Self-locking device of actuating system and actuating system

Abstract

The utility model discloses a self-locking device of an actuating system and the actuating system, the self-locking device comprises an input part and an output part, and the output part is provided with a self-locking angle which synchronously rotates; the retaining ring is provided with a brake block, the retaining ring surrounds the outer side of the coupling transmission unit, the brake ring relatively and fixedly surrounds the outer side of the retaining ring, the brake block and the retaining ring synchronously rotate in the circumferential direction, and at least one of the brake block and the self-locking angle is provided with a gradual change face gradually away from the axis of the rotating component in the first direction; when actuating torque in the first direction is applied to the input component, the retaining ring and the output component are driven to rotate synchronously. When load torque in the second direction is applied to the output component, the self-locking angle is driven to rotate in the second direction relative to the retaining ring, and the brake block is extruded by the self-locking angle to move outwards in the radial direction to be in friction joint to the brake ring for friction braking. When actuating torque in the second direction is applied to the input component, the retaining ring is driven to rotate in the second direction relative to the self-locking angle, and the friction braking state is relieved in advance.

Description

Technical field

[0001] The utility model relates to the technical field of actuating systems, in particular to a self-locking device of an actuating system and an actuating system. [Background Technology]

[0002] The conventional actuation system includes an actuating motor, a variable speed drive chain, a lead screw, and a telescopic assembly. The actuating motor drives the lead screw through the variable speed drive chain, and the telescopic assembly is driven by the lead screw to perform linear telescopic motion. A self-locking device is typically provided in the actuating system to prevent the lead screw from rotating when subjected to external forces after the actuating motor stops, which could cause the actuating system to lose lock. Existing self-locking devices are typically implemented using torsion springs. These devices include an active torsion spring seat, a driven torsion spring seat, and a friction plate, which are sleeved around the outside of the lead screw. The active torsion spring seat rotates synchronously with the lead screw, while the friction plate abuts and is fixedly mounted on the side of the driven torsion spring seat facing away from the active torsion spring seat. The torsion spring is sleeved around the outside of both the active and driven torsion spring seats. When the lead screw reverses under load, the active torsion spring seat rotates, causing the torsion spring to grip the driven torsion spring seat, driving the driven torsion spring seat to rotate. The rotation of the driven torsion spring seat generates frictional resistance against the friction plate, which brakes the lead screw.

[0003] In order to ensure the self-locking force between the two ends of the torsion spring and the active torsion spring seat and the driven torsion spring seat so that the torsion spring can transmit torque, it is necessary to have a sufficient number of turns between the torsion spring and the two torsion spring seats. This increases the axial space occupied by the self-locking device. For linear brakes, the increase in axial space occupied will lead to an increase in the length of the screw rod, which in turn increases the difficulty of processing the screw rod. In addition, since the performance of the torsion spring is greatly affected by the material and processing technology, and process problems often lead to inconsistent self-locking force of the torsion spring, which in turn leads to uncontrollable self-locking, thereby affecting the normal use of the product. [Utility Model Content]

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the existing technology and provide a self-locking device and an actuating system for an actuating system. A brake block is arranged on the retaining ring, and the brake block is radially moved outward to achieve self-locking performance by friction braking with the brake ring. Compared with torsion spring brakes, not only is the axial space occupied smaller, but the processing technology of the brake ring and the brake block is also more convenient, thereby ensuring the controllable performance of the brake ring and the brake block, and thus achieving better self-locking controllability.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] The self-locking device of the actuating system is used to brake the rotating components of the actuating system, and the self-locking device includes:

[0007] A coupling transmission unit comprising an input component for receiving an actuating torque and an output component transmission-connected to a rotating component, wherein the output component is provided with a self-locking angle for synchronous rotation; and

[0008] A friction brake unit, comprising a brake ring and a retaining ring with a brake block mounted thereon, the retaining ring surrounding the outside of the coupling transmission unit, the brake ring relatively fixedly surrounding the outside of the retaining ring, the brake block rotating synchronously with the retaining ring in the circumferential direction, and at least one of the brake block and the self-locking angle having a gradient surface gradually away from the axis of the rotating component along a first direction;

[0009] When an actuating torque in a first direction is applied to the input component, the retaining ring and the output component are driven to rotate synchronously;

[0010] When a load torque in a second direction is applied to the output component, the self-locking angle is driven to rotate relative to the retaining ring in the second direction, and the brake block is squeezed by the self-locking angle and moves radially outward to frictionally engage with the brake ring to implement friction braking;

[0011] When the input component is applied with an actuating torque in a second direction, the retaining ring is driven to rotate in the second direction relative to the self-locking angle, thereby releasing the friction braking state in advance;

[0012] The first direction is opposite to the second direction.

[0013] The actuating torque in the present invention refers to the torque provided by a power source (e.g., an actuating motor). When the actuating torque causes the input member to rotate in a first direction, it drives the retaining ring and the output member to rotate synchronously, thereby driving the rotating member to rotate. The rotating member is generally connected to a load, and the rotation of the rotating member can drive the load to achieve linear displacement. When the actuating torque is stopped from being supplied to the input member, the load applies a reverse torque to the rotating member. As a result, the output member rotates in a second direction under the action of the load torque, causing the self-locking angle to rotate relative to the retaining ring in the second direction. At this time, the brake block is squeezed radially outward by the self-locking angle, thereby frictionally engaging with the brake ring to implement friction braking, thereby preventing the output member from continuing to rotate in the second direction, thereby preventing the rotating member from rotating, thereby ensuring the accuracy of the load position. In addition, when the actuating torque in the second direction is applied to the input member, the friction braking state is released in advance by driving the retaining ring to rotate relative to the self-locking angle. That is, there is no frictional resistance between the brake block and the brake ring, thereby reducing the power consumption of the actuating motor. It can be seen from this that the present invention achieves self-locking performance by arranging a brake block on the retaining ring and utilizing the radial outward movement of the brake block to achieve friction braking with the brake ring. Compared with torsion spring braking, not only is the axial space occupied smaller, the length of the rotating component can be reduced to reduce the difficulty of processing the rotating component, but the processing technology of the brake ring and the brake block is also more convenient, thereby ensuring the controllable performance of the brake ring and the brake block, and thus achieving better self-locking controllability.

[0014] In the self-locking device of the aforementioned actuation system, the input component has a plurality of circumferentially spaced input key teeth, the output component has a plurality of circumferentially spaced output key teeth, and the retaining ring has a plurality of circumferentially spaced retaining key teeth. The input key teeth, retaining key teeth, and output key teeth alternately mesh in sequence. This design enables circumferential transmission among the input component, output component, and retaining ring, resulting in higher transmission reliability and a more compact radial dimension when assembled.

[0015] In the self-locking device of the actuation system, when the input component is applied with an actuation torque in a first direction, a first gap is formed between the input key teeth and the retaining key teeth;

[0016] When a load torque in a second direction is applied to the output component, the first gap is eliminated and a second gap is formed between the output key teeth and the retaining key teeth;

[0017] When an actuating torque in a second direction is applied to the input component, the second gap is eliminated and a third gap is formed between the output spline teeth and the input spline teeth.

