Integrated linear actuation device

Abstract

The utility model relates to an integrated linear actuating device which comprises a cylinder barrel and a gear motor assembly located at one end of the cylinder barrel, the gear motor assembly is provided with a shell of an integrated structure, the shell comprises a motor shell body and a speed reducer box body, a partition plate dividing the motor shell body into an upper cavity and a lower cavity is arranged on the upper portion in the motor shell body, a PCBA assembly is placed in the upper cavity, and the speed reducer box body is arranged in the lower cavity. The motor shaft penetrates through the lower cavity, one end of the motor shaft extends into the speed reducer box, a gear part is integrally formed at the end of the end, and a centrifugal brake and an electromagnetic brake are sequentially installed at the other end of the motor shaft. A piezoelectric sensor is installed at the tail end of the external thread on the screw rod in the cylinder barrel, and a contact assembly making contact with the piezoelectric sensor is arranged on the periphery of the piezoelectric sensor. The motor shell, the speed reducer box body and the controller shell are integrated into one shell, so that the installation steps are saved; the end part of the motor shaft is processed into a gear part, so that the contact of a transmission gear, a piezoelectric sensor and a contact assembly is reduced, and axial thrust is fed back in time.

Description

Technical Field

[0001] The utility model relates to the technical field of linear actuating devices, in particular to an integrated linear actuating device. Background Art

[0002] A linear actuating device, sometimes also called an electric cylinder, is generally used in some specific industries and requires high safety performance. Especially when applied to equipment with a manned function, the safety performance requirements are even higher. The electric cylinder mainly includes a motor, a reducer, a lead screw, a driver, etc. Its main principle is that under the drive of the motor driver, the motor drives the lead screw through the reducer, converting the rotational motion into a linear reciprocating motion, thereby driving the lifting and falling of the manned lifting equipment, ensuring both high-efficiency work and the safety of personnel.

[0003] At present, when the electric cylinder is applied to manned lifting equipment, a relatively large space needs to be reserved on the chassis for placing lines such as drivers and sensors. The wiring is relatively messy and takes a lot of time. The force exerted by the linear actuating device is very important, so a force feedback device is generally configured to detect the actual applied force, better control the linear actuating device, and at the same time, better ensure the safety of equipment use. Most of the force feedback devices on the existing linear actuating devices are installed in the form of a housing, with high requirements for sealing, and multiple-point measurement is required to obtain the feedback signal, resulting in instability and hysteresis in the detected force. Summary of the Invention

[0004] The technical problem to be solved by the utility model is: to provide an integrated linear actuating device in order to solve the problems existing in the prior art in the above background art.

[0005] The technical solution adopted by the utility model to solve its technical problems is: an integrated linear actuating device, including a cylinder barrel and a reduction motor assembly located at one end of the cylinder barrel. The reduction motor assembly has a housing with an integral structure. The housing includes a motor housing and a reducer box body. An upper partition that divides it into an upper chamber and a lower chamber is provided in the upper part of the motor housing. A PCBA assembly is placed in the upper chamber. The motor shaft passes through the lower chamber, and one end of the motor shaft extends into the reducer box body. A gear part is integrally formed at the end of this end. The other end of the motor shaft is successively installed with a centrifugal brake and an electromagnetic brake. A lead screw assembly is provided in the cylinder barrel. The lead screw assembly includes a lead screw. A piezoelectric sensor is installed at the end of the external thread of the lead screw. A contact assembly that contacts it is provided on the outer circumference of the piezoelectric sensor.

[0006] Furthermore, an external gear shaft and a hollow gear shaft are provided inside the speed reduction machine case. A first gear meshing with the gear part of the motor shaft is installed on the external gear shaft, a second gear meshing with the external gear part of the external gear shaft is installed on the hollow gear shaft, and the inner end of the lead screw is connected to the hollow gear shaft through a spline. Since a gear part is integrally formed at one end of the motor shaft, one less gear can be provided inside the speed reduction machine case, saving costs and improving the assembly efficiency.

[0007] Furthermore, the upper chamber is open at the top, and a motor cover is connected to the opening. A ring of convex edges is provided on the top surface of the opening, and a ring groove matching the convex edges is provided on the edge of the motor cover. With such a setting, through the cooperation of the convex edges and the ring groove, the motor cover can be quickly positioned on the upper chamber without sliding, facilitating installation.

