Locking device of actuating system and actuating system

Abstract

The utility model discloses a locking device of an actuating system and the actuating system. The locking device of the actuating system comprises a locking part attached to the rotating part and provided with at least one locking protrusion; the driving component comprises a motor, an elastic element and a transmission element driven by the motor; the braking component is arranged between the locking component and the transmission element in a lever form; in the braking state, the transmission element is switched to the locking position, and the braking component keeps stopping of the locking protrusion under the action of the elastic element. In the release state, the transmission element is switched to the unlocking position, and the brake component is pushed by the transmission element to be kept at the position separated from the locking protrusion. The actuating system comprises an actuating motor, a gear transmission mechanism and a rotary output component, and one of the actuating motor, the gear transmission mechanism and the rotary output component is provided with the locking device of any scheme. The phase speed is higher, and the braking or releasing state is kept without continuous power supply.

Description

Technical Field

[0001] The utility model relates to the field of transmission technologies, in particular to a locking device for an actuation system and an actuation system.

Background Art

[0002] Electrically-driven actuation systems are widely used in equipment such as electric lift tables, electric beds, and electric sofas / chairs. These devices rely on the torque output of a motor to achieve linear displacement or other ways of moving a load. In order to enable the equipment to keep the load in place after the motor is powered off, locking and braking are required to ensure that the external force applied to the load after the motor power is cut off will not cause the motor to reverse.

[0003] Previously, the common method was to rely on frictional constraints in the motor to implement a sufficient degree of braking or locking. Since the motor output torque usually needs to be converted and transmitted by a transmission device, this inevitably introduces friction and uses friction to implement self-locking behavior. For example, in the common worm and worm gear transmission, it can be specifically designed to achieve high friction, and a motor configured with such a transmission device has the characteristic of mechanism self-locking. Another way to achieve braking is to set a torsion spring self-locking device on the torque transmission chain of the actuation system. As disclosed in the utility model patent CN111577850A, such a self-locking device is often set on the rotating component of the torque transmission chain, and it can apply a higher frictional force to the rotating component when rotating in one direction than when rotating in the other direction.

[0004] The disadvantages of the above-mentioned solutions are that they cannot provide sufficient safe and reliable locking. Because the friction braking effect depends on factors such as component lubrication, manufacturing tolerances, and wear, relying on friction can never achieve the expected braking effect. Moreover, during the normal operation of the actuation system, the friction braking effect still exists, which will cause energy loss.

[0005] There is also a prior art that uses an electronic brake. As disclosed in the utility model patent CN111697758A for a locking mechanism for a motor, braking is implemented by a lock pin actuated by a solenoid. The lock pin is arranged to selectively engage or disengage from a gear, corresponding to the locking or releasing of the rotating component. However, the electronic brake is controlled by electromagnetic suction. If the strength of the lock pin is to be ensured to maintain self-locking under a large load, the size and structural strength of the lock pin need to be increased, which will cause the lock pin to require a greater magnetic suction force to be sucked back for unlocking. Subsequently, a larger-sized solenoid needs to be provided to achieve this, increasing costs and occupying space. Therefore, this electronic brake is more suitable for use in the case of medium and small loads.

Content of the Utility Model

[0006] The technical problem to be solved by the utility model is to overcome the deficiencies of the prior art and propose a locking device for an actuation system and an actuation system.

[0007] To solve the above technical problems, the present utility model adopts the following technical solutions:

[0008] A locking device for an actuating system, which is used to brake a rotating component of the actuating system. The locking device includes:

[0009] A locking component attached to the rotating component, having at least one locking protrusion; and,

[0010] A driving component, including a motor, an elastic element, and a transmission element driven by the motor to switch between an unlocking position and a locking position; and,

[0011] A braking component, which is arranged in the form of a lever between the locking component and the transmission element;

[0012] The locking device has a braking state and a release state:

[0013] In the braking state, the transmission element switches to the locking position, and the braking component is held by the elastic element to block the locking protrusion, so as to limit the rotation of the locking component;

[0014] In the release state, the transmission element switches to the unlocking position, and the braking component is pushed by the transmission element to be held at a position away from the locking protrusion, so as to release the locking component.

[0015] In the locking device of the above actuating system, the motor maintains the release state when it is not powered on.

[0016] In the locking device of the above actuating system, the transmission element is driven by the motor to make a rotational motion, and its rotation axis is orthogonal to the rotation axis of the rotating component.

[0017] In the locking device of the above actuating system, the transmission element includes at least one concave portion and at least one convex portion, and the at least one concave portion and the at least one convex portion are configured to be alternately distributed in the circumferential direction of the transmission element.

[0018] In the locking device of the above actuating system, the transmission element is configured as a disc cam.

[0019] In the locking device of the above actuating system, the braking component includes a driving arm, a rotating fulcrum connecting the driving arm and the driven arm. In the braking state, the driven arm is held by the elastic element to block the locking protrusion. In the release state, the driving arm is pushed by the transmission element to keep the driven arm at a position away from the locking protrusion.

[0020] In the locking device of the above-mentioned actuating system, the length of the driven arm relative to the rotation fulcrum is greater than the length of the driving arm relative to the rotation fulcrum.

[0021] In the locking device of the above-mentioned actuating system, the transmission element is driven by the motor to perform a linear motion, and the direction of its linear motion is orthogonal to the rotation axis of the rotating member.

[0022] In the locking device of the above-mentioned actuating system, the transmission element is configured as a nut, and the driving component further includes a threaded shaft driven by the motor to rotate, and the nut is sleeved on the threaded shaft.

[0023] In the locking device of the above-mentioned actuating system, the braking component includes a driving arm, a rotation fulcrum connecting the driven arm therebetween. In the braking state, the driving arm is acted on by the elastic element to keep the driven arm in a position of blocking the locking protrusion. In the release state, the driving arm is pushed by the transmission element to keep the driven arm in a position away from the locking protrusion.

[0024] In the locking device of the above-mentioned actuating system, the locking component rotates coaxially with the rotating component, the locking protrusion protrudes radially outward relative to the rotation axis of the locking component, and the swing axis of the braking component is parallel to the rotation axis of the locking component.

[0025] In the locking device of the above-mentioned actuating system, the cooperation between the at least one locking protrusion and the braking component is set as follows: they block each other in the first rotation direction of the locking component to implement braking; they release the interference in the second rotation direction opposite to the first rotation direction of the locking component to release the rotating component.

[0026] In the locking device of the above-mentioned actuating system, the locking device includes:

[0027] Two said locking components; and,

[0028] Two said driving components; and,

[0029] Two said braking components;

[0030] Wherein, the two locking components are axially spaced and attached to the rotating component, and the directions in which the two locking components are braked are opposite.

[0031] In the locking device of the above-mentioned actuating system, the locking device includes:

[0032] Two said driving components; and,

[0033] Two said braking components;

[0034] At least one locking projection has a first stop side and a second stop side opposite thereto, allowing the locking member to be implemented with two-way locking.

[0035] An actuation system includes an actuation motor, a gear transmission mechanism, and a rotary output member. The rotary output member is driven to rotate by the power of the actuation motor transmitted by the gear transmission mechanism. One of the actuation motor, the gear transmission mechanism, and the rotary output member is configured with the locking device described in any of the above solutions.

[0036] In the above actuation system, the rotary member is the output shaft of the actuation motor.

[0037] In the above actuation system, the actuation motor includes a motor body and a tail end cover attached to the tail of the motor body. One end of the output shaft extends into the tail end cover. An installation bracket is fixed inside the tail end cover. The driving member, the braking member, and the elastic element are jointly constrained and positioned by the installation bracket and the tail end cover to form an assembly structure that resists tilting force and shear force.

[0038] In the above actuation system, the actuation system further includes a standby circuit module that powers the locking device in a power-off state.

[0039] In the above actuation system, the standby circuit module includes an energy storage element, and the energy storage element is arranged at the power supply end of the motor.

[0040] In the above actuation system, the energy storage element is a capacitor. One end of the capacitor is connected to the power supply end of the motor. One end of the capacitor is also connected to an external power supply that powers the locking device. The other end of the capacitor is grounded.