[0018] With this design, when the output component is applied with a load torque in the second direction, in the process of eliminating the first gap, the retaining ring does not rotate, and the output component drives the self-locking angle to rotate in the second direction, thereby realizing the self-locking angle rotating in the second direction relative to the retaining ring; at the same time, when the input component is applied with an actuating torque in the second direction, in the process of eliminating the second gap, the retaining ring drives the brake block to rotate in the second direction relative to the self-locking angle, so that the brake block moves radially inward and resets, and the friction braking between the brake block and the brake ring fails, so that the input component does not need to overcome the braking force during the subsequent rotation in the second direction under the action of the actuating torque, thereby reducing the power consumption of the actuating motor; finally, when the input component is applied with an actuating torque in the first direction, the third gap is eliminated and the first gap is formed between the input key teeth and the retaining key teeth.

[0019] In the self-locking device of the aforementioned actuation system, an input keyway with a bottom surface is formed between adjacent input key teeth. The retaining key teeth are located in the input keyway and are axially restrained by the bottom surface and the output component. This design, by axially restraining the retaining key teeth through the bottom surface and the output component, indirectly restrains the retaining ring axially, eliminating the need for additional axial restraint of the retaining ring and simplifying the structure of the self-locking device.

[0020] In the self-locking device of the aforementioned actuation system, the retaining ring partially overlaps the axial projection of the input component, and the retaining ring partially overlaps the axial projection of the output component, with the axial direction being parallel to the axis of the rotating component. This design further reduces the axial dimensions of the self-locking device, thereby reducing the axial space occupied by the self-locking device and shortening the length of the rotating component.

[0021] In the self-locking device of the aforementioned actuation system, the portion of the output member surrounded by the retaining ring has a circumferential surface. The self-locking angle radially protrudes from the circumferential surface and has a first gradually changing surface facing the brake pad. The brake pad has a second gradually changing surface facing the first gradually changing surface. Both the first and second gradually changing surfaces gradually move away from the axis of the rotating member along a first direction. With this design, when the brake pad is squeezed by the self-locking angle, the first and second gradually changing surfaces cooperate to push the brake pad radially outward as a whole, thereby increasing the contact area between the brake pad and the brake ring and thereby enhancing the frictional braking force.

[0022] In the self-locking device of the aforementioned actuation system, the central angle of the first gradually changing surface relative to the axis of the rotating component is smaller than the central angle of the second gradually changing surface relative to the axis of the rotating component. During the relative rotation of the output component and the retaining ring, the first gradually changing surface remains within the circumferential range of the second gradually changing surface. With this design, when the central angle of the first gradually changing surface relative to the axis of the rotating component is larger than the central angle of the second gradually changing surface relative to the axis of the rotating component, a portion of the first gradually changing surface will contact the inner side surface of the retaining ring. When the brake block is squeezed by the self-locking angle, the first gradually changing surface will radially press the inner side surface of the retaining ring during rotation in the second direction, causing the retaining ring to rupture. This technical solution avoids contact between the first gradually changing surface and the inner side surface of the retaining ring, thereby preventing the retaining ring from rupturing.

[0023] In the self-locking device of the aforementioned actuation system, a first limiting surface and a second limiting surface are formed at the circumferential ends of the self-locking angle, respectively. The first limiting angle and the second limiting angle are circumferentially spaced apart on the inner surface of the retaining ring. The first limiting angle is located in the radial direction of one end of the brake block and forms a circumferential interference with the first limiting surface, while the second limiting angle is located in the radial direction of the other end of the brake block and forms a circumferential interference with the second limiting surface. This design limits the rotation angle of the self-locking angle by using the first and second limiting angles to ensure that during relative rotation between the output component and the retaining ring, the first gradually changing surface remains within the circumferential range of the second gradually changing surface.

[0024] In the self-locking device of the aforementioned actuation system, the first gradually changing surface extends in a spiral or straight manner from the end closest to the rotating component's axis to the end further away from the rotating component's axis; and the second gradually changing surface extends in a spiral or straight manner from the end closest to the rotating component's axis to the end further away from the rotating component's axis. This design allows for smoother radial outward movement of the brake pad due to compression by the self-locking angle.

[0025] In the self-locking device of the aforementioned actuation system, the self-locking angle and the output component form an integral structure. This design not only eliminates the need to assemble the self-locking angle and the output component, thereby reducing assembly steps, but also improves the connection reliability and rotational synchronization between the self-locking angle and the output component.

[0026] In the self-locking device of the aforementioned actuation system, the retaining ring is provided with a guide hole adapted for the brake pad. The guide hole extends from the inner annular surface of the retaining ring to the outer annular surface. The brake pad engages within the guide hole, allowing the brake pad and the retaining ring to rotate synchronously in the circumferential direction and move radially relative to each other. This design, through the guide hole, allows both radial movement of the brake pad and synchronous circumferential rotation of the brake pad and the retaining ring, resulting in a relatively simple structure and convenient assembly. Furthermore, the brake pad can be independently machined and formed, facilitating subsequent replacement, thereby reducing maintenance costs.

[0027] In the self-locking device of the aforementioned actuator system, the brake block and the retaining ring form an integral structure, and the brake block is elastically deformed by the compression of the gradient surface. This design allows the output component to be made of an elastic material. When a portion of the output component is compressed by the self-locking angle, it elastically deforms radially outward, thereby achieving friction braking with the brake ring.

[0028] The utility model also provides an actuating system, including an actuating motor, a screw rod and a variable speed transmission chain connecting the two, and the self-locking device of any of the above technical solutions constitutes a part of the variable speed transmission chain.

[0029] In the aforementioned actuation system, the speed-variable transmission chain further includes a planetary reduction mechanism comprising a sun gear, an internal gear ring, and a planetary cage carrying the planetary gears. The planetary gears mesh between the sun gear and the internal gear ring. The planetary cage is coaxially connected to the input component of the self-locking device. The output component of the self-locking device is connected to the lead screw, which forms the rotating component. This design allows the planetary reduction mechanism to reduce the high-speed rotation of the actuation motor to a desired low speed to meet the operating requirements of the mechanical equipment.

[0030] In the above-mentioned actuation system, the output component is provided with a driving coupling, and the lead screw is provided with a driven coupling. When connected, the driving coupling and the driven coupling remain relatively fixed in the circumferential direction and are capable of relative axial movement, allowing the lead screw to disconnect the driving coupling and the driven coupling when subjected to an axial load. The lead screw freely passes through the self-locking device and the planetary reduction mechanism and is provided with an elastic component at its rear end, which is used to maintain the connection between the driving coupling and the driven coupling. When the actuation system is a linear actuator, when the actuation motor drives the lead screw to retract the inner tube and an object or person is pinched, the lead screw drives the driven coupling outward to disconnect it from the driving coupling, thereby severing the transmission of the actuating torque, stopping the lead screw rotation and the inner tube from retracting, thereby achieving an anti-pinch effect. When the pinched object or person is removed, the lead screw resets under the action of the elastic component, reconnecting the driving coupling and the driven coupling, allowing the linear actuator to resume normal operation.

[0031] In the aforementioned actuation system, the actuation system further includes a brake seat and a releasable brake torsion spring mounted on the brake seat. The brake seat is non-rotatably connected to the inner ring gear. The brake torsion spring normally engages the brake seat to prevent rotation of the inner ring gear. The brake seat constitutes the brake ring or the brake ring is non-rotatably connected to the brake seat. With this design, when the brake torsion spring normally engages the brake seat to prevent rotation of the inner ring gear, the planetary retainer can transmit actuating torque to the input component, allowing the lead screw to rotate normally. However, when the lead screw needs to be quickly released for retraction, the brake torsion spring releases the rotational lock on the inner ring gear, allowing the inner ring gear to rotate freely. In this case, the planetary reduction mechanism does not transmit power. Therefore, by pushing and pulling the lead screw, the lead screw can be quickly rotated, causing the telescopic assembly to quickly extend and retract. This achieves a quick release function without the need for an actuating motor. This is suitable for situations where the actuating motor fails, loses power, or otherwise requires power interruption.