[0008] Furthermore, a sealing ring is provided in the ring groove. The sealing ring is provided to ensure the sealing performance of the motor.

[0009] Furthermore, a motor wiring harness is placed in the upper chamber. Waterproof and breathable valves are connected to both side walls of the upper chamber, and a plurality of connectors are installed above one end of the upper chamber close to the speed reduction machine case. The connectors are connected to the motor wiring harness. The waterproof and breathable valves can help the PCBA component to breathe and dissipate heat, and the connectors facilitate the connection of the motor power supply and the input line of the upper computer.

[0010] Furthermore, a heat dissipation pad is pasted on the partition board, and the PCBA component is arranged on the heat dissipation pad. The PCBA component transfers heat to the housing through the heat dissipation pad, which helps the PCBA component to dissipate heat.

[0011] Furthermore, a release handle is installed on the electromagnetic brake. With the release handle provided, when the motor loses power, the electromagnetic brake will hold the motor shaft tightly. By pushing and pulling the release handle, the electromagnetic brake can be mechanically opened, enabling the motor shaft to rotate freely.

[0012] Furthermore, a through hole is opened at the position of the piezoelectric sensor on the cylinder barrel, and a sealed connector for installing the contact component is connected to the through hole. With such a setting, it is convenient to install the contact component, and the sealed connector can provide waterproof and sealing protection for the contact component.

[0013] Furthermore, the piezoelectric sensor is in the shape of a hollow cylinder. A bearing assembly and a locking nut are sequentially installed on the lead screw on the side of the piezoelectric sensor close to the speed reduction machine case. The bearing assembly and the piezoelectric sensor are axially preloaded through the locking nut. The outer ring of the piezoelectric sensor has a slip ring for contacting the contact component to transmit electrical signals. The piezoelectric sensor is installed on the lead screw and can rotate with the lead screw. Electrical signals can be transmitted through the slip ring on the outer ring contacting the contact component, and the force data signals detected by the piezoelectric sensor are fed back to the upper computer through the PCBA component.

[0014] Furthermore, one side of the bearing assembly is provided with a bearing gland, which is also in the shape of a hollow cylinder. A plurality of arc-shaped grooves are evenly formed on its outer periphery, and the contact assembly passes through the arc-shaped grooves to contact the piezoelectric sensor.

[0015] Advantages of the utility model:

[0016] The utility model integrates the motor housing and the reducer housing into one housing, eliminating components such as the connecting flange between the two, saving installation steps; the motor housing is further divided into an upper chamber and a lower chamber by a partition, and a controller that was previously independent of the motor housing is arranged in the upper chamber, eliminating the housing of the controller and saving installation time;

[0017] One end of the motor shaft extending into the reducer housing is processed into a gear portion, which can reduce a transmission gear in the reducer transmission, save costs, and improve assembly efficiency;

[0018] The piezoelectric sensor is arranged in the cylinder barrel and coaxial with the lead screw, and the electrical signal is transmitted through the contact assembly on its outer periphery. The contact between the two is stable, and the axial thrust can be fed back in a timely manner. Description of the drawings

[0019] The present utility model will be further described below with reference to the drawings and embodiments.

[0020] Figure 1 is a schematic structural diagram of the present utility model.

[0021] Figure 2 is Figure 1 a cross-sectional view of

[0022] Figure 3 is a schematic structural diagram of the speed reduction motor assembly in the present utility model.

[0023] Figure 4 is Figure 3 a cross-sectional view of

[0024] Figure 5 is an assembly schematic diagram of the piezoelectric sensor, the contact assembly and the bearing gland in the present utility model.