[0041] In the above actuation system, the standby circuit module is connected to both ends of the actuation motor and is used to transfer the voltage generated by the actuation motor to the power supply end of the motor.

[0042] In the above actuation system, the standby circuit module includes a first input terminal, a second input terminal, a rectifier bridge unit, and a voltage stabilizing unit. The first input terminal is connected to one end of the actuation motor. The second input terminal is connected to the other end of the actuation motor. The first input terminal and the second input terminal are also both connected to the input terminal of the rectifier bridge unit. The output terminal of the rectifier bridge unit is connected to the input terminal of the voltage stabilizing unit. The output terminal of the voltage stabilizing unit is connected to the power supply end of the motor.

[0043] Advantages of the present utility model:

[0044] Compared with the current mechanical self-locking and torsion spring self-locking solutions, in the released state of the locking device of the present utility model, the transmission component is pushed by the braking element and remains in a position away from the locking protrusion to release the locking component. The so-called position where the transmission component is away from the locking protrusion means that the transmission component is not on the movement track of the locking protrusion, and the two will not come into contact. In this way, the operation of the actuation system is not affected by the locking device, avoiding unnecessary losses, including physical wear of the transmission component and the locking component, and energy attenuation caused by overcoming the braking force during operation. This helps to extend the service life of the components because the locking device does not participate in the operation of the actuation system, and also avoids the problem of abnormal noise caused by component contact.

[0045] Compared with the current electronic braking solutions, the transmission component of the present utility model is arranged in the form of a lever between the locking component and the braking element. The transmission component is independently arranged and does not have to be attached to a solenoid as in the prior art. This creates greater design freedom because those skilled in the art know that such a lever-shaped transmission component can include various current mechanical structures that swing around a fulcrum, such as traditional levers and deformations of traditional levers, such as pulleys. The movement of the transmission component does not have to be restricted to a linear displacement like a locking pin. By utilizing the characteristics of the lever, scaling of the acting force and displacement can be achieved. If the driving component of the locking device has a specific installation position and angle, then a suitable transmission component can be selected and the position and angle of the transmission component can be adjusted to adapt, and vice versa. This is very applicable to the installation of the locking device in a small space and the occasion of high-density layout of components. And because the transmission component is independently arranged, of course, it can also be repaired and replaced separately, avoiding excessive maintenance costs.

[0046] As mentioned above, in the locking device of the present utility model, the motor does not directly act on the transmission component. Its output torque relies on the braking element to convert and transmit to the transmission component. When the locking device is in the braking state, the transmission component is held against the locking protrusion by the elastic element to restrict the rotation of the locking component. At this time, the transmission component may be at a dead point of motion or be blocked by the braking element and unable to rotate further. This kind of locking is very reliable; when the locking device is in the released state, the braking element switches to the unlocking position, and the transmission component is pushed by the braking element and remains in a position away from the locking protrusion to release the locking component. At this time, there is no need to consider whether the motor of the driving component is powered on. Whether in the braking state or the unlocking position, the motor only needs to drive the braking element to act, without considering the size and structure of the transmission component. Therefore, a micro motor can be used to achieve the above functions. Compared with the current electronic braking solutions, for electric components (including solenoids, motors, etc.) of the same volume, the present utility model can achieve self-locking with low cost and large load, or the volume of the motor can be further reduced to achieve the same braking effect.

[0047] In the locking device of the above-mentioned actuation system, the transmission element is driven by the motor to perform a rotational movement, and its rotation axis is orthogonal to the rotation axis of the rotating component. As an operating structural form of the transmission element, the motor can directly drive the transmission element to move, reducing the energy loss of intermediate elements. Moreover, since its rotation axis is orthogonal to the rotation axis of the rotating component, the motor can be arranged horizontally, reducing the space occupied in the direction of the rotation axis of the rotating component.

[0048] In the locking device of the above-mentioned actuation system, the transmission element includes at least one recess and at least one protrusion, and the at least one recess and the at least one protrusion are configured to be alternately distributed in the circumferential direction of the transmission element. The alternation of the protrusions and recesses can control the swing amplitude of the braking component as significantly as possible, thereby more clearly switching the braking state and release state of the locking device. Moreover, since both the recesses and protrusions are arranged to be alternately distributed in the circumferential direction of the transmission element, the braking component can be driven to swing as long as the transmission element is controlled to rotate. The spatial method is simple and highly reliable.

[0049] In the locking device of the above-mentioned actuation system, the transmission element is configured as a disk cam. As another structural form of the transmission element, the disk cam can also stably control whether the braking component abuts against the locking protrusion through the change in the diameter of its periphery during its rotation.

[0050] In the locking device of the above-mentioned actuation system, the braking component includes a driving arm, a driven arm, and a rotation fulcrum connecting the two. In the braking state, the driven arm is kept abutting against the locking protrusion under the action of the elastic element. In the release state, the driving arm is pushed by the transmission element to keep the driven arm in a position away from the locking protrusion. The elastic element acts on the driven arm and the transmission element acts on the driving arm, avoiding the situation where the elastic element and the transmission element act on the same arm simultaneously, making the arrangement of the elastic element and the transmission element more reasonable and avoiding the increase in assembly difficulty caused by excessive local parts.

[0051] In the locking device of the above-mentioned actuation system, the length of the driven arm relative to the rotation fulcrum is greater than the length of the driving arm relative to the rotation fulcrum. When the elastic element acts on the driven arm, a larger force arm can be obtained, reducing the magnitude of the elastic force that the elastic element needs to generate, which is beneficial to reducing the size of the elastic element. At the same time, due to the longer length of the driven arm, a larger swing amplitude can also be obtained at the distal end of the driven arm to cooperate with the locking component.

[0052] In the locking device of the above-mentioned actuation system, the transmission element is driven by the motor to perform a linear movement, and its linear movement direction is orthogonal to the rotation axis of the rotating component. As another movement form of the transmission element, the braking component is driven to swing by the linear movement of the transmission element approaching or departing from the braking component.

[0053] In the locking device of the above-mentioned actuation system, the transmission element is configured as a nut, and the drive component further includes a threaded shaft driven to rotate by the motor, and the nut is sleeved on the threaded shaft. The cooperation between the nut and the threaded shaft driven to rotate by the motor can convert the rotation of the motor into the linear motion of the nut along the axial direction, and the threaded fit can have a certain self-locking ability to ensure that the relative position between the nut and the threaded shaft can be maintained after the motor stops rotating.

[0054] In the locking device of the above-mentioned actuation system, the braking component includes a driving arm, a rotating fulcrum connecting the driving arm and the driven arm. In the braking state, the driving arm is acted on by the elastic element to keep the driven arm in a position to block the locking protrusion. In the released state, the driving arm is pushed by the transmission element to keep the driven arm away from the locking protrusion. Another structural form of arranging the elastic element and the transmission element to act on the braking component can make the structure of the drive component more compact.

[0055] In the locking device of the above-mentioned actuation system, the locking component rotates coaxially with the rotating component, the locking protrusion protrudes radially outward relative to the rotation axis of the locking component, and the swing axis of the braking component is parallel to the rotation axis of the locking component. The locking component rotates coaxially with the rotating component, which can transmit the blocking force to the rotating component when the locking component is blocked by the braking component, and is also beneficial to reducing the number of connecting elements between the locking component and the rotating component and simplifying the overall structure. And the structure of the locking protrusion can make it easier to contact with the braking component during the swing of the braking component to produce a blocking effect.

[0056] In the locking device of the above-mentioned actuation system, the cooperation between the at least one locking protrusion and the braking component is set to: block each other in the first rotation direction of the locking component to implement braking; release the rotating component by removing interference in the second rotation direction opposite to the first rotation direction of the locking component. When the braking component and the locking component are stuck and cannot be unlocked, unlocking can be achieved by rotating the locking component in the reverse direction.

[0057] In the locking device of the above-mentioned actuation system, the locking device includes: two said locking components; and, two said drive components; and, two said braking components; wherein, the two said locking components are axially spaced and attached to the rotating component, and the directions of braking of the two said locking components are opposite. A structural form of a locking device realizes the independent locking of the locking component in two opposite rotation directions through the cooperation of two groups of locking components and two groups of drive components.