[0032] In the above-mentioned actuation system, the screw freely passes through the self-locking device and the planetary reduction mechanism. A support seat is mounted on the screw, and the support seat axially abuts the brake seat to transmit the axial load of the screw. The first housing has a load-bearing step to withstand the axial load thrust guided by the brake seat and the inner ring gear, thereby preventing the planetary retainer, planetary gear and sun gear from being subjected to the axial load thrust of the screw. In the prior art, a bearing is provided at the tail of the screw to withstand the axial load thrust of the screw. Such a design makes the screw longer, thereby increasing its processing difficulty and deteriorating its concentricity during operation. However, the present technical solution can eliminate the bearing at the tail by changing the transmission path of the axial load thrust, thereby shortening the length of the screw, thereby improving the processing convenience of the screw and improving its coaxiality during operation.

[0033] These features and advantages of the present invention will be disclosed in detail in the following specific embodiments and drawings.

Brief Description of the Drawings

[0034] The present invention will be further described below with reference to the accompanying drawings:

[0035] Figure 1 This is a schematic structural diagram of the actuation system in Example 1 of the present utility model;

[0036] Figure 2 This is an exploded schematic diagram of the actuation system in Example 1 of the present utility model;

[0037] Figure 3 This is an exploded schematic diagram of a portion of the actuation system structure in Example 1 of the present utility model;

[0038] Figure 4 This is a cross-sectional view of the actuation system in Example 1 of the present utility model;

[0039] Figure 5 for Figure 4 A partial enlarged schematic diagram;

[0040] Figure 6 This is a schematic structural diagram of the planetary reduction mechanism in Example 1 of the present utility model;

[0041] Figure 7 This is a cross-sectional view of the planetary reduction mechanism in Example 1 of the present utility model;

[0042] Figure 8 This is a schematic structural diagram of the input component in the first embodiment of the present utility model;

[0043] Figure 9 This is a schematic structural diagram of the output component in the first embodiment of the present utility model;

[0044] Figure 10 This is a schematic structural diagram of a retaining ring and a brake block in Example 1 of the present utility model;

[0045] Figure 11 This is a schematic diagram of the assembly of a portion of the actuation system structure in the first embodiment of the present invention;

[0046] Figure 12 for Figure 11 The main view;

[0047] Figure 13 for Figure 12 Cross-sectional view of the middle BB;

[0048] Figure 14 for Figure 12 Cross-sectional view of CC;

[0049] Figure 15 This is a schematic diagram of a first gap formed between the input key teeth and the retaining key teeth in the first embodiment of the present invention;

[0050] Figure 16 This is a schematic diagram of a second gap formed between the output key teeth and the retaining key teeth in the first embodiment of the present invention;

[0051] Figure 17 for Figure 11 A top view of

[0052] Figure 18 for Figure 17 A partial enlarged schematic diagram of D in the middle;

[0053] Figure 19 This is a structural diagram of the brake torsion spring in the first embodiment of the present invention when it is tightly holding the brake seat;

[0054] Figure 20 for Figure 19 The main view;

[0055] Figure 21 This is a structural diagram of the brake torsion spring in the first embodiment of the present invention when the brake seat is released;

[0056] Figure 22 for Figure 21 main view.

[0057] Reference numerals:

[0058] 100, actuator motor; 200, variable speed drive chain; 210, planetary reduction mechanism; 211, sun gear; 212, planetary gear; 213, planetary cage; 2130, transmission groove; 214, inner ring gear; 220, brake seat; 221, support step; 230, first housing; 2301, half housing; 2302, load-bearing step; 232, mounting plate; 2321, limit groove; 233, positioning pin; 240, worm gear; 250, worm; 300, lead screw; 310, first bearing; 320, limit plate; 330, elastic component; 340, second bearing; 350, third bearing; 360, radial bearing; 400, telescopic assembly; 410, inner tube; 420, outer tube; 430, nut; 500, coupling transmission unit; 510, input component ;511, input key tooth;512, input key groove;513, transmission block;520, output component;521, self-locking angle;5210, first gradient surface;5211, first limiting surface;5212, second limiting surface;522, output key tooth;530, active coupling;540, driven coupling;600, friction brake unit;610, brake ring;620, retaining ring;621, retaining key tooth;622, first limiting angle;623, second limiting angle;624, guide hole;630, brake block;631, second gradient surface;711, release plate;7110, guide groove;7111, connecting hole;712, release rod;7120, transmission pin;720, brake torsion spring;721, first pin;800, support seat;900, limiting block;

[0059] 001, first gap; 002, second gap; 003, third gap. [Specific implementation method]

[0060] The utility model provides a self-locking device of an actuating system, which is used to brake the rotating components of the actuating system. The self-locking device includes:

[0061] A coupling transmission unit comprising an input component for receiving an actuating torque and an output component transmission-connected to a rotating component, wherein the output component is provided with a self-locking angle for synchronous rotation; and

[0062] A friction brake unit, comprising a brake ring and a retaining ring with a brake block mounted thereon, the retaining ring surrounding the outside of the coupling transmission unit, the brake ring relatively fixedly surrounding the outside of the retaining ring, the brake block rotating synchronously with the retaining ring in the circumferential direction, and at least one of the brake block and the self-locking angle having a gradient surface gradually away from the axis of the rotating component along a first direction;

[0063] When an actuating torque in a first direction is applied to the input component, the retaining ring and the output component are driven to rotate synchronously;

[0064] When a load torque in a second direction is applied to the output component, the self-locking angle is driven to rotate relative to the retaining ring in the second direction, and the brake block is squeezed by the self-locking angle and moves radially outward to frictionally engage with the brake ring to implement friction braking;

[0065] When the input component is applied with an actuating torque in a second direction, the retaining ring is driven to rotate in the second direction relative to the self-locking angle, thereby releasing the friction braking state in advance;

[0066] The first direction is opposite to the second direction.

[0067] The actuating torque in the present invention refers to the torque provided by a power source (e.g., an actuating motor). When the actuating torque causes the input member to rotate in a first direction, it drives the retaining ring and the output member to rotate synchronously, thereby driving the rotating member to rotate. The rotating member is generally connected to a load, and the rotation of the rotating member can drive the load to achieve linear displacement. When the actuating torque is stopped from being supplied to the input member, the load applies a reverse torque to the rotating member. As a result, the output member rotates in a second direction under the action of the load torque, causing the self-locking angle to rotate relative to the retaining ring in the second direction. At this time, the brake block is squeezed radially outward by the self-locking angle, thereby frictionally engaging with the brake ring to implement friction braking, thereby preventing the output member from continuing to rotate in the second direction, thereby preventing the rotating member from rotating, thereby ensuring the accuracy of the load position. In addition, when the actuating torque in the second direction is applied to the input member, the friction braking state is released in advance by driving the retaining ring to rotate relative to the self-locking angle. That is, there is no frictional resistance between the brake block and the brake ring, thereby reducing the power consumption of the actuating motor. It can be seen from this that the present invention achieves self-locking performance by arranging a brake block on the retaining ring and utilizing the radial outward movement of the brake block to achieve friction braking with the brake ring. Compared with torsion spring braking, not only is the axial space occupied smaller, the length of the rotating component can be reduced to reduce the difficulty of processing the rotating component, but the processing technology of the brake ring and the brake block is also more convenient, thereby ensuring the controllable performance of the brake ring and the brake block, and thus achieving better self-locking controllability.