[0025] In the figure: 1. Cylinder barrel; 2. Reducing motor assembly; 3. Motor housing; 31. Partition board; 32. Convex edge; 4. Reducer box body; 5. PCBA assembly; 6. Support bearing; 7. Stator; 8. Rotor; 9. Motor shaft; 91. Gear part; 10. Centrifugal brake; 11. Electromagnetic brake; 12. Release handle; 13. Motor cover; 14. Sealing ring; 15. Waterproof and breathable valve; 16. Connector; 17. Heat dissipation pad; 18. External gear shaft; 19. Hollow gear shaft; 20. First gear; 21. Second gear; 22. Piston rod; 23. Lead screw; 24. Piezoelectric sensor; 241. Slip ring; 25. Bearing assembly; 26. Locking nut; 27. Contact assembly; 28. Bearing gland; 281. Arc-shaped groove; 29. Sealing connector; 30. Lead screw nut. Detailed implementation mode

[0026] Now, the present utility model will be further described in detail with reference to the attached drawings. These drawings are all simplified schematic diagrams, only illustrating the basic structure of the present utility model in a schematic manner, so they only show the components related to the present utility model.

[0027] As Figure 1 shown, an integrated linear actuator device includes a cylinder barrel 1 and a reducing motor assembly 2 located at one end of the cylinder barrel 1. The reducing motor assembly 2 has an integrated structure housing, and the housing includes a motor housing 3 and a reducer box body 4. In this way, components such as motors, reducers, and controllers can be integrated together to share the housing and wiring harness.

[0028] As Figure 2 and Figure 3As shown in the figure, a partition plate 31 is provided in the upper part of the motor housing 3 to divide it into an upper chamber and a lower chamber. A PCBA assembly 5 and a motor wire harness are placed in the upper chamber. The PCBA assembly 5 is mainly composed of three major types of control boards, including a control board, a capacitor board, and a drive board. Its main functions are to receive start, stop, and brake signals from the host computer to control the start, stop, and brake of the motor; to receive position sensor signals and forward and reverse signals to control the on and off of each power transistor of the inverter bridge to generate continuous torque; and to receive speed commands and speed feedback signals to control and adjust the rotational speed and provide protection, etc. The lower chamber is used to install and support core motor components such as a bearing 6, a stator 7, a rotor 8, and a motor shaft 9. Among them, the motor shaft 9 penetrates through the lower chamber, and one end of the motor shaft 9 extends into the reducer housing 4. A gear portion 91 is integrally formed at the end of this end. A centrifugal brake 10 and an electromagnetic brake 11 are sequentially installed at the other end of the motor shaft 9. A release handle 12 is installed on the electromagnetic brake 11. When the motor loses power, the electromagnetic brake 11 will hold the shaft and lock the motor shaft 9. However, by manually pushing and pulling the release handle 12, the electromagnetic brake 11 can be mechanically opened, so that the motor shaft 9 can rotate freely. When the electromagnetic brake 11 fails to provide braking torque, or when the electromagnetic brake 11 is manually released, the motor will rotate in the direction of the external torque when subjected to an external torque. When the external torque is much greater than the frictional torque of the motor itself, the motor will stall; in some specific application scenarios, dangerous situations are likely to occur. However, after adding a centrifugal brake 10 (mainly including components such as a housing, a spring, and centrifugal blocks), the higher the stall speed, the greater the centrifugal force generated by the stall. Once the centrifugal force of the stall exceeds the tension of the spring, the tightened centrifugal blocks will be thrown out and rub against the inner wall of its housing. At this time, kinetic energy is converted into internal energy, producing a decelerating and braking effect.

[0029] As Figure 3 shown, the upper chamber is open at the top, and a motor cover 13 is connected to the opening. A circular rib 32 is provided on the top surface of the opening. A ring groove matching the circular rib 32 is provided on the edge of the motor cover 13. Through the cooperation of the circular rib 32 and the ring groove, the motor cover 13 can be quickly positioned on the upper chamber without sliding, which is convenient for installation. A sealing ring 14 is provided in the ring groove to ensure the sealing performance of the motor. Waterproof and breathable valves 15 are connected to both side walls of the upper chamber to ventilate and dissipate heat for the PCBA assembly 5; a plurality of connectors 16 are installed above one end of the upper chamber close to the reducer housing 4. The connectors 16 are connected to the motor wire harness and are used to access the motor power supply and the input of the customer's host computer.

