mover 22 of the motor 2 along the first straight line direction, the output seat 3 is connected to the mover 22, and the output seat 3 can follow the mover 22 and move along the first straight line direction under the drive of the stator 21. The guide mechanism 4 is arranged between the mounting seat 1 and the output seat 3, and the guide mechanism 4 is used to guide the output seat 3 to move along the first straight line direction. The elastic mechanism 5 is arranged between the mounting seat 1 and the output seat 3 and arranged along the first straight line direction, and the motor 2, the output seat 3 and the guide mechanism 4 are arranged on the same side of the mounting plate 12, and at the same time, the maximum distance L from the motor 2 to the substrate 11 is greater than the maximum distance S from the guide mechanism 4 to the substrate 11, thereby realizing the reasonable arrangement of the various components of the linear actuator, reducing the volume, making the structure more compact, and operating more stable.

[0034] In some embodiments, Figure 1 As shown, the mounting seat 1 also includes a support plate 13, the mounting plate 12 is arranged at one end of the substrate 11 along the first straight line direction, the support plate 13 is arranged at the other end of the substrate 11 along the first straight line direction, the motor 2 and the elastic mechanism 5 are located between the support plate 13 and the mounting plate 12, and the space between the support plate 13 and the mounting plate 12 is fully utilized to make the overall structure of the linear actuator more compact; the support plate 13 is located between the substrate 11 and the output seat 3, and a limiting structure 7 is arranged on one side of the support plate 13 adjacent to the output seat 3. The limiting structure 7 can be a limiting rubber block or a limiting spring, etc. The limiting structure 7 is used to limit the displacement of the output seat 3 along the first straight line direction to prevent the output seat 3 from shifting or offsetting during the movement process, thereby improving the stability of the movement process.

[0035] The motor 2 may be a flat linear motor, a U-groove linear motor or a circular voice coil motor, and the motor 2 drives the output seat 3 to move along the first linear direction.

[0036] In some embodiments, Figure 1 and Figure 2As shown, the motor 2 is a circular voice coil motor. The circular voice coil motor has a simple structure, a small size, a fast response speed and a high control accuracy. The use of a circular voice coil motor can reduce the overall size of the linear actuator and improve the working efficiency of the linear actuator.

[0037] The guide mechanism 4 can be a dovetail guide rail, a cylindrical guide rail, a rectangular guide rail or a cross roller guide rail, etc. The guide mechanism 4 guides the output seat 3 to move along the first straight line direction with the mover 22 to improve the stability of the movement process.

[0038] In some embodiments, in combination Figure 5 , Figure 6 and Figure 8 As shown, the guide mechanism 4 is a cross roller guide rail. The guide mechanism 4 includes a sliding guide seat 41, a fixed guide seat 42, a retainer 43 and a roller 44. The sliding guide seat 41 and the fixed guide seat 42 are symmetrically arranged. The sliding guide seat 41 is connected to the output seat 3, and the fixed guide seat 42 is connected to the support plate 13 of the mounting seat 1. The roller 44 is arranged on the retainer 43. The roller 44 and the retainer 43 are located between the sliding guide seat 41 and the fixed guide seat 42. The fixed guide seat 42 and the sliding guide seat 41 are both provided with a slide groove 45. The extension direction of the slide groove 45 is consistent with the first straight line direction. The roller 44 is accommodated in the slide groove 45 and can roll in the slide groove 45. When the output seat 3 moves along the first straight line direction, the sliding guide seat 41 also moves relative to the fixed guide seat 42 along with the movement of the output seat 3. During the movement, the roller 44 rolls in the slide groove 45, and the rolling friction is small. In addition, the sliding guide seat 41 and the fixed guide seat 42 are assembled in parallel, and can withstand loads in multiple directions, so that the output seat 3 is more stable when the mover 22 moves along the first straight line direction.