[0068] The technical solutions of the embodiments of the present invention are explained and illustrated below in conjunction with the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention, not all of them. Based on the embodiments in the implementation mode, other embodiments obtained by those skilled in the art without making creative work all fall within the scope of protection of the present invention. In addition, it should be understood that the following words indicating orientation or positional relationship such as "up", "down", "left", "right", "longitudinal", "lateral", "inside", "outside", "vertical", "horizontal", "top", "bottom", etc. are only based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device / element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0069] Example 1

[0070] like Figures 1 to 22 As shown, the self-locking device of the actuating system in this embodiment is used to brake the rotating parts of the actuating system, wherein the actuating system is a linear actuator, which includes an actuating motor 100, a variable speed transmission chain 200, a screw rod 300, a telescopic assembly 400 and a self-locking device. The variable speed transmission chain 200 is connected between the actuating motor 100 and the screw rod 300. The actuating motor 100 drives the screw rod 300 to rotate through the variable speed transmission chain 200. The telescopic assembly 400 is driven by the screw rod 300 to perform linear telescopic motion. The telescopic assembly 400 includes The inner tube 410, outer tube 420, and nut 430 are fixedly disposed within the inner tube 410 and threadedly connected to the screw rod 300. The nut 430 is circumferentially and axially fixed relative to the inner tube 410. When the actuator motor 100 drives the screw rod 300 to rotate in a first direction via the variable speed drive chain 200, the nut 430 drives the inner tube 410 to move, thereby extending the telescopic assembly 400. When the screw rod 300 rotates in a second direction (the second direction is opposite to the first direction), the nut 430 drives the inner tube 410 to move, thereby shortening the telescopic assembly 400. Of course, when the actuator motor 100 drives the screw rod 300 to rotate in the first direction via the variable speed drive chain 200, the nut 430 drives the inner tube 410 to move, thereby shortening the telescopic assembly 400. When the actuator motor 100 drives the screw rod 300 to rotate in the second direction, the telescopic assembly 400 extends.

[0071] The screw rod 300 constitutes a rotating component of the actuating system, and the self-locking device constitutes a part of the speed-changing transmission chain 200, that is, the self-locking device participates in the transmission, wherein the self-locking device includes a coupling transmission unit 500 and a friction brake unit 600, and the coupling transmission unit 500 includes an input component 510 and an output component 520, the input component 510 is used to receive the actuating torque transmitted by the actuating motor 100, and the output component 520 is connected to the screw rod 300 to transmit the actuating torque to the screw rod 300 and thereby drive the screw rod 300 to rotate. In this embodiment, the output component 520 is provided with a synchronously rotating self-locking angle 521. The friction brake unit 600 includes a brake ring 610, a retaining ring 620, and a brake block 630. The brake block 630 is mounted on the retaining ring 620. The retaining ring 620 surrounds the outside of the coupling transmission unit 500. The brake ring 610 is relatively fixedly surrounded by the outside of the retaining ring 620. The brake block 630 rotates synchronously with the retaining ring 620 in the circumferential direction. The brake block 630 and the self-locking angle 521 both have a gradient surface that gradually moves away from the axis of the rotating component along the first direction.

[0072] When the input component 510 is applied with an actuating torque in a first direction, the retaining ring 620 and the output component 520 are driven to rotate synchronously;

[0073] When a load torque in the second direction is applied to the output component 520, the self-locking angle 521 is driven to rotate relative to the retaining ring 620 in the second direction. The brake block 630 is squeezed by the self-locking angle 521 and moves radially outward to frictionally engage with the brake ring 610 to implement friction braking.

[0074] When the input component 510 is applied with an actuating torque in the second direction, the retaining ring 620 is driven to rotate in the second direction relative to the self-locking angle 521 , thereby releasing the friction braking state in advance.

[0075] The actuating torque in this embodiment refers to the torque provided by the power source (such as the actuating motor 100). When the actuating torque causes the input component 510 to rotate in the first direction, it drives the retaining ring 620 and the output component 520 to rotate synchronously, thereby driving the rotating component to rotate. The rotating component is generally connected to a load, and the load can be driven to achieve linear displacement through the rotation of the rotating component. When the actuating torque is stopped from being applied to the input component 510, the load will apply a reverse torque to the rotating component, so the output component 520 will rotate in the second direction under the action of the load torque, and the self-locking angle 521 will rotate relative to the retaining ring 620. When the output component 520 rotates in the second direction, the brake block 630 is squeezed by the self-locking angle 521 and moves radially outward, thereby frictionally engaging with the brake ring 610 to implement friction braking, so as to prevent the output component 520 from continuing to rotate in the second direction, and further prevent the rotating component from rotating, thereby ensuring the accuracy of the load position; in addition, when the input component 510 is applied with an actuating torque in the second direction, the retaining ring 620 is driven to rotate in the second direction relative to the self-locking angle 521, and the friction braking state is released in advance, that is, there is no friction resistance between the brake block 630 and the brake ring 610, thereby reducing the power consumption of the actuating motor 100. It can be seen that in this embodiment, the self-locking performance is achieved by arranging the brake block 630 on the retaining ring 620, and utilizing the radial outward movement of the brake block 630 to frictionally brake with the brake ring 610. Compared with the torsion spring brake, not only is the axial space occupied smaller, the length of the rotating part can be reduced to reduce the difficulty of processing the rotating part, but the processing technology of the brake ring 610 and the brake block 630 is also more convenient, thereby ensuring the controllable performance of the brake ring 610 and the brake block 630, and thus achieving better self-locking controllability.

[0076] Specifically, such as Figures 8 to 10 as well as Figure 14 As shown, the input component 510 in this embodiment has a plurality of circumferentially spaced input key teeth 511, which protrude radially outward from the outer peripheral side of the input component 510, and the output component 520 has a plurality of circumferentially spaced output key teeth 522, which protrude axially downward from the lower end face of the output component 520. The retaining ring 620 has a plurality of circumferentially spaced retaining key teeth 621, which protrude radially inward from the inner peripheral side of the retaining ring 620. The input key teeth 511, the retaining key teeth 621 and the output key teeth 522 are alternately meshed in sequence, that is, the output key teeth 522 are located between the input key teeth 511 and the retaining key teeth 621. With such a design, the circumferential transmission of the input component 510, the output component 520 and the retaining ring 620 can be realized, the transmission reliability is higher, and the radial size of the three after assembly is also more compact.