[0058] In the locking device of the actuating system, the locking device comprises: two driving components; and two braking components; at least one locking protrusion has a first stop side and a second stop side opposite thereto, so as to allow the locking component to be bidirectionally locked. Another locking device structure uses a locking component to cooperate with two driving components and a braking component to simplify the overall structure, and can also achieve separate locking of the locking component in both forward and reverse rotation directions.

[0059] The utility model also discloses an actuation system, which realizes the locking function of the actuation system by configuring a locking device of any of the above structures on the motor, gear transmission mechanism or rotation output part, and does not significantly increase the volume of the entire actuation system while having a higher self-locking load.

[0060] In the above actuation system, the rotating component is the output shaft of the actuation motor. When the brake component and the transmission element abut against each other, the actuation motor will be directly locked, which can respond faster, reduce the complexity of the system, make the locking action more accurate and reliable, improve the braking effect, and have a greater braking load bearing capacity.

[0061] In the above-mentioned actuation system, the actuation motor includes a motor body and a tail end cover attached to the tail of the motor body, one end of the output shaft extends into the tail end cover, a mounting bracket is fixed inside the tail end cover, the driving component, the braking component and the elastic element are constrained and positioned by the mounting bracket and the tail end cover to form an assembly structure that resists tilting force and shear force. The locking device is arranged by making full use of the space of the tail end cover, and a mounting bracket is provided inside the tail end cover to fix the locking device, so as to ensure the long-term stable operation of the locking device.

[0062] In the above actuation system, the actuation system further comprises a backup circuit module for supplying power to the locking device in a power-off state. After an unexpected power outage, the backup circuit module can also supply power to the locking device to facilitate releasing the braking state.

[0063] In the above actuation system, the backup circuit module includes an energy storage element, which is arranged at the power supply end of the motor. The energy storage element stores electricity in the power-on state and supplies power to the motor after power failure.

[0064] In the above actuation system, the energy storage element is a capacitor, one end of which is connected to the power supply end of the motor, one end of which is also connected to the external power supply for powering the locking device, and the other end of which is grounded. The capacitor is used to store electricity when the external power supply is powered, and can quickly release the electricity to power the motor when the external power supply is powered off.

[0065] In the above-mentioned actuation system, the backup circuit module is connected to both ends of the actuation motor and is used to transfer the voltage generated by the actuation motor to the power supply terminal of the motor. By manually reversing the actuation motor after power failure to generate electrical energy for powering the motor, the locking device can release the braking state.

[0066] In the above-mentioned actuation system, the backup circuit module includes a first input terminal, a second input terminal, a rectifier bridge unit, and a voltage stabilizing unit. The first input terminal is connected to one end of the actuation motor, the second input terminal is connected to the other end of the actuation motor, both the first input terminal and the second input terminal are also connected to the input terminal of the rectifier bridge unit, the output terminal of the rectifier bridge unit is connected to the input terminal of the voltage stabilizing unit, and the output terminal of the voltage stabilizing unit is connected to the power supply terminal of the motor. Through the above structure, the current generated by reversing the actuation motor is rectified to meet the power supply requirements of the motor.

[0067] These features and advantages of the present utility model will be disclosed in detail in the following specific embodiments and drawings.

Description of the Drawings

[0068] The following further describes the present utility model with reference to the drawings:

[0069] Figure 1 It is a schematic structural diagram of the first embodiment of the locking device of the actuation system of the present utility model;

[0070] Figure 2 It is a schematic structural diagram of the locking component in the first embodiment of the locking device of the actuation system of the present utility model;

[0071] Figure 3 It is a schematic structural diagram of the braking component in the first embodiment of the locking device of the actuation system of the present utility model;

[0072] Figure 4 It is a schematic structural diagram of the transmission element in the first embodiment of the locking device of the actuation system of the present utility model;

[0073] Figure 5 It is a schematic structural diagram of the locking device in the released state in the first embodiment of the locking device of the actuation system of the present utility model;

[0074] Figure 6 It is a schematic structural diagram of the locking device in the braking state in the first embodiment of the locking device of the actuation system of the present utility model;

[0075] Figure 7 It is a schematic structural diagram of the actuation system in the present utility model;

[0076] Figure 8 It is a left view of the actuation system in the present utility model with the end cover removed;

[0077] Figure 9 Schematic diagram of the structure of the second embodiment of the locking device of the actuation system of the present utility model.

[0078] Figure 10 Schematic diagram of the power input circuit shown in the third embodiment;

[0079] Figure 11 Schematic diagram of the main control unit circuit shown in the third embodiment;

[0080] Figure 12 Schematic diagram of the motor control circuit shown in the third embodiment;

[0081] Figure 13 Schematic diagram of the power input circuit in the power-off state shown in the third embodiment;

[0082] Figure 14 Schematic diagram of the standby circuit module circuit shown in the fourth embodiment;

[0083] Reference numerals:

[0084] Locking device 100, locking member 110, locking protrusion 111, motor 120, threaded shaft 121, elastic element 130, transmission element 140, concave portion 141, convex portion 142, braking member 150, active arm 151, driven arm 152, rotation fulcrum 153, actuation motor 200, motor body 210, end cover 220, mounting bracket 230, gear transmission mechanism 300, rotating member 400.

Detailed implementation manners

[0085] The locking device of the actuation system is used to brake the rotating member 400 of the actuation system. The locking device 100 includes: a locking member 110 attached to the rotating member 400, having at least one locking protrusion 111; and a driving member including a motor 120, an elastic element 130, and a transmission element 140 driven by the motor 120 to switch between an unlocking position and a locking position; and a braking member 150 arranged in a lever form between the locking member 110 and the transmission element 140. The locking device 100 has a braking state and a release state: in the braking state, the transmission element 140 switches to the locking position, and the braking member 150 is held by the elastic element 130 to block the locking protrusion 111 to limit the rotation of the locking member 110; in the release state, the transmission element 140 switches to the unlocking position, and the braking member 150 is pushed by the transmission element 140 to be held in a position away from the locking protrusion 111 to release the locking member 110.

[0086] Since the braking component 150 is arranged in the form of a lever between the locking component 110 and the transmission element 140, the driving component pushes the braking component 150 to swing, switching the state transition of the locking device 100. Due to the lever effect, this driving force does not require a large force, which is beneficial to the miniaturization of the driving component. Even when increasing the strength of the braking component 150 to improve the self-locking load, the size of the driving component can remain unchanged or be slightly adjusted, which is conducive to maintaining the overall miniaturization of the size. Moreover, when the locking device 100 is in the braking state and the release state, the position of the braking component 150 is determined by the transmission element 140 and the elastic element 130. When it is necessary to maintain the braking state and the release state of the locking device 100, it is not necessary to energize the motor 120. Even in the power-off state, the state of the locking device 100 can be maintained for a long time. Only when it is necessary to switch the state of the locking device 100, it is necessary to energize the driving component. Therefore, the locking device 100 also has a certain energy-saving effect. Since the driving component uses the motor 120 to drive the transmission element 140 and the elastic element 130 to cooperate to drive the braking component 150, the driving component is not affected by the surrounding environment and can keep the braking component 150 in a stable position to achieve the braking state or the release state of the locking device 100. Even if the power is suddenly cut off, the braking state of the locking device 100 can be maintained, avoiding the occurrence of potential safety hazards. Using the motor 120 and the elastic element 130 as the main power driving components, the maintenance cost is low and the response speed is fast, and the later maintenance cost is also greatly reduced.

[0087] The technical solutions of the embodiments of the present invention will be explained and described below with reference to the accompanying drawings of the embodiments of the present invention. However, the following embodiments are only the preferred embodiments of the present invention and not all of them. Based on the embodiments in the embodiments, other embodiments obtained by those skilled in the art without creative work all belong to the protection scope of the present invention.

[0088] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is 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 should not be construed as a limitation to the present invention.

[0089] In addition, the terms "first" and "second" are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, unless otherwise specified, the meaning of "a plurality of" is two or more, unless otherwise clearly defined.

