Linear actuator

Abstract

The utility model discloses a linear actuator which comprises a shell, an output shaft, a linear motor, a sliding part and a magnetic spring. The output shaft is arranged in the shell; the linear motor is arranged in the shell and arranged in the axial direction of the output shaft. The sliding part is connected with the output end of the linear motor and the output shaft, the magnetic spring is arranged in the shell and arranged in the axial direction of the output shaft, one end of the magnetic spring is connected with the shell, and the other end of the magnetic spring is connected with the sliding part and / or the output shaft. The magnetic spring is arranged in the shell, the elastic force of the magnetic spring is controlled through the magnetic field, and the magnitude of the elastic force can be adjusted through the magnetic field, so that the elastic force of the magnetic spring can be accurately controlled through the magnetic field, the elastic force of the magnetic spring is uniform, and the rebound phenomenon is avoided; therefore, the stability of movement of the output shaft in the axial direction of the output shaft is ensured, and the driving action can be accurately executed.

Description

Technical Field

[0001] The present application relates to the technical field of actuators, and in particular to a linear actuator. Background Art

[0002] Linear actuators are crucial drive components in the automation field, enabling high-precision, high-speed linear motion. Existing linear actuators typically use coil springs to provide the return force. However, due to their inherent structure, coil springs cannot automatically align during installation and use, hindering precise guidance and alignment. Coil springs also provide varying return forces depending on the displacement, hindering precise control and adjustment of the return force. This results in poor accuracy at the output of the linear actuator. Utility Model Content

[0003] The main technical problem solved by the present application is to provide a linear actuator to solve the problem of poor accuracy of the output end of the linear actuator.

[0004] In order to solve the above technical problems, a technical solution adopted in this application is to provide a linear actuator, including: a housing, an output shaft, a linear motor, a sliding member and a magnetic spring; the output shaft is arranged in the housing; the linear motor is arranged in the housing, and the linear motor is arranged along the axial direction of the output shaft; the sliding member connects the output end and the output shaft of the linear motor, and the sliding member can move along the axial direction of the output shaft under the drive of the linear motor, and the output shaft follows the sliding member to move along the axial direction of the output shaft; the magnetic spring is arranged in the housing, and the magnetic spring is arranged along the axial direction of the output shaft. The magnetic spring is located between the output shaft and the linear motor along the radial direction of the output shaft, one end of the magnetic spring is connected to the housing, and the other end of the magnetic spring is connected to the sliding member and / or the output shaft.

[0005] In some embodiments, the output shaft is a hollow structure, and one end of the output shaft located inside the shell is connected to an air pipe. The output shaft is communicated with the air pipe, and the air pipe is connected to the shell and communicates with the airway of the shell.

[0006] In some embodiments, a bracket is provided on one side of the sliding member adjacent to the output shaft and extends in the radial direction of the output shaft. The bracket is provided with a connecting hole. The air pipe is provided along the side wall of the shell and is connected to the output shaft after passing through the connecting hole.

[0007] In some embodiments, the linear actuator also includes a rotary motor, which is arranged along the axial direction of the output shaft and is located on the side of the magnetic spring away from the linear motor. The rotary motor includes a motor housing and a stator. The motor housing is fixedly connected to the sliding member. The stator is arranged in the motor housing and connected to the motor housing. The output shaft penetrates into the motor housing, and the output shaft can rotate under the drive of the stator.

[0008] In some embodiments, the sliding member has a rotating connection portion and a sliding connection portion, the rotating connection portion is located on the side of the sliding connection portion close to the rotating motor, the sliding connection portion is connected to the linear motor, and the rotating connection portion is connected to the rotating motor. The rotating connection portion has a first mounting hole opened along the axial direction of the output shaft, and the first mounting hole accommodates a magnetic spring.

[0009] In some embodiments, the rotating motor extends out of the first mounting hole, and one end of the rotating motor extending out of the first mounting hole is connected to a rotary encoder, which is located in the housing and is used to detect the rotation data of the output shaft; and / or, a plurality of hollow holes distributed at intervals are provided on the sliding connection part and the rotating connection part.