[0077] like Figure 14 and Figure 15 As shown, in Figure 14In the state, if the input component 510 is applied with an actuating torque in the first direction, the input component 510 rotates relative to the retaining ring 620 in the first direction to eliminate the third gap 003, until the input key teeth 511 and the output key teeth 522 come into contact, and then the output component 520 and the retaining ring 620 are driven to rotate synchronously, so that the load moves to the specified position, and the actuating motor 100 stops working. At this time, a first gap 001 (such as Figure 15 shown); Figure 15 In the state, the screw rod 300 will be subjected to the reverse torque applied by the load. At this time, the output component 520 will drive the input key tooth 511 to rotate synchronously in the second direction through the output key tooth 522 under the action of the screw rod 300. Initially, the retaining ring 620 is in a non-rotating state. The output component 520 and the input component 510 both rotate relative to the retaining ring 620 to eliminate the first gap 001 and form a second gap 002 between the output key tooth 522 and the retaining key tooth 621 (as shown in FIG. Figure 16 As shown in FIG. 5 , when the output component 520 rotates relative to the retaining ring 620 in the second direction to eliminate the first gap 001, the self-locking angle 521 applies a radially outward squeezing force to the brake block 630, causing the brake block 630 to move radially outward and frictionally engage with the brake ring 610 to implement friction braking, thereby preventing the screw rod 300 from continuing to rotate and ensuring the accuracy of the load position. Figure 16 In the state, if the actuating motor 100 applies an actuating torque in the second direction to the input component 510, the output component 520 is initially in a non-rotating state. At this time, the input key teeth 511 drive the retaining ring 620 to rotate relative to the output component 520, thereby eliminating the second gap 002 and forming a third gap 003 between the output key teeth 522 and the input key teeth 511 (as shown in FIG. Figure 14 As shown in the figure, when the retaining ring 620 drives the brake block 630 to rotate relative to the output component 520 in the second direction, the brake block 630 will move radially inward and reset to make the friction engagement with the brake ring 610 invalid, thereby releasing the friction braking state in advance. When the retaining key teeth 621 contact the output key teeth 522, the output component 520 can be driven to rotate synchronously in the second direction to drive the screw rod 300 to rotate along the second direction. During this process, since there is no friction resistance between the brake block 630 and the brake ring 610, the power consumption of the actuator motor 100 can be reduced.

[0078] In this embodiment, input key slots 512 with bottom surfaces are formed between adjacent input key teeth 511. Retaining key teeth 621 are located in input key slots 512 and axially restrained by the bottom surface and output component 520. This design axially restrains retaining key teeth 621 via the bottom surface and output component 520, thereby indirectly restraining retaining ring 620. This eliminates the need for additional axial restraint of retaining ring 620, thereby simplifying the structure of the self-locking device.

[0079] Preferably, the retaining ring 620 overlaps with the projection of the input component 510 in the axial direction, and the retaining ring 620 overlaps with the projection of the output component 520 in the axial direction, and the axial direction is parallel to the axial direction of the rotating component. Such a design can further reduce the axial size of the self-locking device to reduce the axial space occupied by the self-locking device and shorten the length of the rotating component.

[0080] like Figures 9 to 11 ,as well as Figures 17 and 18 As shown, in this embodiment, the portion of the output component 520 surrounded by the retaining ring 620 has a circumferential surface, the self-locking angle 521 radially protrudes from the circumferential surface and has a first gradual surface 5210 facing the brake block 630, and the brake block 630 has a second gradual surface 631 facing the first gradual surface. Both the first gradual surface 5210 and the second gradual surface 631 gradually move away from the axis of the rotating component along the first direction. Figures 17 and 18 As shown, when the output component 520 is applied with a load torque in the second direction, the self-locking angle 521 will be driven to rotate in the second direction relative to the retaining ring 620. At this time, the first gradient surface 5210 will gradually push the second gradient surface 631 to move radially outward. Through the cooperation of the first gradient surface 5210 and the second gradient surface 631, the brake block 630 can be pushed radially outward as a whole to increase the contact area between the brake block 630 and the brake ring 610, thereby increasing the friction braking force.

[0081] Preferably, the self-locking angle 521 and the output component 520 form an integral structure. This design can not only save the assembly process of the self-locking angle 521 and the output component 520, thereby reducing the assembly steps, but also improve the connection reliability and rotation synchronization of the self-locking angle 521 and the output component 520.

[0082] In this embodiment, the first gradient surface 5210 extends in a spiral or straight manner from one end close to the axis of the rotating component to the end away from the axis of the rotating component; the second gradient surface 631 extends in a spiral or straight manner from one end close to the axis of the rotating component to the end away from the axis of the rotating component. The first gradient surface 5210 is adapted to the second gradient surface 631, that is, when the first gradient surface 5210 extends in a spiral, the second gradient surface 631 also extends in a spiral. When the first gradient surface 5210 extends straight, the second gradient surface 631 extends straight. Such a design can make the process of the brake block 630 being squeezed by the self-locking angle 521 and moving radially outward more stable.

[0083] In this embodiment, the first gradient surface 5210 and the second gradient surface 631 both extend in a spiral manner, wherein the central angle of the first gradient surface 5210 relative to the axis of the rotating component is smaller than the central angle of the second gradient surface 631 relative to the axis of the rotating component. When the output component 520 and the retaining ring 620 are in relative rotation, the first gradient surface 5210 is always located within the circumferential range of the second gradient surface 631. This is because: when the central angle of the first gradient surface 5210 relative to the axis of the rotating component is greater than the central angle of the second gradient surface 631 relative to the axis of the rotating component, part of the first gradient surface 5210 will abut against the inner side surface of the retaining ring 620. When the brake block 630 is squeezed by the self-locking angle 521, the first gradient surface 5210 will radially squeeze the inner side surface of the retaining ring 620 outward during the process of rotating in the second direction, causing the retaining ring 620 to rupture. The present technical solution avoids the contact between the first gradient surface 5210 and the inner side surface of the retaining ring 620, thereby avoiding the rupture of the retaining ring 620.

[0084] To ensure that the first gradually changing surface 5210 is always within the circumferential range of the second gradually changing surface 631, in this embodiment, a first limiting surface 5211 and a second limiting surface 5212 are formed at the circumferential ends of the self-locking angle 521, respectively. A first limiting angle 622 and a second limiting angle 623 are circumferentially spaced apart on the inner surface of the retaining ring 620. The first limiting angle 622 is located in the radial direction of one end of the brake block 630 and forms a circumferential interference with the first limiting surface 5211. The second limiting angle 623 is located in the radial direction of the other end of the brake block 630 and forms a circumferential interference with the second limiting surface 5212. With this design, the first limiting angle 622 and the second limiting angle 623 can limit the rotation angle of the self-locking angle 521, ensuring that during the relative rotation of the output component 520 and the retaining ring 620, the first gradually changing surface 5210 is always within the circumferential range of the second gradually changing surface 631.

[0085] In order to form the above-mentioned first limit angle 622 and second limit angle 623, the retaining ring 620 in this embodiment is provided with a guide hole 624 adapted to the brake block 630. The guide hole 624 extends from the inner ring surface of the retaining ring 620 to the outer ring surface, and the brake block 630 is embedded in the guide hole 624. The brake block 630 and the retaining ring 620 maintain circumferential synchronous rotation and can move radially relative to each other. The above-mentioned first limit angle 622 is formed between one axial side wall of the guide hole 624 and the inner ring surface of the retaining ring 620, and the above-mentioned second limit angle 623 is formed between the other axial side wall and the inner ring surface of the retaining ring 620. By designing the guide hole 624, the brake block 630 can be moved radially and the circumferential synchronous rotation of the brake block 630 and the retaining ring 620 can be achieved. The structure is relatively simple and the assembly is relatively convenient. The brake block 630 can also be independently processed and formed to facilitate the subsequent separate replacement of the brake block 630, thereby reducing maintenance costs.

[0086] like Figure 5 As shown, in order to achieve axial limitation of the brake block 630, a limit block 900 is further provided on one side of the brake block 630 in this embodiment. The limit block 900 cooperates with the bottom wall of the guide hole 624 to axially limit the brake block 630, wherein there is a gap between the limit block 900 and the brake block 630 to avoid contact between the two, thereby facilitating the radial movement of the brake block 630.