[0030] As Figure 4As shown in the figure, a heat dissipation pad 17 (multi-layered) is attached to the partition plate 31, and the PCBA component 5 is arranged on the heat dissipation pad 17, which can accelerate the heat conduction of the PCBA component 5 and is beneficial to heat dissipation. An external gear shaft 18 and a hollow gear shaft 19 are arranged in the reducer housing 4. A first gear 20 meshing with the gear portion 91 of the motor shaft 9 is installed on the external gear shaft 18, and a second gear 21 meshing with the external gear portion of the external gear shaft 18 is installed on the hollow gear shaft 19. When the motor shaft 9 rotates, the first gear 20 is driven to rotate through the gear portion 91, the external gear shaft 18 rotates, driving the second gear 21 to rotate, so that the hollow gear shaft 19 rotates, providing power for the lead screw assembly in the cylinder barrel 1.

[0031] As Figure 2 and Figure 5 As shown in the figure, a lead screw assembly and a piston rod 22 are arranged in the cylinder barrel 1. The lead screw assembly includes a lead screw 23 and a lead screw nut 30. One end of the piston rod 22 is connected to the lead screw nut 30. The lead screw 23 rotates under the power output by the reduction motor assembly 2, and the lead screw nut 30 drives the piston rod 22 to push outwards along the lead screw 23. The inner end of the lead screw 23 is connected to the hollow gear shaft 19 through a spline. A piezoelectric sensor 24 is installed at the end of the external thread of the lead screw 23. The piezoelectric sensor 24 is in the shape of a hollow cylinder. A bearing assembly 25 and a locking nut 26 are sequentially installed on the lead screw 24 on one side close to the reducer housing 4. The bearing assembly 25 and the piezoelectric sensor 24 are axially preloaded through the locking nut 26. A slip ring 241 is provided on the outer ring of the piezoelectric sensor 24, and a contact component 27 in contact with it is arranged on the outer periphery of the piezoelectric sensor 24. Specifically: one side of the bearing assembly 25 has a bearing gland 28, which is also in the shape of a hollow cylinder. A plurality of arc-shaped grooves 281 are evenly formed on its outer periphery. The contact component 27 passes through the arc-shaped grooves 281 to contact the piezoelectric sensor 24. A through hole is formed in the cylinder barrel 1 at the position corresponding to the piezoelectric sensor 24, and a sealing connector 29 for installing the contact component 27 is connected to the through hole.

[0032] The piezoelectric sensor 24 is installed on the lead screw 23, so it will generate a rotational motion during normal operation. In order to transmit the force detection data in real time, the slip ring 241 on the outer ring of the piezoelectric sensor 24 can conduct electricity in a 360-degree rotation. When the slip ring 241 contacts the contacts of the contact component 27, the electrical signal can be transmitted. At the same time, the bearing gland 28 is stationary. In order to facilitate the installation of the contact component 27, a plurality of arc-shaped grooves 281 are evenly formed on the outer periphery of the bearing gland 28 to form a hollow structure, which can provide sufficient installation space for the contact component 27. The contact component 27 integrates the signal processing function and can feedback the detected value of the force in real time. In addition, in order to ensure the sealing performance, the contact component 27 is connected by a sealing connector 29 to play a role in waterproof sealing protection.

[0033] During normal operation, the client inputs the host computer signal to the reduction motor assembly 2. The PCBA assembly 5 inside the motor receives the signal and makes corresponding actions. At the same time, the contact assembly 27 inside the cylinder barrel 1 also outputs a force feedback signal in real time, which has better safety performance.

[0034] Apply the integrated linear actuator of this embodiment to lifting equipment: the lifting platforms of aerial work platforms, cranes or scissor lifts, etc. When an emergency occurs (such as sudden power failure) on the lifting platform and emergency descent is required, decelerated descent protection is needed. At this time, this linear actuator equipped with a centrifugal brake 10 can play a very good protective role. Specific implementation method: After an emergency occurs (such as sudden power failure), the electromagnetic brake 11 locks the motor shaft 9. The lifting platform is at a certain height position and is dangerous. It is necessary to lower and retract the platform as soon as possible. The release handle 12 of the linear actuator equipped with a centrifugal brake 10 can be manually pulled, and the electromagnetic brake 11 is correspondingly opened. Under the action of gravitational acceleration, the linear actuator starts to accelerate and retract, and the motor rotates at a relatively high speed. When the centrifugal force brought by the rotation speed exceeds the pulling force of the centrifugal brake spring, the counterweight block is thrown out, rubbing against the inner wall of the centrifugal brake 10 housing, and the kinetic energy is dissipated as heat energy, achieving decelerated descent and retraction.