[0090] In the present utility model, unless otherwise clearly specified and defined, the terms such as "mounted", "connected", "connected to", "fixed" and the like shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0091] In the present utility model, unless otherwise clearly specified and defined, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features therebetween. Moreover, the first feature being "above", "over" and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0092] Embodiment 1

[0093] As Figures 1 to 6 shown, the locking device of the actuation system is used to brake the rotating component 400 of the actuation system, and the rotating component 400 is such as a rotating shaft or other rotating parts. The actuation system includes a locking component 110, a driving component and a braking component 150. The locking component 110 is connected to the rotating component 400, and the locking component 110 and the rotating component 400 can be fixed by means of socket connection or plug connection, etc. There is at least one locking protrusion 111 on the locking component 110. The driving component includes a motor 120, an elastic element 130 and a transmission element 140 driven by the motor 120 to switch between the unlocking position and the locking position. The elastic element 130 can be a spring or a spring sheet, etc. The braking component 150 is arranged in the form of a lever between the locking component 110 and the transmission element 140. The form of the lever can, on the one hand, adjust the length of the force arm to facilitate adapting to driving components with different powers according to the space, and on the other hand, the braking component 150 in the form of a lever also has a relatively fast response speed.

[0094] The locking device 100 has a braking state and a release state. In the braking state, the transmission element 140 switches to the locking position, and the braking component 150 is stopped by the locking projection 111 of the locking component 110 under the action of the elastic element 130, restricting the rotation of the locking component 110, thereby achieving the locking purpose. In the release state, the transmission element 140 switches to the unlocking position, and the braking component 150 is pushed by the transmission element 140 and held at a position disengaged from the locking projection 111, that is, a position where the braking component 150 does not block the movement of the locking component 110, releasing the locking component 110. That is, in the braking state, the elastic element 130 plays a major role in pushing the braking component 150 against the locking projection 111. In the braking state, the elastic element 130 can maintain the action on the braking component 150 for a long time without power supply, and this state will not be released even when the power is off, improving the safety of the actuation system. In the release state, the transmission element 140 is driven by the motor 120 to move, and the transmission element 140 pushes the braking component 150 to swing against the resistance of the elastic element 130, and the braking component 150 is disengaged from the locking projection 111. Since the transmission element 140 is driven by the motor 120 to switch positions, the motor 120 does not need to continuously provide power when the transmission element 140 is in the unlocking position and the locking position. Therefore, the motor 120 can be powered off when the transmission element 140 is in the unlocking position and the locking position, and the transmission element 140 can always maintain the current position state. That is, in the release state of the locking device 100, the transmission element 140 can keep pushing the braking component 150 at a position disengaged from the locking projection 111 without the power supply of the motor 120, and the locking device 100 can still be maintained in the release state even when the system is powered off, and the rotating component 400 can rotate freely.

[0095] Furthermore, the motor 120 maintains the release state in the non-powered state. Since the motor 120 is not powered, the transmission element 140 will not switch positions, and the release state is maintained in the non-powered state, so that the actuation system does not hinder the normal rotation of the rotating component 400 and does not interfere with the normal operation of the rotating component 400.

[0096] Such as Figure 1 、 Figure 4As shown, in this embodiment, the transmission element 140 is driven by the motor 120 to perform a rotational motion. Since the motor 120 rotates about its own axis after being powered on, the motion mode of the transmission element 140 is the same as that of the motor 120 axis. Thus, the intermediate braking component 150 can be omitted, and the motor 120 is directly used to drive the transmission element 140 to switch between the unlocking position and the locking position, simplifying the overall structure and improving the transmission efficiency. Moreover, the rotation axis of the transmission element 140 is orthogonal to the rotation axis of the rotating component 400, enabling the motor 120 and the transmission element 140 to avoid the rotating component 400 and making full use of the space perpendicular to the rotation axis of the rotating component 400, thus avoiding modifying the rotating component 400.

[0097] Furthermore, since the transmission element 140 performs a rotational motion, the braking component 150 can be pushed circumferentially by the transmission element 140. Specifically, the transmission element 140 includes at least one convex portion 142 and at least one concave portion 141. In this embodiment, the concave portion 141 and the convex portion 142 are defined relative to a reference circle. For example, in the braking state, the circle with the shortest distance from the rotation axis of the transmission element 140 to the braking component 150 as the radius is the reference circle. The portion of the rotation circumference of the transmission element 140 that exceeds the reference circle is defined as the convex portion 142, which is the part that will contact the braking component 150 and push the braking component 150 to rotate as the transmission element 140 rotates; correspondingly, the portion of the rotation circumference of the transmission element 140 that does not exceed the reference circle is defined as the concave portion 141, which is the part that does not contact the transmission portion 150 as the transmission element 140 rotates.

[0098] The convex portions 142 and the concave portions 141 are alternately distributed in the circumferential direction of the transmission element 140. In this way, when the transmission element 140 rotates, the convex portions 142 and the concave portions 141 will alternately correspond to the braking member 150. When the convex portion 142 corresponds to the braking member 150, the convex portion 142 will push the braking member 150, and the braking member 150 will rotate and abut against the locking projection 111 of the locking member 110, and the locking member 110 will switch to the braking state. As the motor 120 drives the transmission element 140 to rotate, the concave portion 141 corresponds to the braking member 150, and the braking member 150 will lose the support of the transmission element 140. The braking member 150 is rotated by the elastic element 130 to abut against the locking projection 111, and the locking device 100 switches to the braking state. Of course, during the process of the locking device 100 switching from the release state to the braking state, the braking member 150 can also gradually abut against the concave portion 141. By restricting the rotation of the braking member 150 by the elastic element 130 and the concave portion 141, the braking member 150 can be rotated to the dead point position to abut against the locking projection 111. In this way, in the braking state, the abutting state between the braking member 1550 and the locking projection 111 will be more stable. By providing the convex portions 142 and the concave portions 141 that are alternately distributed in the circumferential direction of the transmission element 140, the state of the locking device 100 can be switched without changing the rotation direction of the motor 120.

[0099] In addition to the structure of the transmission element 140 described above, the transmission element 140 can also be configured as a disk cam. The circumferential surface of the disk cam constitutes an adjacent long-axis curved surface and short-axis curved surface. The long-axis curved surface corresponds to the unlocking position, and the short-axis curved surface corresponds to the locking position. By abutting the long-axis curved surface of the disk cam against the braking member 150, the braking member 150 is pushed to rotate, so that the locking device 100 switches to the release state. As the disk cam rotates, its long-axis curved surface disengages from the braking member 150, and the braking member 150 is acted on by the elastic element 130, so that the locking device 100 switches to the braking state. When the locking device 100 switches from the release state to the braking state, the short-axis curved surface of the disk cam may not contact the braking member 150, and the rotation position of the braking member 150 is controlled by the elastic element 130; or the braking member 150 may contact the short-axis curved surface of the disk cam, and the rotation position of the braking member 150 is restricted by the elastic element 130 and the short-axis curved surface of the disk cam, so that the braking member 150 abuts against the locking projection 111 at the dead point position.

[0100] Such as Figure 1 、 Figure 3As shown, for the braking component 150, it includes a driving arm 151, a driven arm 152, and a rotating fulcrum 153 connected between the two. The braking component 150 rotates around the rotating fulcrum 153. In the braking state, the driven arm 152 is held against the locking projection 111 under the action of the elastic element 130; in the released state, the driving arm 151 is pushed by the transmission element 140 to keep the driven arm 152 in a position disengaged from the locking projection 111. By the cooperation of the transmission element 140 and the driving arm 151, and the cooperation of the elastic element 130 and the driven arm 152, both the elastic element 130 and the transmission element 140 can obtain a larger installation space, avoiding excessive accumulation of components in a local space and reducing the installation difficulty.

[0101] Furthermore, the length of the driven arm 152 relative to the rotating fulcrum 153 is greater than the length of the driving arm 151 relative to the rotating fulcrum 153. Since the motor 120 can generate a large torque to drive the transmission element 140 to rotate and push the driving arm 151, the relatively small length of the driving arm 151 will not affect the transmission element 140 to push the braking component 150 to rotate. And the elastic element 130 can obtain a larger torque, which helps to reduce the size of the elastic element 130 and is suitable for a more compact space.