[0087] It will be appreciated that in other embodiments of the present invention, the brake pad and retaining ring form an integral structure, and the brake pad can be elastically deformed by being squeezed by the gradient surface. This design allows the output component to be made of an elastic material. When a portion of the output component is squeezed by the self-locking angle, it will elastically deform radially outward, thereby achieving friction braking with the brake ring.

[0088] It is understandable that in other embodiments of the present invention, the self-locking angle is provided with a first gradual surface, while the brake block is not provided with a second gradual surface; or, the brake block is provided with a second gradual surface, while the self-locking angle is not provided with a first gradual surface.

[0089] like Figures 2 to 7 As shown, the speed transmission chain 200 in this embodiment also includes a planetary reduction mechanism 210, which includes a sun gear 211, planetary gears 212, a planetary holder 213 and an inner gear ring 214. The planetary gears 212 are rotatably mounted on the planetary holder 213, and multiple planetary gears 212 surround the outside of the sun gear 211 and mesh with the sun gear 211. The inner gear ring 214 surrounds the outside of multiple planetary gears 212 and meshes with the planetary gears 212. The screw rod 300 in this embodiment includes an optical axis section and a threaded section. The optical axis section is set through the sun gear 211 and rotates with the sun gear 211 to enable the screw rod 300 to rotate and shuttle freely relative to the sun gear 211. The threaded section and the nut 430 threaded connection, the optical axis section and the threaded section are integrally machined or separately machined and then assembled and fixed. The sun gear 211 is driven to rotate by the actuator motor 100, and the planetary retainer 213 is coaxially connected to the input component 510 to maintain circumferential relative fixity with the input component 510. When the actuator motor 100 drives the input component 510 to rotate in a first direction through the planetary reduction mechanism 210, the inner ring gear 214 is circumferentially locked. At this time, the power of the actuator motor 100 is input through the sun gear 211, transmitted by the planetary gears 212, and output by the planetary retainer 213. The planetary retainer 213 drives the screw rod 300 to rotate through the input component 510 and the output component 520. This design allows the planetary reduction mechanism 210 to reduce the high-speed rotation of the actuator motor 100 to the required low speed to meet the working requirements of the mechanical equipment.

[0090] In order to achieve the circumferential relative fixation of the planetary retainer 213 and the input component 510, as shown in FIG. Figure 13As shown, the planetary holder 213 includes an upper bracket and a lower bracket that are spaced apart, and the planetary gear 212 is rotatably installed between the upper bracket and the lower bracket through a rotating shaft. The upper bracket is circumferentially spaced apart with a plurality of transmission grooves 2130, and the outer peripheral side of the input component 510 is circumferentially spaced apart with a plurality of transmission blocks 513 inserted into the transmission grooves 2130, thereby achieving circumferential relative fixation of the planetary holder 213 and the input component 510.

[0091] like Figures 1 to 5 As shown, the actuating system in this embodiment further includes a brake seat 220 and a releasable brake torsion spring 720 mounted on the brake seat 220. The brake seat 220 is non-rotatably connected to the inner ring gear 214, that is, the brake seat 220 and the inner ring gear 214 are integrally formed, or the brake seat 220 and the inner ring gear 214 are non-rotatably connected to the inner ring gear 214 by spline cooperation. The speed transmission chain 200 further includes a first housing 230, which is formed by connecting two half-shells 2301 and connecting them by screws. The speed mechanism 210 is installed in the first housing 230, the planetary retaining frame 213 is rotatably installed in the first housing 230, and the brake torsion spring 720 includes a first pin 721 movably installed on the first housing 230 and a second pin fixed on the first housing 230. The brake torsion spring 720 normally holds the brake seat 220 and locks the inner gear ring 214 to prevent the inner gear ring 214 from rotating. The brake seat 220 constitutes the above-mentioned brake ring 610, that is, the brake seat 220 and the brake ring 610 are integrally processed and formed to simplify the assembly steps. With such a design, when the brake torsion spring 720 normally holds the brake seat 220 and locks the inner ring gear 214, the planetary retainer 213 can transmit the actuating torque to the input component 510 to enable the screw rod 300 to rotate normally. When the screw rod 300 needs to be released quickly, the brake torsion spring 720 is expanded outward by pulling the first pin 721, thereby releasing the brake seat 220, thereby releasing the brake on the brake seat 220, and then releasing the lock on the inner ring gear 214. In this way, the inner ring gear 214 can rotate freely. In this case, the planetary reduction mechanism 210 will not transmit power. By pushing and pulling the screw rod 300, the screw rod 300 can be rotated quickly, so that the telescopic assembly 400 can be quickly extended and retracted, realizing the quick release function without the need for the actuating motor 100 to drive. It is suitable for situations where the actuating motor 100 fails or is powered off, or other situations where power needs to be cut off.

[0092] It can be understood that in other embodiments of the present invention, when the brake ring is independently processed and formed, the brake ring can be made of wear-resistant material, and the brake ring is non-rotatably connected to the brake seat. For example, the brake ring and the brake seat are non-rotatably connected to the brake seat through spline cooperation.

[0093] like Figures 19 to 22As shown, for the convenience of the following description, in this embodiment, the direction in which the telescopic assembly 400 is located is regarded as the top, and the direction in which the corresponding speed-changing transmission chain 200 is located is regarded as the bottom. Two mounting plates 232 are provided circumferentially spaced apart on the outer side of the first housing 230. The two mounting plates 232 extend along the axis of the screw rod 300. Each mounting plate 232 is provided with a limiting groove 2321 with a closed lower end and an open upper end. The limiting groove 2321 is provided through the mounting plate 232 along the thickness direction of the mounting plate 232. The release plate 711 is located on the outer side of the first housing 230, and the two ends of the release plate 711 are respectively slidably engaged with the two limiting grooves 2321 to enable the release plate 711 to slide relative to the first housing 230. The two mounting plates 232 are also embedded with positioning pins 233. The positioning pins 233 are located between the release plate 711 and the notch of the limiting groove 2321 to prevent the end of the release plate 711 from falling out of the limiting groove 2321. In this embodiment, the release plate 711 is a flat plate, so its sliding path is a straight line. The first housing 230 is provided with a through hole for the first pin 721 to pass through, the release plate 711 is connected to the first pin 721, and the first pin 721 has a first position and a second position. When the first pin 721 is in the first position (such as Figures 19 to 20 As shown), the brake torsion spring 720 holds the brake seat 220 tightly. At this time, the brake torsion spring 720 is in a locked state; when the first pin 721 is in the second position (as shown Figures 21 to 22 As shown in FIG, the brake torsion spring 720 releases the brake seat 220. At this time, the brake torsion spring 720 is in a released state. By driving the release plate 711 to pull the first pin 721 to rotate in the direction of loosening the brake torsion spring 720, that is, rotating it toward the second position, the brake torsion spring 720 releases the brake seat 220.