[0010] In some embodiments, the linear actuator also includes a first guide rail, which is located in the housing. The first guide rail is located between the magnetic spring and the linear motor along the radial direction of the output shaft. The first guide rail includes a first ball guide rail and a first ball slider. The first ball guide rail is arranged along the axial direction of the output shaft; the first ball guide rail is slidingly connected to the first ball slider, the first ball slider is connected to the sliding member, and the first ball guide rail is connected to the housing; two first guide rails are provided, and the first ball guides of the two first guide rails are arranged back to back so that the two first ball sliders are respectively located on both sides of the two first ball guides.

[0011] In some embodiments, the linear actuator also includes a second guide rail, which is located in the housing, the second guide rail is arranged along the axial direction of the output shaft, the second guide rail is located between the first guide rail and the linear motor along the radial direction of the output shaft, and the second guide rail is respectively connected to the housing and the output end of the linear motor.

[0012] In some embodiments, the second guide rail includes a second ball guide rail and a second ball slider, the second ball guide rail is connected to the housing, the second ball guide rail is arranged along the axial direction of the output shaft, the second ball guide rail is slidingly connected to the second ball slider, the second ball guide rail is arranged laterally so that the second ball slider is arranged opposite to the adjacent first ball slider, and the second ball slider is connected to the sliding member.

[0013] In some embodiments, the linear actuator further has a linear encoder, which is used to detect movement data of the sliding member. The linear encoder is located between the first guide rail and the linear motor along the radial direction of the output shaft. The linear encoder includes a moving unit and a fixed unit. The moving unit is connected to the sliding member, and the fixed unit is connected to the housing. The moving unit and the fixed unit overlap along the radial direction of the output shaft.

[0014] The beneficial effects of the present application are as follows: In the present application, a magnetic spring is disposed within the housing, one end of the magnetic spring being connected to the housing, and the other end of the magnetic spring being connected to the sliding member and / or the output shaft. When the output shaft moves out of the housing along the axial direction of the output shaft and extends out of the housing, the magnetic spring has a tendency to drive the output shaft to move into the housing along the axial direction of the output shaft. The elastic force of the magnetic spring is controlled by a magnetic field, and the magnitude of the elastic force can be adjusted by the magnetic field. This allows the elastic force of the magnetic spring to be precisely controlled by the magnetic field, making the elastic force of the magnetic spring uniform and avoiding rebound. This ensures the stability of the output shaft in its axial movement, thereby enabling precise execution of the driving action. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a structural diagram according to an embodiment of the present application;

[0016] Figure 2 is a schematic diagram of the internal structure according to an embodiment of the present application;

[0017] Figure 3 is a schematic diagram of a top view of the internal structure according to an embodiment of the present application;

[0018] Figure 4 This is a schematic diagram of the structure after the shell is removed according to an embodiment of the present application;

[0019] Figure 5 is a structural schematic diagram of a sliding member according to an embodiment of the present application;

[0020] Figure 6 is a structural schematic diagram of a first guide rail according to an embodiment of the present application; DETAILED DESCRIPTION

[0021] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of this application.

[0022] It should be noted that when an element is referred to as being “fixed on” or “set on” another component, it can be directly on the other component or indirectly set on the other component; when a component is referred to as being “connected to” another component, it can be directly connected to the other component or indirectly connected to the other component.

[0023] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "vertical", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" or "several" means two or more, unless otherwise specifically defined.

[0025] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the conditions under which this application can be implemented. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in this application without affecting the efficacy and purpose that can be achieved by this application.