[0039] In some embodiments, in combination Figure 5 and Figure 6 As shown, a receiving groove 31 is provided on one side of the output seat 3 adjacent to the mounting seat 1, a protrusion 14 is provided on one side of the support plate 13 of the mounting seat 1 adjacent to the receiving groove 31, the protrusion 14 extends along the first straight line direction, two guide mechanisms 4 are provided, the guide mechanisms 4 are accommodated in the receiving groove 31, and are respectively located on both sides of the protrusion 14, and the extension direction of the guide mechanism 4 is parallel to the first straight line direction. By arranging two guide mechanisms 4 in the receiving groove 31, the space is reasonably utilized without affecting the movement of the output seat 3, and the structure is more compact; the two guide mechanisms 4 are both against the protrusion 14, which improves the stability of the guiding process of the guide mechanism 4.

[0040] In some embodiments, Figure 1As shown, the elastic mechanism 5 is a magnetic spring, and the elastic mechanism 5 includes a magnetic stator 51 and a magnetic mover 52. The magnetic stator 51 is shaft-shaped, and the magnetic mover 52 is cylindrical. The magnetic mover 52 forms a constant elastic force parallel to the first straight line direction relative to the magnetic stator 51. The magnetic stator 51 is installed on the mounting seat 1 and extends along the first direction. The magnetic mover 52 is connected to the output seat 3. The magnetic mover 52 transmits the constant elastic force to the output seat 3 to assist the output seat 3 to move along the first straight line direction, thereby improving the stability of the output seat 3 moving along the first straight line direction.

[0041] In some embodiments, in combination Figure 1 , Figure 2 and Figure 7 As shown, the linear actuator also includes a connecting member 8, which includes a first connecting portion 81 and a second connecting portion 82. The first connecting portion 81 is provided with a positioning groove 83 adapted to the mover 22. One end of the mover 22 adjacent to the output seat 3 is clamped in the positioning groove 83 and fixedly connected to the first connecting portion 81. The first connecting portion 81 is fixedly connected to one end of the output seat 3 adjacent to the mover 22. The second connecting portion 82 is cylindrical and is mounted on the magnetic mover 52. By putting the second connecting part 82 on the magnetic mover 52, disassembly is more convenient; the constant elastic force generated between the magnetic mover 52 and the magnetic stator 51 is first transmitted to the first connecting part 81 through the second connecting part 82, wherein the mover 22 is clamped in the positioning groove and fixedly connected to the first connecting part 81, and the first connecting part 81 is also connected to the output seat 3, so as to transmit the constant elastic force to the mover 22 and the output seat 3. When the mover 22 and the output seat 3 move along the first straight line direction, the constant elastic force acts as a reaction force, which can play a buffering role, making the movement process more stable, and at the same time can limit the mover 22 and the output seat 3, which is safer.

[0042] In some embodiments, Figure 2 As shown, an anti-collision rubber block 9 is further provided on one side of the support plate 13 adjacent to the mover 22 , and the anti-collision rubber block 9 can prevent the support plate 13 from colliding with the connecting member 8 .

[0043] The motor force control in general linear actuators is open-loop control, which realizes the force control of the motor through the linear relationship between current and force. It cannot make feedback adjustments according to changes in load or external environment, and cannot achieve high-precision force control.

[0044] In some embodiments, Figure 1 and Figure 2As shown, the linear actuator further includes an external force detection mechanism 10, which is used to connect with an external load and detect the force of the external load along the first straight line direction, so as to adjust the output force of the motor 2 according to the force. The external force detection mechanism 10 detects the force of the external load along the first straight line direction in real time, and is connected to the control system through the first signal transmission cable 20. The control system compares the detected force with the output force, calculates an error signal, and adjusts the input signal of the motor 2 according to the error signal, so that its output force gradually approaches the force of the external load.