[0094] To facilitate user operation, the release plate 711 in this embodiment is also connected to a release rod 712, which extends along the axis of the screw rod 300 toward the telescopic assembly 400. The lower end of the release rod 712 is connected to the release plate 711, and a guide groove 7110 is provided on the release plate 711. The guide groove 7110 is an inclined groove extending axially along the screw rod 300 and arranged obliquely. The release rod 712 is provided with a transmission pin 7120 inserted into the guide groove 7110 and slidingly engaged with the guide groove 7110. When the transmission pin 7120 engages with the lower end of the guide groove 7110, the first pin 721 is in the first position. At this time, the upper end of the guide groove 7110 extends obliquely toward the direction of the first position relative to the second position. The brake torsion spring 720 in this embodiment is left-handed, and the first position is located on the left side of the second position, and the corresponding upper end of the guide groove 7110 extends obliquely to the left. When quick release is required, the user pulls the release lever 712 upward through the traction rod or traction rope to drive the release plate 711 to move to the right, so that the first pin 721 rotates in the direction of loosening the brake torsion spring 720, thereby releasing the brake seat 220 (such as Figures 21 to 22), thereby releasing the screw rod 300. The release speed of the screw rod 300 depends on the displacement of the release rod 712. After the quick release is completed, the release rod 712 is released, and the first pin 721 returns to the first position under the restoring force of the brake torsion spring 720, so that the brake torsion spring 720 re-engages the brake seat 220 to apply circumferential braking to the brake seat 220.

[0095] In order to facilitate the connection between the release plate 711 and the first pin 721 , a connection hole 7111 is provided on the release plate 711 in this embodiment, and the first pin 721 is inserted into the connection hole 7111 .

[0096] It can be understood that in other embodiments of the present invention, the release rod can be omitted, and the brake torsion spring can be released from the brake seat by directly driving the release plate to move; or the release rod and the release plate can be omitted, and the brake torsion spring can be released from the brake seat by directly moving the first pin by hand.

[0097] It can be understood that in other embodiments of the present invention, the release plate can also be slidably installed on the outside of the first housing along the circumference of the brake torsion spring, and its sliding path is an arc.

[0098] It is understandable that in other embodiments of the present invention, when the spiral direction of the brake torsion spring is opposite, those skilled in the art can easily figure out how to adaptively change the tilt direction of the guide groove based on the above solution, which will not be described in detail here.

[0099] It should be noted that the brake seat 220 in this embodiment is released from circumferential braking only when rapid release is required.

[0100] In addition, if Figures 1 to 5 As shown, the speed transmission chain 200 in this embodiment also includes a worm wheel 240 and a worm 250, and the sun gear 211 includes an engaging section provided with teeth and a connecting section extending axially downward. The connecting section of the worm wheel 240 and the sun gear 211 is connected by a spline connection or an interference fit so that the worm wheel 240 and the sun gear 211 can rotate synchronously. The worm 250 is connected to the output shaft of the actuator motor 100, so that the power of the actuator motor 100 is transmitted to the sun gear 211 after being decelerated by the worm wheel and worm, which further reduces the output speed of the inner ring 214 and improves the output torque of the speed transmission chain 200, that is, increases the reduction ratio of the speed transmission chain 200, which can further meet the use requirements of large thrust output.

[0101] It is understandable that in other embodiments of the present invention, the planetary reduction mechanism may be omitted, and the input of the actuating torque may be received by connecting the input component to the worm gear.

[0102] For ease of understanding, the working process of the actuation system in this embodiment is described below:

[0103] In normal operation, the brake torsion spring 720 applies circumferential braking to the brake seat 220, locking the internal gear ring 214 and preventing it from rotating. The actuator motor 100, via the planetary retainer 213, input component 510, and output component 520 in the planetary reduction mechanism 210, can drive the lead screw 300 to rotate in the first direction, thereby moving the load to a desired position. Under the action of load torque, the friction between the brake block 630 and the brake ring 610 limits excessive rotation of the lead screw 300 in the second direction, thereby preventing significant displacement of the load after the actuator motor 100 stops operating.

[0104] When the screw rod 300 is quickly released, the brake torsion spring 720 can be switched to the released state by operating the release lever 712 to release the circumferential brake on the brake seat 220. At this time, the inner ring 214 can rotate freely, and then the screw rod 300 is driven to rotate in the second direction. Although the rotation of the screw rod 300 will drive the brake block 630 to contact the brake ring 610 to implement friction braking, the cooperation between the brake ring 610 and the brake seat 220 can also achieve free rotation. Therefore, the self-locking between the brake block 630 and the brake ring 610 can be invalidated, thereby allowing the screw rod 300 to rotate quickly in the second direction, realizing the quick release function, and no need to drive the actuating motor 100.

[0105] Secondly, if Figure 3 、 Figure 5 and Figure 9 As shown, in this embodiment, a driving coupling 530 is provided on the output component 520, and a driven coupling 540 is provided on the screw rod 300. When the driving coupling 530 and the driven coupling 540 are connected, they remain relatively fixed in the circumferential direction and can move relative to each other axially, that is, the driving coupling 530 and the driven coupling 540 are both ratchets or the two are splined to allow the screw rod 300 to cut off the connection between the driving coupling 530 and the driven coupling 540 when subjected to axial load tension. Since the screw rod 300 in this embodiment can freely pass through the self-locking device and the planetary reduction mechanism 210, that is, the screw rod 300 can move axially relative to the planetary reduction mechanism 210, the input component 510 and the output component 520. An elastic component 330 is set at the tail of the screw rod 300, and the elastic component 330 is a spring. A first bearing 310 is also provided between the tail of the screw rod 300 and the sun gear 211. The lower end of the screw rod 300 is provided with a limit plate 320 fixed by a screw. The lower end of the elastic component 330 is connected to the limit plate 320, and the upper end of the elastic component 330 is connected to the first bearing 310. The elastic component 330 applies an elastic force toward its tail to the screw rod 300 to maintain the connection trend of the active coupling 530 and the driven coupling 540.

[0106] Taking the example of an actuation system used to drive the lifting and lowering of a load on an inner tube 410, when the actuation motor 100 drives the inner tube 410 in the telescopic assembly 400 and it is pinched by an object or a person during retraction, the inner tube 410 cannot retract under the drive of the nut 430, so the screw rod 300 is pulled upward. At this time, the driven coupling 540 on the screw rod 300 can be disengaged from the driving coupling 530, thereby cutting off the transmission of the actuating torque. The screw rod 300 stops rotating, the nut 430 stops moving, and the inner tube 410 stops retracting, achieving an anti-pinch effect. When the screw rod 300 is pulled upward, the elastic component 330 is compressed. Therefore, when the pinched object or person is removed, the elastic component 330 has a restoring force after being compressed, which can drive the screw rod 300 to be pulled back, thereby reconnecting the driving coupling 530 and the driven coupling 540 on the screw rod 300, and the actuation system resumes normal operation.