[0026] For the description of this application, the non-limiting Figure 1 The marks "front", "rear", "up", "down", "left" and "right" shown in the accompanying drawings are used to facilitate understanding of the embodiment and are not intended to limit the present application. In the accompanying drawings, the front-to-back direction represents the longitudinal direction (radial direction), the left-to-right direction represents the transverse direction (axial direction), and the up-down direction represents the vertical direction. Figure 1 In the figure, the left and right directions of the arrows are parallel to the axial direction of the output shaft, and the up and down directions of the arrows and the front and back directions of the arrows are each parallel to a radial direction of the output shaft, but the present invention is not limited thereto.

[0027] Figures 1-6The embodiment of the linear actuator of the present application is shown, comprising a housing 1, an output shaft 2, a linear motor 3, a slide 4, and a magnetic spring 5. The output shaft 2 is disposed within the housing 1. The linear motor 3 is disposed within the housing 1 and is arranged along the axial direction of the output shaft 2. The slide 4 connects the output shaft 2 and the output end of the linear motor 3. The slide 4 can move along the axial direction of the output shaft 2 under the drive of the linear motor 3, and the output shaft 2 follows the slide 4 in the axial direction of the output shaft 2. The magnetic spring 5 is disposed within the housing 1 and is arranged along the axial direction of the output shaft 2. The magnetic spring 5 is located between the output shaft 2 and the linear motor 3 in the radial direction of the output shaft 2. One end of the magnetic spring 5 is connected to the housing 1, and the other end of the magnetic spring 5 is connected to the slide 4. Of course, depending on actual conditions, in other embodiments, the other end of the magnetic spring 5 can also be connected to the output shaft 2, or connected to both the slide 4 and the output shaft 2 to achieve the same effect, so this is not limiting.

[0028] In the present application, a magnetic spring 5 is disposed within the housing 1. One end of the magnetic spring 5 is connected to the housing 1, and the other end of the magnetic spring 5 is connected to the sliding member 4. During the process of the output shaft 2 moving out of the housing 1 along the axial direction of the output shaft 2 and extending out of the housing 1, the magnetic spring 5 has a tendency to directly or indirectly drive the output shaft 2 to move into the housing 1 along the axial direction of the output shaft 2. The elastic force of the magnetic spring 5 is controlled by a magnetic field, and the magnitude of the elastic force can be adjusted by the magnetic field. This allows the elastic force of the magnetic spring 5 to be precisely controlled by the magnetic field, making the elastic force of the magnetic spring 5 uniform and avoiding rebound. This ensures the stability of the output shaft 2 in its axial movement, thereby enabling precise execution of the driving action.

[0029] In some embodiments, as Figure 2 and Figure 3 As shown, the output shaft 2 is a hollow structure. One end of the output shaft 2 located inside the housing 1 is connected to an air pipe 9. The output shaft 2 is in communication with the air pipe 9, which is connected to the housing 1 and communicates with an air channel 91 of the housing 1. The air channel 91 is connected to an external negative pressure machine, which generates negative pressure, causing the outer end of the output shaft 2 to have negative pressure, thereby performing the adsorption driving action.

[0030] In some embodiments, as Figure 2 and Figure 3As shown, a bracket 43 extends radially from one side of the slider 4 adjacent to the output shaft 2. Bracket 43 is provided with a connection hole 431. The air pipe 9 is positioned along the sidewall of the housing 1 and passes through the connection hole 431 to connect to the output shaft 2. Positioning the air pipe 9 along the sidewall of the housing 1 prevents it from occupying space at the bottom of the housing 1, making the space within the housing 1 more compact. Bracket 43 is also provided on the slider 4 to limit the air pipe 9's movement, restricting its movement and preventing it from colliding with other structures within the housing 1 and affecting the operation of the linear actuator. This ensures a secure connection between the air pipe 9 and the output shaft 2 and smooth deformation of the air pipe 9 during the follow-up process.