[0045] In some embodiments, Figure 5 and Figure 6 As shown, the output seat 3 is stepped, and the output seat 3 includes a first step portion 34, a vertical connection portion 33 and a second step portion 32 connected in sequence. The external force detection mechanism 10 includes a sensor mounting plate 101 and an external force sensor 102. One side of the sensor mounting plate 101 is connected to the first step portion 34, and the other side of the sensor mounting plate 101 is flush with the second step portion 32. A mounting groove 103 is provided on one side of the sensor mounting plate 101 close to the first step portion 34. The external force sensor 102 is arranged in the mounting groove 103. A connecting hole 104 is provided on the external force sensor 102, and the sensor is connected to the external load through the connecting hole 104. By adopting a stepped shape for the output seat 3, when one side of the sensor mounting plate 101 is connected to the first step portion 34, the other side of the sensor mounting plate 101 is flush with the second step portion 32, so that the sensor mounting plate 101 and the second step portion 32 form a plane together, and the external force sensor 102 is arranged in the mounting groove 103, so as to reasonably utilize the space and make the structure more compact.

[0046] In some embodiments, in combination Figure 1 , Figure 2 and Figure 6 As shown, a displacement detection mechanism 30 is also provided between the mounting seat 1 and the output seat 3. The displacement detection mechanism 30 can be an optical encoder, a magnetic encoder, a capacitive encoder, etc. The displacement detection mechanism 30 is used to detect the displacement of the output seat 3 so as to correct the output force of the motor 2 according to the force and displacement. The displacement detection mechanism 30 is connected to the control system through a second signal transmission cable 40, and the displacement signal is fed back to the control system. The control system corrects the output force of the motor 2 according to the force of the external load and the displacement of the output seat 3, thereby realizing high-precision force control of the motor 2.

[0047] In some embodiments, in combination Figure 5 and Figure 6As shown, the displacement detection mechanism 30 includes a fixed plate 301, a first detection part 302 and a second detection part 303. A mounting notch 35 is provided on one side of the output seat 3 adjacent to the mounting seat 1. The fixed plate 301 is located in the mounting notch 35 and is mounted on the output seat 3. The first detection part 302 is provided on the fixed plate 301. The second detection part 303 is installed on one side of the support plate 13 of the mounting seat 1 adjacent to the output seat 3 and is arranged opposite to the first detection part 302. The first detection part 302 can move along the first straight line direction with the output seat 3. The second detection part 303 is used to detect the displacement of the first detection part 302 relative to the mounting seat 1 along the first straight line direction. By arranging the fixed plate 301 in the mounting notch 35, the structure is made more compact. The first detection part 302 moves relative to the second detection part 303 as the output seat 3 moves. The second detection part 303 detects the movement of the first detection part 302 relative to the mounting seat 1 along the first straight line direction, that is, the displacement of the output seat 3 relative to the mounting seat 1, thereby realizing the detection of the displacement of the output seat 3. The displacement detection mechanism 30 has a simple structure and is more convenient to install and disassemble.

[0048] It can be seen that the utility model discloses a linear actuator, which fixes the stator of the motor to the mounting plate, the output seat is located on one side of the mover of the motor along the first straight line direction, and the output seat is connected to the mover. The output seat can follow the mover and move along the first straight line direction under the drive of the stator; the guide mechanism is set between the mounting seat and the output seat, the guide mechanism is used to guide the output seat to move along the first straight line direction, the elastic mechanism is set between the mounting seat and the output seat and arranged along the first straight line direction, and the motor, the output seat and the guide mechanism are arranged on the same side of the mounting plate, and at the same time, the maximum distance from the motor to the substrate is greater than the maximum distance from the guide mechanism to the substrate, thereby realizing the reasonable arrangement of the various components of the linear actuator, reducing the volume, making the structure more compact, and operating more stable.