[0102] In this embodiment, the locking component 110 is circular and sleeved on the rotating component 400. This connection method is simple. When the locking component 110 is blocked by the braking component 150, the blocking force can be directly transmitted to the rotating component 400 to prevent the rotating component 400 from rotating. The locking projection 111 protrudes radially outward relative to the rotation axis of the locking component 110, and the swing axis of the braking component 150 is parallel to the rotation axis of the locking component 110. In this way, it can be ensured that the braking component 150 can abut against the locking projection 111 in the braking state to prevent the rotating component 400 from rotating, and after the braking component 150 swings, it can easily avoid the rotation path of the locking projection 111, realizing that the locking device 100 is in the released state.

[0103] Further, since the braking member 150 abuts against the locking projection 111 in the braking state, it may occur that the abutting force between the braking member 150 and the locking projection 111 is too large, resulting in the situation that the braking member 150 cannot be unlocked from the locking projection 111. To solve this problem, at least one locking projection 111 and the braking member 150 are configured to: abut against each other in the first rotation direction of the locking member 110 to implement braking; release the interference in the second rotation direction opposite to the first rotation direction of the locking member 110 to release the rotating member 400. For example, when the locking member 110 rotates clockwise, the braking member 150 is pushed by the elastic element 130 to rotate, and the braking member 150 abuts against the locking projection 111 to implement braking. When the locking member 110 rotates counterclockwise, the locking member 110 can push the braking member 150 away or separate the braking member 150 from the locking projection 111, thereby releasing the rotating member 400.

[0104] Furthermore, in order to enable the rotating member 400 to be locked in both forward and reverse rotation directions, the locking device 100 includes two locking members 110, two driving members, and two braking members 150. The two locking members 110 are axially spaced and attached to the rotating member 400, and the directions in which the two locking members 110 are braked are opposite. That is, two sets of locking devices 100 are provided on the rotating member 400 to lock the two rotation directions of the rotating member 400. Specifically, two locking members 110 are axially spaced and attached to the rotating member 400, and the structures of the locking projections 111 on the two locking members 110 are opposite, that is, one locking member 110 abuts against the corresponding braking member 150 during forward rotation and releases the abutment with the corresponding braking member 150 during reverse rotation; the other locking member 110 releases the abutment with the corresponding braking member 150 during forward rotation and abuts against the corresponding braking member 150 during reverse rotation. The braking member 150 corresponding to each locking member 110 is equipped with a corresponding driving member to achieve braking and release of the rotating member 400 in both forward and reverse directions.

[0105] In addition to the structure that locks the two rotation directions of the rotating component 400 described above, the following structure can also be adopted: The locking device 100 includes two driving components, two braking components 150, and at least one locking protrusion 111. The locking protrusion 111 has a first stop side and a second stop side opposite thereto, so as to allow the locking component 110 to be bidirectionally locked. That is, one braking component 150 stops against the first stop side, and the other braking component 150 stops against the second stop side. The two braking components 150 are respectively driven by one driving component, which can further simplify the structure of the locking device 100. Specifically, a locking component 110 is attached to the rotating component 400. At least one locking protrusion 111 is provided on the locking component 110. The first stop side on the locking protrusion 111 stops against one braking component 150 to lock the forward rotation direction of the locking component 110; the second stop side stops against the other braking component 150 to lock the reverse rotation direction of the locking component 110. And each braking component 150 is respectively configured with a driving component to drive, and the braking and release of the rotating component 400 in both forward and reverse directions can also be achieved.

[0106] As Figure 1 , Figure 7 , Figure 8 shown, this embodiment also discloses an actuating system, including an actuating motor 200, a gear transmission mechanism 300, and a rotating output component. The rotating output component is driven to rotate by the power of the actuating motor 200 transmitted by the gear transmission mechanism 300. One of the actuating motor 200, the gear transmission mechanism 300, and the rotating output component is configured with the locking device 100 of any of the above solutions. The braking of the actuating system is realized through the locking device 100. For the connection and positional relationship between the actuating motor 200, the gear transmission mechanism 300, and the rotating output component, reference can be made to the published document with the Chinese publication number CN207111843U, titled "A Motor with a Worm and Worm Gear Reduction Mechanism".

[0107] Furthermore, in order to facilitate the connection of the locking component 110 of the locking device 100, the locking component 110 in this embodiment is attached to the output shaft of the actuating motor 200. The output shaft of the actuating motor 200 has a relatively long space and a relatively simple structure, which can facilitate the attachment of the locking component 110 and will not interfere with the arrangement of the gear transmission mechanism 300 and the rotating output component.

[0108] Furthermore, the actuating motor 200 includes a motor body 210 and a tail end cover 220 attached to the tail of the motor body 210. One end of the output shaft extends into the tail end cover 220. An installation bracket 230 is fixed inside the tail end cover 220. The driving component, the braking component 150, and the elastic element 130 are jointly constrained and positioned by the installation bracket 230 and the tail end cover 220 to form an assembly structure that resists tilting force and shear force. The locking device 100 is arranged inside the tail end cover 220 with minimal interference to the arrangement of other components of the original actuating system. Moreover, there is a relatively large space inside the tail end cover 220. Through the joint constraint of the tail end cover 220 and the installation bracket 230, the relative position of the locking device 100 is fixed.

[0109] The actuating system further includes a backup circuit module for powering the locking device 100 in a power-off state. Through the backup circuit module, the locking device 100 can still be powered after power-off, and the locking device 100 can be switched to a state that meets the user's requirements. The specific structure of the backup circuit module includes but is not limited to the following structures:

[0110] A backup circuit module includes an energy storage element. The energy storage element is arranged at the power supply end of the motor 120 and provides electrical energy for the motor 120 after the motor 120 is powered off. Further, the energy storage element is a capacitor. One end of the capacitor is connected to the power supply end of the motor 120, and one end of the capacitor is also connected to an external power supply for powering the locking device 100. The other end of the capacitor is grounded. The capacitor stores electrical energy when the actuating system is powered on, and can still provide power for the locking device 100 after the actuating system is powered off. In addition to using a capacitor, the energy storage element can also be a device capable of storing electrical energy such as a rechargeable battery.

[0111] Another backup circuit module is connected to both ends of the actuating motor 200 and is used to transfer the voltage generated by the actuating motor 200 to the power supply end of the motor 120. Specifically, the backup circuit module includes a first input terminal, a second input terminal, a rectifier bridge unit, and a voltage stabilizing unit. The first input terminal is connected to one end of the actuating motor 200, the second input terminal is connected to the other end of the actuating motor 200, both the first input terminal and the second input terminal are also connected to the input terminal of the rectifier bridge unit, the output terminal of the rectifier bridge unit is connected to the input terminal of the voltage stabilizing unit, and the output terminal of the voltage stabilizing unit is connected to the power supply end of the motor 120. After the actuating system is powered off, by rotating the actuating motor 200 to generate an induced current, the backup circuit rectifies and stabilizes the induced current and transfers it to the motor 120 to power the motor 120.

[0112] The actuating system adopting the above structure has a high self-locking load through a relatively simple locking device 100. When it is necessary to adjust the self-locking load, and when maintaining the braking state and the locking state, the power supply can be cut off, avoiding the safety hazards caused by sudden power failure, having a high safety factor, and the whole system is small in volume compared with the actuating system adopting an electromagnetic structure. The motor 120 and the elastic element 130 can adapt to a larger range of actuating load adjustment, which is beneficial to reducing the design cost.