[0031] In some embodiments, as Figure 2 and Figure 3 As shown, the linear actuator also includes a rotary motor 6, which is arranged along the axial direction of the output shaft 2 and is located on the side of the magnetic spring 5 away from the linear motor 3. The rotary motor 6 includes a motor housing 1 and a stator (not shown in the figure). The motor housing 1 is fixedly connected to the sliding member 4. The stator is arranged in the motor housing 1 and connected to the motor housing 1. The output shaft 2 penetrates the motor housing 1 and can rotate under the drive of the stator. By driving the rotation of the output shaft 2 by the rotary motor 6 and using it in conjunction with the negative pressure machine, the output shaft 2 can be driven to rotate and adsorb. This can improve the application scenarios of the linear actuator.

[0032] In some embodiments, as Figure 2 and Figure 4 As shown, the slider 4 has a rotating connection portion 41 and a sliding connection portion 42. The rotating connection portion 41 is located on the side of the sliding connection portion 42 near the rotary motor 6. The sliding connection portion 42 is connected to the linear motor 3, and the rotating connection portion 41 is connected to the rotary motor 6. The rotating connection portion 41 has a first mounting hole 411 opened along the axial direction of the output shaft 2, and the first mounting hole 411 accommodates the magnetic spring 5. The arrangement of the rotating connection portion 41 and the sliding connection portion 42 can stably connect the linear motor 3 and the rotary motor 6, thereby ensuring the stability of the linear motor 3 driving the rotary motor 6 to move along the axial direction of the output shaft 2.

[0033] In some embodiments, as Figure 2 and Figure 3 As shown, one end of the magnetic spring 5 is inserted into the first mounting hole 411, and the other end is fixedly connected to the housing 1. The magnetic spring 5 is located adjacent to the rotating connection portion 41. This ensures the stability of the connection between the magnetic spring 5 and the sliding member 4.

[0034] In some embodiments, as Figure 2 and Figure 3As shown, one end of the rotary motor 6 is connected to a rotary encoder 61, which is located within the housing 1 and is used to detect the rotation data of the output shaft 2. The rotary encoder 61 includes a photoelectric rotary encoder 61, a magnetoelectric rotary encoder 61, and a contact brush rotary encoder 61. The rotary encoder 61 detects the rotation data of the output shaft 2, and based on this data, the linear motor 3, the rotary motor 6, or the magnetic field affecting the magnetic spring 5 can be reasonably adjusted by the computer to ensure the accuracy of the driving action of the output shaft 2.

[0035] In some embodiments, as Figure 2 and Figure 3 As shown, one end of the rotary motor 6 away from the rotary encoder 61 extends out of the housing 1, thereby reducing the cantilever length of the output shaft 2 and increasing the stability of the output shaft 2 in performing the driving action.

[0036] In some embodiments, as Figure 2 and Figure 3 As shown, housing 1 is provided with a square limit hole 11. Limit hole 11 is arranged opposite linear motor 3 along the axial direction of output shaft 2. Limit hole 11 accommodates rotary motor 6 and serves to guide rotary motor 6 along the axial direction of output shaft 2 while limiting rotation of rotary motor 6 along the circumferential direction of output shaft 2. Limit hole 11 thus restricts rotary motor 6 to movement only in the axial direction of output shaft 2, preventing rotation circumferentially. This ensures stable operation of rotary motor 6 and accurate driving of output shaft 2.

[0037] In some embodiments, as Figure 4 As shown, a plurality of hollow holes 421 are provided on the sliding connection portion 42 and the rotating connection portion 41. The provision of the hollow holes 421 can reduce the weight of the sliding member 4, thereby further reducing the weight of the linear actuator and making the linear actuator lightweight.