[0049] The above are only embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A linear actuator, characterized in that: include: A mounting base, comprising a base plate and a mounting plate that are fixedly connected; A motor, the motor comprising a stator and a mover magnetically coupled to the stator, the stator being fixed to the mounting plate, and the mover being movable along a first linear direction under the driving of the stator; an output seat connected to the mover so that the output seat can move along the first straight line direction with the mover, and the output seat is located on one side of the mover along the first straight line direction; A guide mechanism, disposed between the mounting seat and the output seat, the guide mechanism being used to guide the output seat to move along the first straight line direction; An elastic mechanism is disposed between the mounting seat and the output seat, and the elastic mechanism is arranged along the first straight line direction; The motor, the output seat and the guide mechanism are located on the same side of the mounting plate, and the maximum distance from the motor to the base plate is greater than the maximum distance from the guide mechanism to the base plate.

2. The linear actuator according to claim 1, characterized in that: The linear actuator further includes an external force detection mechanism, which is used to be connected to an external load and detect the force of the external load along the first straight line direction, so as to adjust the output force of the motor according to the force.

3. The linear actuator according to claim 1, characterized in that: The guide mechanism is a cross roller guide rail.

4. The linear actuator according to claim 1, characterized in that: The elastic mechanism is a magnetic spring, and the elastic mechanism includes a magnetic stator and a magnetic mover. The magnetic stator is installed on the mounting seat and extends along the first straight line direction. The magnetic mover is connected to the output seat.

5. The linear actuator according to claim 4, characterized in that: The linear actuator also includes a connecting member, which includes a first connecting part and a second connecting part. The first connecting part is provided with a positioning groove adapted to the mover. One end of the mover adjacent to the output seat is clamped in the positioning groove and fixedly connected to the first connecting part. The first connecting part is fixedly connected to one end of the output seat adjacent to the mover, and the second connecting part is sleeved on the magnetic mover.

6. The linear actuator according to claim 3, characterized in that: A receiving groove is provided on one side of the output seat adjacent to the mounting seat, and a protrusion is provided on one side of the mounting seat adjacent to the receiving groove. The protrusion extends along the first straight line direction. Two guide mechanisms are provided. The guide mechanisms are accommodated in the receiving groove and are respectively located on both sides of the protrusion. The extension direction of the guide mechanism is parallel to the first straight line direction.

7. The linear actuator according to claim 2, characterized in that: A displacement detection mechanism is also provided between the mounting seat and the output seat, and the displacement detection mechanism is used to detect the displacement of the output seat so as to correct the output force of the motor according to the acting force and the displacement.

8. The linear actuator according to claim 7, characterized in that: The displacement detection mechanism includes a fixed plate, a first detection part and a second detection part. A mounting notch is provided on one side of the output seat adjacent to the mounting seat. The fixed plate is located in the mounting notch and is mounted on the output seat. The first detection part is provided on the fixed plate. The second detection part is installed on one side of the mounting seat adjacent to the output seat and is arranged opposite to the first detection part. The first detection part can move along the first straight line direction with the output seat. The second detection part is used to detect the displacement of the first detection part relative to the mounting seat along the first straight line direction.

9. The linear actuator according to claim 2, characterized in that: The output seat is stepped, and includes a first step portion, a vertical connection portion, and a second step portion connected in sequence. The external force detection mechanism includes a sensor mounting plate and an external force sensor. One side of the sensor mounting plate is connected to the first step portion, and the other side of the sensor mounting plate is flush with the second step portion. A mounting groove is provided on one side of the sensor mounting plate close to the first step portion, and the external force sensor is provided in the mounting groove.

10. The linear actuator according to claim 1, characterized in that: The mounting seat also includes a support plate, the mounting plate is arranged at one end of the substrate along the first straight line direction, the support plate is arranged at the other end of the substrate along the first straight line direction, the support plate is located between the substrate and the output seat, and a limiting structure is arranged on one side of the support plate adjacent to the output seat, the limiting structure is used to limit the displacement of the output seat along the first straight line direction; and / or the motor is a circular voice coil motor.

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