[0113] In the normal driving state, the locking device 100 is in a released state. At this time, the transmission element 140 pushes the braking component 150 to overcome the elastic force of the elastic element 130, and the braking component 150 is separated from the locking component 110. The braking component 150 will not hinder the rotation of the rotating component 400, and the power of the motor body 210 will not be lost due to the locking device 100. When it is necessary to lock the rotating component 400, the motor 120 drives the transmission element 140 to switch to the locking position. The transmission element 140 releases the contact with the braking component 150. The driven arm of the braking component 150 approaches the locking component 110 under the action of the elastic element 130. Finally, the braking component 150 abuts against the locking protrusion 111. At this time, this abutting state can be maintained by the elastic force of the elastic element 130; it can also be that the braking component 150 is in the dead point position to maintain the abutment; it can also be that due to the rotation of the braking component 150, the driving arm of the braking component 150 abuts against the transmission element 140 to limit it to the abutment position. When the locking device 100 is in the braking state, due to the abutment of the braking component 150 and the locking protrusion 111, the rotating component 400 cannot rotate. In this state, the motor 120 of the locking device 100 does not need to be powered on to maintain the locking state, without consuming electric energy, and the locking state will not be released even in case of power failure, improving the safety factor. Since the locking process depends on the abutment of the braking component 150 and the locking component 110, and the motor 120 and the elastic element 130 only drive the braking component 150 to rotate, to increase the locking load, only the strength of the braking component 150 and the locking component 110 needs to be increased, and it is not necessary or only slightly increase the power of the motor 120, which is beneficial to keeping the locking device 100 small in size. Of course, in the case of the same locking load, the power of the motor 120 can also be smaller, and the volume of the motor 120 becomes smaller accordingly, making it easier to miniaturize the whole.

[0114] Embodiment 2

[0115] As Figure 9As shown, the difference from the first embodiment is that in this embodiment, the transmission element 140 does not push the brake component 150 by rotation. In this embodiment, the transmission element 140 is driven by the motor 120 to perform a linear motion, and the direction of its linear motion is orthogonal to the rotation axis of the rotating component 400, that is, the motor 120 drives the transmission element 140 to move to push the brake component 150 or move away from the brake component 150.

[0116] Furthermore, the transmission element 140 is configured as a nut, and the driving component further includes a threaded shaft 121 driven to rotate by the motor 120. The nut is sleeved on the threaded shaft 121, and components such as the end cover 220 or the mounting bracket 230 are used to limit the rotation of the nut. When the motor 120 drives the threaded shaft 121 to rotate, the nut will move axially relative to the threaded shaft 121. Thus, the movement of the nut can push the brake component 150 to rotate, so that the brake component 150 is disengaged from the locking projection 111, and the locking device 100 is in a released state. When the locking device 100 needs to be in a braking state, the motor 120 drives the threaded shaft 121 to reverse, and the nut gradually moves away from the brake component 150. The brake component 150 rotates under the drive of the elastic element 130, and the brake component 150 abuts against the locking projection 111, and the locking device 100 switches to the braking state.

[0117] In this embodiment, the brake component 150 includes a driving arm 151, a driven arm 152, and a rotation fulcrum 153 connected between the two. In the braking state, the driving arm 151 is acted on by the elastic element 130 to keep the driven arm 152 in a position blocking the locking projection 111. In the released state, the driving arm 151 is pushed by the transmission element 140 to keep the driven arm 152 in a position disengaged from the locking projection 111. That is, in this embodiment, the transmission element 140 and the elastic element 130 act on the driving arm 151 at the same time, and the contact positions of the transmission element 140 and the elastic element 130 with the brake component 150 can be freely selected according to the installation space, and the setting is more flexible.

[0118] For other content not described in this embodiment, reference can be made to the first embodiment.

[0119] Embodiment Three

[0120] On the basis of any of the above embodiments, a drive control circuit for the motor 120 of the corresponding locking device 100 is provided in the actuation system, specifically including a power input circuit and a control module. The power input circuit receives and converts external power supply to supply power to the control module, and the control module drives the motor 120 to operate according to the internal control logic.

[0121] Among them, the power input circuit includes a first voltage terminal and a second voltage terminal. The first voltage terminal is connected to an external power supply, and the second voltage terminal is connected to the power supply terminal of the control module. The power input module is also provided with a signal output terminal connected to the signal receiving terminal of the control module.

[0122] The power input circuit is as Figure 10 shown, and includes a diode D1, a diode D2, a resistor R1, and a capacitor C1. The positive electrode of the diode D1 is connected to the external power supply, the negative electrode of the diode D1 is connected to the power supply terminal of the control module, and the negative electrode of the diode D1 is also connected to the ground. The positive electrode of the diode D2 is connected to the external power supply, the negative electrode of the diode D2 is connected to the signal receiving terminal of the control module, the negative electrode of the diode D2 is also grounded through the resistor R1, and a capacitor C1 is connected in parallel across both ends of the resistor R1. Among them, the connection terminal of the positive electrodes of the diode D1 and the diode D2 is the first voltage terminal +5.7V_IN, which receives the 5.7V voltage of the external power supply. The negative electrode of the diode D1 is the second voltage terminal, which can output a 5V voltage to provide the operating voltage for the control module. The negative electrode of the diode D2 is the signal output terminal, and the control module can judge the abnormal working conditions of the actuating system according to the output signal of the signal output terminal.

[0123] Specifically, when the output signal of the signal output terminal is high, the control module judges that the actuating system is in the normal working condition state. When the output signal of the signal output terminal is low, the control module judges that the actuating system is in the abnormal working condition state.

[0124] When the actuating system is in the normal working condition state, before the actuating motor 200 starts to run, the control module needs to control the motor 120 of the driving locking device 100 to make the locking device 100 in the released state, and the actuating motor 200 switches to the unlocked state. After the actuating motor 200 runs in place, the control module needs to control the motor 120 of the driving locking device 100 to make the locking device 100 in the actuating state, and the actuating motor 200 switches to the locked state.

[0125] The abnormal working condition refers to the situation where the external power supply is suddenly interrupted, or the actuating motor 200 in the unlocked state suddenly loses power during operation. At this time, in order to ensure the safety of the actuating system, the control module needs to promptly control the locking device 100 to actuate, so that the actuating motor 200 switches to the locked state.

[0126] Among them, the control module includes a main control unit and a motor 120 control circuit. The main control unit includes a main control MCU with corresponding control strategies and the peripheral circuit of the main control MCU.

[0127] The main control unit is as Figure 11As shown in the figure, it includes a main control MCU chip U1 and a peripheral circuit composed of a capacitor C2, a capacitor C3, a capacitor C4, and a resistor R2. One end of the capacitor C2 is connected to the reset pin PC0-NRST of the main control MCU chip U1, and the other end of the capacitor C2 is grounded. The reset pin PC0-NRST of the main control MCU chip U1 is also connected to the second voltage terminal of the power input module through the resistor R2. The VCC pin of the main control MCU chip U1 is connected to the second voltage terminal of the power input module to obtain a working voltage of +5V.

[0128] The main control MCU chip U1 receives the output signal PWR_DET of the signal output terminal of the power input module through the signal receiving terminal, that is, the corresponding GPIO serial port PB1. After obtaining the output signal, it can respectively output the corresponding control signal Motor_P and control signal Motor_N through the GPIO serial port PA1 and the GPIO serial port PA0 according to the built-in control strategy.

[0129] The motor 120 control circuit is as Figure 12 shown, and includes a motor 120 drive chip U2, a MOS transistor Q1, a resistor R3, a resistor R4, a resistor R5, a resistor R6, a resistor R7, a capacitor C5, a capacitor C6, a capacitor C7, and a connector J1.

[0130] Among them, the control signal input pin IA and the control signal input pin IB of the motor 120 drive chip U2 are respectively connected to the GPIO serial port PA1 and the GPIO serial port PA0 of the main control MCU chip U1 to receive the control signal Motor_P and the control signal Motor_N output by the main control MCU chip U1.

[0131] The motor 120 drive output pins OA and OB of the motor 120 drive chip U2 are respectively connected to pin 1 and pin 2 of the connector J1 to output the drive signal of the motor 120 that controls the locking device 100. Pin 1 and pin 2 of the connector J1 are also respectively connected to both ends of the motor 120 of the locking device 100, and after receiving the drive signal of the motor 120 drive chip U2, it runs to realize the locking of the actuation system.