[0038] In some embodiments, as Figure 3 and Figure 5As shown, the linear actuator also includes a first guide rail 7, which is located within the housing 1 and between the magnetic spring 5 and the linear motor 3 along the radial direction of the output shaft 2. The first guide rail 7 includes a first ball guide 71 and a first ball slider 72. The first ball guide 71 is arranged along the axial direction of the output shaft 2. The first ball guide 71 is slidably connected to the first ball slider 72. The first ball slider 72 is connected to the sliding member 4, and the first ball guide 71 is connected to the housing 1. Two first guide rails 7 are provided, and the first ball guides 71 of the two first guide rails 7 are arranged in opposite directions, so that the two first ball sliders 72 are located on either side of the two first ball guide rails 71. The arrangement of the first guide rail 7 enables the sliding member 4 to move stably along the axial direction of the output shaft 2 under the drive of the linear motor 3. Furthermore, the first ball guides 71 of the two first guide rails 7 are arranged back to back, so that the two first ball sliders 72 are respectively located on both sides of the two first ball guide rails 71. This allows the space occupied by the first guide rails 7 to be in the radial direction of the output shaft 2, thereby reducing the space occupied by the first guide rails 7 in the vertical direction, making the structure inside the linear actuator housing 1 compact and reducing the thickness of the linear actuator.

[0039] In some embodiments, as Figure 2 and Figure 3 As shown, the linear actuator further includes a second guide rail 8 disposed within the housing 1 and arranged along the axial direction of the output shaft 2. The second guide rail 8 is located between the first guide rail 7 and the linear motor 3 in the radial direction of the output shaft 2. The second guide rail 8 is connected to the housing 1 and the slide 4, respectively. The provision of the second guide rail 8 further improves the stability of the slide 4 as it moves along the axial direction of the output shaft 2.

[0040] In some embodiments, the second guide rail 8 includes a second ball guide and a second ball slider (not shown). The second ball guide is connected to the housing 1 and is arranged along the axial direction of the output shaft 2. The second ball guide is slidably connected to the second ball slider. The second ball slider is connected to the output end of the linear motor 3. The second ball guide is arranged laterally so that the second ball slider is opposite to the adjacent first ball slider 72. The second ball slider is connected to the sliding member 4. This can reduce the vertical space occupied by the second guide rail 8, making the structure within the housing 1 more compact.

[0041] The first guide rail 7 and the second guide rail 8 can be roller-type linear guides, cylindrical linear guides, or ball-type linear guides. In the present application, both the first guide rail 7 and the second guide rail 8 are ball-type linear guides, thereby enabling precise linear motion and positioning of the slider 4, facilitating accurate control of the slider 4. By arranging the first ball guide rails 71 of the two first guide rails 7 opposite each other and the second ball slider block 72 of the second guide rail 8 opposite each other, the structure within the housing 1 is made compact, further improving accuracy and reliability.

[0042] In some embodiments, as Figure 2 and Figure 3 As shown, the linear actuator also includes a linear encoder 31 for detecting the movement data of the slider 4. Linear encoder 31 is located radially between the first guide rail 7 and the linear motor 3 along the output shaft 2. Linear encoder 31 is an optical encoder, including a glass scale and a grating readhead. Optical encoders offer high measurement accuracy and resolution. The linear encoder 31 detects the movement data of the slider 4, and based on this data, a computer is used to appropriately adjust the linear motor 3, rotary motor 6, or the magnetic field affecting the magnetic spring 5, ensuring the accuracy of the drive action executed by the output shaft 2.

[0043] In some embodiments, as Figure 2 and Figure 3 As shown, the linear encoder 31 includes a moving unit 311 and a fixed unit 312. The moving unit 311 is connected to the slider 4, and the fixed unit 312 is connected to the housing 1. The moving unit 311 and the fixed unit 312 overlap in the radial direction of the output shaft 2. This reduces the vertical space occupied by the linear encoder 31, making the structure within the linear actuator housing 1 more compact and reducing the thickness of the linear actuator.

[0044] As can be seen, the present application discloses a linear actuator, wherein a magnetic spring is disposed within a housing, one end of the magnetic spring being connected to the housing, and the other end of the magnetic spring being connected to a sliding member and / or an output shaft. As the output shaft moves out of the housing along the axial direction of the output shaft and extends out of the housing, the magnetic spring has a tendency to directly or indirectly drive the output shaft to move into the housing along the axial direction of the output shaft. The elastic force of the magnetic spring is controlled by a magnetic field, and the magnitude of the elastic force can be adjusted by the magnetic field. This allows the elastic force of the magnetic spring to be precisely controlled by the magnetic field, making the elastic force of the magnetic spring uniform and avoiding rebound. This ensures the stability of the output shaft's axial movement, thereby enabling precise execution of the driving action.