[0035] Enlightened by the above ideal embodiments based on the present invention, through the above description, relevant staff can completely make various changes and modifications without departing from the technical idea of this invention. The technical scope of this invention is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. An integrated linear actuating device, comprising a cylinder barrel (1) and a reduction motor assembly (2) located at one end of the cylinder barrel (1), characterized in that: The speed reduction motor assembly (2) has a housing with an integral structure, the housing includes a motor housing (3) and a speed reducer box body (4), a partition plate (31) that divides the upper part inside the motor housing (3) into an upper chamber and a lower chamber is provided, a PCBA assembly (5) is placed in the upper chamber, a motor shaft (9) penetrates through the lower chamber, and one end of the motor shaft (9) extends into the speed reducer box body (4), and a gear portion (91) is integrally formed at the end of this end. An centrifugal brake (10) and an electromagnetic brake (11) are sequentially installed at the other end of the motor shaft (9); a lead screw assembly is provided in the cylinder barrel (1), the lead screw assembly includes a lead screw (23), and a piezoelectric sensor (24) is installed at the end of the external thread on the lead screw (23), and a contact point assembly (27) that contacts it is provided on the outer periphery of the piezoelectric sensor (24).

2. The integrated linear actuator according to claim 1, wherein: An external gear shaft (18) and a hollow gear shaft (19) are provided in the speed reducer box body (4), a first gear (20) that meshes with the gear portion of the motor shaft (9) is installed on the external gear shaft (18), a second gear (21) that meshes with the external tooth portion of the external gear shaft (18) is installed on the hollow gear shaft (19), and the inner end of the lead screw (23) is connected to the hollow gear shaft (19) through a spline.

3. The integrated linear actuator according to claim 1, characterized in that: The upper chamber is open at the top, and a motor cover (13) is connected to the opening. A circular convex edge (32) is provided on the top surface of the opening, and an annular groove that cooperates with the convex edge (32) is provided on the edge of the motor cover (13).

4. The integrated linear actuating device according to claim 3, wherein: A sealing ring (14) is provided in the annular groove.

5. The integrated linear actuating device according to claim 1 or 3, characterized in that: A motor wire harness is also placed in the upper chamber, waterproof breathable valves (15) are connected to both side walls of the upper chamber, and a plurality of connectors (16) are installed above one end of the upper chamber close to the speed reducer box body (4), and the connectors (16) are connected to the motor wire harness.

6. The integrated linear actuator according to claim 1, characterized in that: A heat dissipation pad (17) is pasted on the partition plate (31), and the PCBA assembly (5) is arranged on the heat dissipation pad (17).

7. The integrated linear actuator according to claim 1, wherein: A release handle (12) is installed on the electromagnetic brake (11).

8. The integrated linear actuator according to claim 1, wherein: A through hole is provided on the cylinder barrel (1) corresponding to the position of the piezoelectric sensor (24), and a sealing connector (29) for installing the contact point assembly (27) is connected to the through hole.

9. The integrated linear actuator according to claim 1, wherein: The piezoelectric sensor (24) is in the shape of a hollow cylinder. A bearing assembly (25) and a locking nut (26) are sequentially installed on the lead screw (23) on the side close to the speed reducer box body (4). The bearing assembly (25) and the piezoelectric sensor (24) are axially pre-tightened through the locking nut (26), and a slip ring (241) for contacting and transmitting electrical signals with the contact point assembly (27) is provided on the outer ring of the piezoelectric sensor (24).

10. The integrated linear actuator according to claim 9, wherein: One side of the bearing assembly (25) has a bearing gland (28), the bearing gland (28) is also in the shape of a hollow cylinder, and a plurality of arc-shaped grooves (281) are evenly provided on its outer periphery. The contact point assembly (27) passes through the arc-shaped grooves (281) to contact the piezoelectric sensor (24).

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