[0132] The VCC pins of the motor 120 drive chip U2 are all connected to the drain of the MOS transistor Q1. The source of the MOS transistor Q1 is connected to the second voltage terminal of the power input circuit. The gate of the MOS transistor Q1 is connected to the GPIO serial port PA7 of the main control MCU chip U1 through the resistor R3. The main control MCU chip U1 can control the on and off of the MOS transistor Q1 by outputting a Switch signal through the GPIO serial port PA7, thereby controlling the power supply of the motor 120 of the locking device 100.

[0133] A resistor R4 is also connected in parallel between the source and the gate of the MOS transistor Q1, and a resistor R5 is also connected in parallel between the source and the drain of the MOS transistor Q1.

[0134] A capacitor C5 is also connected in parallel between the motor 120 drive output pins OA and OB of the motor 120 drive chip U2. The VCC pins of the motor 120 drive chip U2 are both grounded through a capacitor C6, and a capacitor C7 is also connected in parallel across both ends of the capacitor C6.

[0135] The GND pins of the motor 120 drive chip U2 are all grounded, and the control signal input pin IA and the control signal input pin IB of the motor 120 drive chip U2 are respectively grounded through a resistor R6 and a resistor R7.

[0136] The main control unit and the motor 120 control circuit cooperate with each other to control the operation of the motor 120 of the locking device 100 to achieve the locking of the actuation system.

[0137] Taking the control process of the main control unit and the motor 120 control circuit under normal working conditions as an example.

[0138] Under normal working conditions, the external power supply will provide a +5.7V voltage to the power input module. At this time, the power input module outputs a +5V voltage as the working power supply for the supply control module, and the signal output terminal of the power input module will correspondingly output a high-level PWR_DET signal. After detecting the high-level PWR_DET signal, the main control MCU chip U1 determines that it is in normal working conditions at this time.

[0139] Subsequently, the main control MCU chip U1 determines whether it is necessary to lock or unlock the actuating motor 200. The determination can be made according to external control signals, operation detection conditions, etc., such as external control signals such as the triggering situation of an external button, or operation detection conditions such as the limit position. When detecting the corresponding external control signal for locking or unlocking, or detecting that the corresponding operating state of the actuation system meets the operation detection conditions, such as when reaching the limit position and locking is required, the main control MCU chip U1 determines that it is necessary to drive the motor 120 of the locking device 100 to achieve the locking or unlocking control of the actuating motor 200.

[0140] After the main control MCU chip U1 determines that it is necessary to drive the actuating motor 200, it will set the levels of the corresponding control signals Motor_P and Motor_N according to the control purpose of the actuating motor 200, and further output a high-level Switch signal, and the MOS transistor Q1 in the motor 120 control circuit will conduct accordingly.

[0141] After the MOS transistor Q1 is turned on, the motor 120 of the locking device 100 is powered on. The main control MCU chip U1 inputs the control signal Motor_P and the control signal Motor_N into the motor 120 driver chip U2. The motor 120 driver chip U2 drives the motor 120 of the locking device 100 connected to the connector J1 to rotate according to the level combination of the control signal Motor_P and the control signal Motor_N, performing the locking or unlocking action.

[0142] When it is determined that the actuating motor 200 needs to be locked, when the control signal Motor_P is set to a high level and the control signal Motor_N is set to a low level, the motor 120 of the locking device 100 rotates forward to lock, and the actuating motor 200 switches to the actuating state.

[0143] When it is determined that the actuating motor 200 needs to be unlocked, when the control signal Motor_P is at a low level and the control signal Motor_N is at a high level, the motor 120 of the locking device 100 rotates in reverse to unlock, and the actuating motor 200 switches to the release state.

[0144] However, when the external power supply is suddenly interrupted, the actuating system will be in an abnormal working condition state. In order to reduce the impact brought by the actuating system failure, it is necessary to lock the actuating system in time. However, the working voltage of the control module is provided by the external power supply. In the case of a power failure of the external power supply, the control module will not be able to operate normally.

[0145] Therefore, in this embodiment, a standby circuit module is provided in the actuating system to supply power to the locking device 100 in the power-off state.

[0146] The standby circuit module includes an energy storage element. The energy storage element is arranged at the power supply end of the motor 120 of the locking device 100. In the power-off state, the energy storage element can provide the working voltage for the operation of the motor 120 of the locking device 100, ensuring the operation safety of the actuating system.

[0147] In order to realize the operation control of the motor 120 of the locking device 100 in the power-off state, the energy storage element is used to supply power to the control module. The energy storage element is arranged at the second voltage end of the power input circuit to replace the external power supply, and at the same time provides the working voltage for the control module and the operation of the motor 120 of the locking device 100.

[0148] In this embodiment, the energy storage element is the super capacitor C8. The positive electrode of the super capacitor C8 is connected to the negative electrode of the diode D1, and the negative electrode of the super capacitor C8 is grounded. When the actuating system is in the normal working condition state, the external power supply supplies power normally and can charge the super capacitor C8 until the super capacitor C8 is full. At this time, the circuit diagram of the power input circuit connected to the super capacitor C8 is as Figure 13 shown.

[0149] In addition to the super capacitor, an energy storage component capable of providing a stable output voltage, such as a battery pack, can also be set as the energy storage element.

[0150] When the external power supply suddenly interrupts, during the operation of the actuating motor 200, the external power supply suddenly cuts off. At this time, the actuating motor 200 is powered off but not locked, so it will be affected by the load gravity and start to be driven passively. Since the first voltage terminal +5.7V_IN of the power input circuit is powered off and there is no longer power input, the output signal PWR_DET signal at the signal output terminal of the power input circuit is low at this time. The main control MCU chip U1 knows that the current power input is powered off and is in an abnormal working condition, and will immediately start the locking action.

[0151] At this time, the stored electricity of the super capacitor C8 provides the power required for the main control unit and the control circuit of the motor 120 to lock. The main control unit in the control module and the control circuit of the motor 120 cooperate with each other to control the actuation of the locking device 100, so that the actuating motor 200 switches to the locked state and no longer continues to be driven passively.

[0152] Embodiment Four

[0153] The basic circuit of this embodiment is basically the same as that of Embodiment Three. The difference is that the standby circuit module of this embodiment is connected to both ends of the actuating motor 200 and is used to transfer the voltage generated by the actuating motor 200 to the power supply terminal of the motor 120.

[0154] The standby circuit module includes a first input terminal, a second input terminal, a rectifier bridge unit and a voltage stabilizing unit. The first input terminal is connected to one end of the actuating motor 200, the second input terminal is connected to the other end of the actuating motor 200, both the first input terminal and the second input terminal are also connected to the input terminal of the rectifier bridge unit, the output terminal of the rectifier bridge unit is connected to the input terminal of the voltage stabilizing unit, and the output terminal of the voltage stabilizing unit is connected to the power supply terminal of the motor 120.

[0155] Specifically, the standby circuit module is as Figure 14 shown, and includes a connector J2, a rectifier bridge chip U2 and a voltage stabilizing unit composed of a triode Q2, a diode D3, a diode D4, a resistor R8, a capacitor C9 and a capacitor C10.

[0156] Among them, the third pin MA of the connector J2 is the first input terminal, the fourth pin MB is the second input terminal, the third pin MA is connected to one end of the actuating motor 200, the fourth pin MB is connected to the other end of the actuating motor 200, the AC input pin 4 of the rectifier bridge chip U2 is connected to the third pin MA, the AC input pin 3 of the rectifier bridge chip U2 is connected to the fourth pin MB, and the DC output pin 1 of the rectifier bridge chip U2 is connected to the collector of the triode Q1.

[0157] Secondly, the first pin of the connector J2 is grounded, and the second pin is connected to an external power supply.

[0158] The emitter of the triode Q1 is connected to the positive pole of the diode D3, and the negative pole of the diode D3 is the output terminal of the voltage stabilizing unit, which can output a +5V voltage to provide the operating voltage for the motor 120 and the control module of the locking device 100.

[0159] The base of the triode Q1 is connected to the negative pole of the diode D4, the positive pole of the diode D4 is grounded, and a resistor R8 is also connected in parallel across the collector and base of the triode Q1. The emitter of the triode Q1 is also grounded through a capacitor C9.

[0160] The negative pole of the diode D3 is also grounded through a capacitor C10.