[0045] The above are merely embodiments of the present application and are not intended to limit the patent scope of the present application. Any equivalent structural transformations made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A linear actuator, characterized in that: include: case; an output shaft, disposed in the housing; A linear motor is disposed in the housing, and the linear motor is arranged along the axial direction of the output shaft; a sliding member connecting the output end of the linear motor and the output shaft, wherein the sliding member is movable along the axial direction of the output shaft under the drive of the linear motor, and the output shaft moves along the axial direction of the output shaft following the sliding member; as well as A magnetic spring is arranged in the housing, the magnetic spring is arranged along the axial direction of the output shaft, the magnetic spring is located between the output shaft and the linear motor along the radial direction of the output shaft, one end of the magnetic spring is connected to the housing, and the other end of the magnetic spring is connected to the sliding member and / or the output shaft.

2. The linear actuator according to claim 1, characterized in that The output shaft is a hollow structure. One end of the output shaft located in the shell is connected to an air pipe. The output shaft is communicated with the air pipe. The air pipe is connected to the shell and communicated with the airway of the shell.

3. The linear actuator according to claim 2, characterized in that The sliding member is adjacent to one side of the output shaft, and a bracket extends along the radial direction of the output shaft. The bracket is provided with a connecting hole. The air pipe is arranged along the side wall of the shell and is connected to the output shaft after passing through the connecting hole.

4. The linear actuator according to claim 1, characterized in that The linear actuator also includes a rotary motor, which is arranged along the axial direction of the output shaft and is located on the side of the magnetic spring away from the linear motor. The rotary motor includes a motor housing and a stator. The motor housing is fixedly connected to the sliding member. The stator is arranged in the motor housing and connected to the motor housing. The output shaft penetrates into the motor housing and can rotate under the drive of the stator.

5. The linear actuator according to claim 4, characterized in that The sliding member has a rotating connection part and a sliding connection part, the rotating connection part is located on the side of the sliding connection part close to the rotating motor, the sliding connection part is connected to the linear motor, and the rotating connection part is connected to the rotating motor. The rotating connection part has a first mounting hole opened along the axial direction of the output shaft, and the first mounting hole accommodates the magnetic spring.

6. The linear actuator according to claim 5, characterized in that One end of the rotating motor is connected to a rotary encoder, the rotary encoder is located in the housing, and the rotary encoder is used to detect rotation data of the output shaft; and / or, The sliding connection part and the rotating connection part are provided with a plurality of hollow holes distributed at intervals.

7. The linear actuator according to claim 1, characterized in that The linear actuator further includes a first guide rail, the first guide rail being located in the housing, the first guide rail being located between the magnetic spring and the linear motor along the radial direction of the output shaft, and the first guide rail being connected to the housing and the sliding member respectively; Two first guide rails are provided, and the two first guide rails are both arranged laterally and facing away from each other.

8. The linear actuator according to claim 7, characterized in that The linear actuator also includes a second guide rail, which is located in the housing. The second guide rail is arranged along the axial direction of the output shaft. The second guide rail is located between the first guide rail and the linear motor along the radial direction of the output shaft. The second guide rail is respectively connected to the housing and the output end of the linear motor.

9. The linear actuator according to claim 8, characterized in that The second guide rail is arranged laterally and is opposite to the adjacent first guide rail.

10. The linear actuator according to claim 7, characterized in that The linear actuator further has a linear encoder for detecting movement data of the sliding member. The linear encoder is located between the first guide rail and the linear motor along the radial direction of the output shaft. The linear encoder includes a moving unit and a fixed unit. The moving unit is connected to the sliding member, and the fixed unit is connected to the housing. The moving unit and the fixed unit overlap along the radial direction of the output shaft.

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