[0161] Due to the load gravity, the actuating motor 200 will continue to be driven passively. At this time, the actuating motor 200 will enter the power generation state, thus generating a voltage difference between the third pin MA and the fourth pin MB. This voltage difference forms an output voltage of approximately +5V through the rectifier bridge chip U2 and the voltage stabilizing unit composed of the triode Q2, the diode D3, the diode D4, the resistor R8, the capacitor C9, and the capacitor C10, and this output voltage is used as the power supply for the control module. The main control unit and the motor 120 control circuit in the control module cooperate with each other to control the actuation of the locking device 100, so that the actuating motor 200 switches to the locked state and no longer continues to be driven passively.

[0162] And as long as the actuating motor 200 is not locked and is still being driven passively, then this +5V voltage will not disappear and will keep supplying power until the actuating motor 200 is locked and no longer driven passively, stops outputting voltage, and then this +5V output voltage will disappear, and the actuating motor 200 is locked, achieving the safety protection for the actuating system.

[0163] Embodiment Five

[0164] The basic circuit of this embodiment is basically the same as that of Embodiment Three and Embodiment Four. The difference is that the standby circuit module is provided with an energy storage element and a circuit including the connector J2, the rectifier bridge chip U2, and the voltage stabilizing unit composed of the triode Q2, the diode D3, the diode D4, the resistor R8, the capacitor C9, and the capacitor C10.

[0165] When the electricity stored in the super capacitor C8 is sufficient to complete the locking action, the stored electricity of the super capacitor C8 provides the power required for the main control unit and the motor 120 control circuit to perform the locking. The main control unit and the motor 120 control circuit in the control module cooperate with each other to control the actuation of the locking device 100, so that the actuating motor 200 switches to the locked state and no longer continues to be driven passively.

[0166] When the electric quantity stored in the super capacitor C8 is not enough to complete the locking action, the circuit including the connector J2, the rectifier bridge chip U2, and the voltage stabilizing unit composed of the triode Q2, the diode D3, the diode D4, the resistor R8, the capacitor C9 and the capacitor C10 supplies power to the motor 120 and the control module of the locking device 100. The main control unit in the control module and the motor 120 control circuit cooperate with each other to control the actuation of the locking device 100, so that the actuation motor 200 switches to the locking state and no longer continues to be driven passively.

[0167] As described above, it is only the specific implementation manner of the present utility model, but the protection scope of the present utility model is not limited thereto. Those skilled in the art should understand that the present utility model includes but is not limited to the content described in the drawings and the above specific implementation manner. Any modification that does not deviate from the functional and structural principles of the present utility model will be included in the scope of the claims.

Claims

1. A locking device for an actuating system, for braking a rotating component of the actuating system, characterized in that, The locking device includes: a locking member attached to the rotating member, having at least one locking projection; and, a driving member including a motor, an elastic element, and a transmission element driven by the motor to switch between an unlocked position and a locked position; and, a braking member arranged in the form of a lever between the locking member and the transmission element; The locking device has a braking state and a release state: In the braking state, the transmission element switches to the locked position, and the braking member is held by the elastic element to block the locking projection to limit the rotation of the locking member; In the release state, the transmission element switches to the unlocked position, and the braking member is pushed by the transmission element to be held in a position away from the locking projection to release the locking member.

2. The locking device of the actuation system according to claim 1, characterized in that, The motor maintains the release state when not powered on.

3. The locking device of the actuation system according to claim 1, characterized in that, The transmission element is driven by the motor to perform a rotational motion, and its rotation axis is orthogonal to the rotation axis of the rotating member.

4. The locking device of the actuation system according to claim 3, characterized in that, The transmission element includes at least one recess and at least one protrusion, and the at least one recess and the at least one protrusion are configured to be alternately distributed in the circumferential direction of the transmission element.

5. The locking device of the actuation system according to claim 3, characterized in that, The transmission element is configured as a disk cam.

6. The locking device of the actuation system according to claim 3, characterized in that, The braking member includes a driving arm, a rotating fulcrum connecting the driven arm therebetween. In the braking state, the driven arm is held by the elastic element to block the locking projection. In the release state, the driving arm is pushed by the transmission element to keep the driven arm in a position away from the locking projection.

7. The locking device of the actuation system according to claim 6, characterized in that, The length of the driven arm relative to the rotating fulcrum is greater than the length of the driving arm relative to the rotating fulcrum.

8. The locking device of the actuation system according to claim 1, characterized in that, The transmission element is driven by the motor to perform a linear motion, and its linear motion direction is orthogonal to the rotation axis of the rotating member.

9. The locking device of the actuation system according to claim 8, characterized in that, The transmission element is configured as a nut, and the driving member further includes a threaded shaft driven by the motor to rotate, and the nut is sleeved on the threaded shaft.

10. The locking device of the actuation system according to claim 8, characterized in that, The braking member includes a driving arm, a rotating fulcrum connecting the driven arm therebetween. In the braking state, the driving arm is held by the elastic element to make the driven arm block the locking projection. In the release state, the driving arm is pushed by the transmission element to keep the driven arm in a position away from the locking projection.

11. The locking device of the actuation system according to claim 1, characterized in that, The locking member rotates coaxially with the rotating member, the locking projection projects radially outward relative to the rotation axis of the locking member, and the swing axis of the braking member is parallel to the rotation axis of the locking member.

12. The locking device of the actuation system according to claim 1, characterized in that, The cooperation between the at least one locking projection and the braking member is set to: block each other in the first rotation direction of the locking member to implement braking; release the interference in the second rotation direction opposite to the first rotation direction of the locking member to release the rotating member.

13. The locking device of the actuation system according to claim 12, characterized in that, The locking device includes: two of the locking members; and, two of the driving members; and, two of the braking members; wherein, the two locking members are axially spaced and attached to the rotating member, and the directions in which the two locking members are braked are opposite.

14. The locking device of the actuation system according to claim 1, characterized in that, The locking device includes: two of the driving members; and, The two braking components; At least one locking projection has a first stop side and a second stop side opposite thereto, to allow the locking component to be implemented with bidirectional locking.

15. An actuation system, comprising an actuation motor, a gear transmission mechanism, and a rotary output member, the rotary output member being driven to rotate by the actuation motor power transmitted by the gear transmission mechanism, characterized in that, One of the actuating motor, the gear transmission mechanism, and the rotary output component is configured with the locking device according to any one of claims 1 to 14.

16. The actuation system according to claim 15, characterized in that, The rotary component is the output shaft of the actuating motor.

17. The actuation system according to claim 16, characterized in that, The actuating motor includes a motor body and a tail end cover attached to the tail of the motor body. One end of the output shaft extends into the tail end cover. An installation bracket is fixed inside the tail end cover. The driving component, the braking component, and the elastic element are jointly constrained and positioned by the installation bracket and the tail end cover, forming an assembly structure that resists tilting force and shearing force.

18. The actuation system according to claim 15, characterized in that, The actuating system further includes a standby circuit module that powers the locking device in a power-off state.

19. The actuation system according to claim 18, characterized in that, The standby circuit module includes an energy storage element, and the energy storage element is arranged at the power supply end of the motor.

20. The actuation system according to claim 19, characterized in that, The energy storage element is a capacitor. One end of the capacitor is connected to the power supply end of the motor. One end of the capacitor is also connected to an external power supply that powers the locking device. The other end of the capacitor is grounded.

21. The actuation system according to claim 18, characterized in that, The standby circuit module is connected to both ends of the actuating motor and is used to transfer the voltage generated by the actuating motor to the power supply end of the motor.

22. The actuation system according to claim 21, characterized in that, The standby circuit module includes a first input terminal, a second input terminal, a rectifier bridge unit, and a voltage stabilizing unit. The first input terminal is connected to one end of the actuating motor. The second input terminal is connected to the other end of the actuating motor. The first input terminal and the second input terminal are also both connected to the input terminal of the rectifier bridge unit. The output terminal of the rectifier bridge unit is connected to the input terminal of the voltage stabilizing unit. The output terminal of the voltage stabilizing unit is connected to the power supply end of the motor.

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