[0107] Finally, if Figure 5 As shown, since the screw rod 300 in this embodiment freely passes through the self-locking device and the planetary reduction mechanism 210, a support seat 800 is mounted on the screw rod 300. The support seat 800 is used to withstand the axial load transmitted by the screw rod 300. The axial load will apply axial force toward the tail end of the screw rod. The brake seat 220 is provided with a support step 221 higher than the top surface of the brake block 630. The limit block 900 is supported on the support step 221 and has a gap with the top surface of the brake block 630. The top of the brake seat 220 is also provided with a limit step. The second bearing 340 is located on the limit step and supported on the top of the limit block 900. The support seat 800 is supported on the second bearing 340. The second bearing 340 is a thrust bearing that can withstand axial force. In addition, there is also a thrust bearing between the outer side of the inner gear ring 214 and the first housing 230. The radial bearing 360 and the third bearing 350, the radial bearing 360 supports the inner ring gear 214 and centers it, and the inner side of the first shell 230 is also provided with a load-bearing step 2302, the load-bearing step 2302 is used to support the third bearing 350, the third bearing 350 is a thrust bearing, which is used to axially support the radial bearing 360 and can withstand axial force. When the load applies an axial force to the screw rod 300 in the direction of the tail of the screw rod 300, the axial force will be applied to the support seat 800 and transmit the axial load to the brake seat 220, the inner ring gear 214, and the third bearing 350. Finally, the load-bearing step 2302 bears the axial load thrust guided by the brake seat 220 and the inner ring gear 214, thereby preventing the planetary retainer 213, the planetary gear 212 and the sun gear 211 from being subjected to the axial load thrust of the screw rod 300. In the prior art, a bearing is provided at the tail of the screw to bear the axial load thrust of the screw. Such a design makes the screw longer, which increases its processing difficulty and deteriorates its concentricity during operation. However, the present technical solution can eliminate the bearing at the tail by changing the transmission path of the axial load thrust, thereby shortening the length of the screw, thereby improving the convenience of screw processing and the coaxiality during operation.

[0108] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Those skilled in the art will understand that the present invention includes, but is not limited to, the contents described in the accompanying drawings and the above specific embodiments. Any modifications that do not deviate from the functional and structural principles of the present invention are intended to be included within the scope of the claims.

Claims

1. A self-locking device of an actuating system, used to brake the rotating parts of the actuating system, characterized in that: The self-locking device comprises: A coupling transmission unit comprising an input component for receiving an actuating torque and an output component transmission-connected to a rotating component, wherein the output component is provided with a self-locking angle for synchronous rotation; and A friction brake unit comprises a brake ring and a retaining ring with a brake block mounted thereon, the retaining ring surrounding the outside of the coupling transmission unit, the brake ring relatively fixedly surrounding the outside of the retaining ring, the brake block rotating synchronously with the retaining ring in the circumferential direction, and at least one of the brake block and the self-locking angle having a gradual surface gradually away from the axis of the rotating component in a first direction; when the input component is applied with an actuating torque in a first direction, the retaining ring and the output component are driven to rotate synchronously; When a load torque in a second direction is applied to the output component, the self-locking angle is driven to rotate relative to the retaining ring in the second direction, and the brake block is squeezed by the self-locking angle and moves radially outward to frictionally engage with the brake ring to implement friction braking; When the input component is applied with an actuating torque in a second direction, the retaining ring is driven to rotate in the second direction relative to the self-locking angle, thereby releasing the friction braking state in advance; The first direction is opposite to the second direction.

2. The self-locking device of the actuation system according to claim 1, characterized in that: The input component has a plurality of input key teeth arranged at circumferential intervals, the output component has a plurality of output key teeth arranged at circumferential intervals, and the retaining ring has a plurality of retaining key teeth arranged at circumferential intervals. The input key teeth, retaining key teeth and output key teeth are alternately meshed in sequence.

3. The self-locking device of the actuation system according to claim 2, characterized in that: When the input component is applied with an actuating torque in a first direction, a first gap is formed between the input key teeth and the retaining key teeth; When a load torque in a second direction is applied to the output component, the first gap is eliminated and a second gap is formed between the output key teeth and the retaining key teeth; When an actuating torque in a second direction is applied to the input component, the second gap is eliminated and a third gap is formed between the output spline teeth and the input spline teeth.

4. The self-locking device of the actuation system according to claim 2, characterized in that: An input keyway with a bottom surface is formed between adjacent input key teeth. The retaining key tooth is located in the input keyway and is axially limited by the bottom surface and the output component.

5. The self-locking device of the actuation system according to claim 1, characterized in that: The retaining ring overlaps with a projection portion of the input member in an axial direction, and the retaining ring overlaps with a projection portion of the output member in an axial direction, wherein the axial direction is parallel to the axial center direction of the rotating member.

6. The self-locking device of the actuation system according to claim 1, characterized in that: The portion of the output component surrounded by the retaining ring has a circumferential surface, the self-locking angle radially protrudes from the circumferential surface and is provided with a first gradient surface facing the brake block, the brake block has a second gradient surface facing the first gradient surface, and the first gradient surface and the second gradient surface both gradually move away from the axis of the rotating component along the first direction.

7. The self-locking device of the actuation system according to claim 6, characterized in that: The central angle of the first gradual surface relative to the axis of the rotating component is smaller than the central angle of the second gradual surface relative to the axis of the rotating component. During the relative rotation of the output component and the retaining ring, the first gradual surface is always located within the circumferential range of the second gradual surface.

8. The self-locking device of the actuation system according to claim 7, characterized in that: The circumferential ends of the self-locking angle form a first limit surface and a second limit surface respectively, and the inner ring surface of the retaining ring is circumferentially spaced apart to form a first limit angle and a second limit angle. The first limit angle is located in the radial direction of one end of the brake block and forms a circumferential interference with the first limit surface, and the second limit angle is located in the radial direction of the other end of the brake block and forms a circumferential interference with the second limit surface.

9. The self-locking device of the actuation system according to claim 6, characterized in that: The first gradual surface extends in a spiral or straight manner from one end close to the axis of the rotating component to one end away from the axis of the rotating component; the second gradual surface extends in a spiral or straight manner from one end close to the axis of the rotating component to one end away from the axis of the rotating component.

10. The self-locking device of the actuation system according to claim 1, characterized in that: The self-locking angle and the output component form an integral structure.

11. The self-locking device of the actuation system according to claim 1, characterized in that: The retaining ring is provided with a guide hole adapted for the brake block, the guide hole passes through the inner ring surface of the retaining ring to the outer ring surface, the brake block is embedded in the guide hole, the brake block and the retaining ring maintain circumferential synchronous rotation and can move radially relative to each other.

12. The self-locking device of the actuation system according to claim 1, wherein: The brake block and the retaining ring form an integral structure, and the brake block can be elastically deformed when squeezed by the gradient surface.

13. An actuation system comprising an actuation motor, a lead screw and a variable speed transmission chain connecting the two, characterized in that: The self-locking device according to any one of claims 1 to 12 constitutes a part of the speed-changing transmission chain.

14. The actuation system according to claim 13, wherein: The speed transmission chain also includes a planetary reduction mechanism, which includes a sun gear, an inner ring gear and a planetary retainer loaded with planetary gears, the planetary gears are engaged between the sun gear and the inner ring gear, the planetary retainer is coaxially connected to the input component of the self-locking device, the output component of the self-locking device is connected to the screw, and the screw forms the rotating component.

15. The actuation system according to claim 14, wherein: The output component is provided with a driving coupling, and the screw rod is provided with a driven coupling. When the driving coupling and the driven coupling are connected, they remain relatively fixed in the circumferential direction and can move relative to each other in the axial direction, allowing the screw rod to cut off the connection between the driving coupling and the driven coupling when subjected to axial load tension. The screw rod freely passes through the self-locking device and the planetary reduction mechanism and is provided with an elastic component at the tail, which is used to maintain the connection trend of the driving coupling and the driven coupling.

16. The actuation system according to claim 14, wherein: The actuating system also includes a brake seat and a releasable brake torsion spring mounted on the brake seat. The brake seat is non-rotatably connected to the inner gear ring. The brake torsion spring normally holds the brake seat and locks the inner gear ring to prevent rotation. The brake seat constitutes the brake ring or the brake ring is non-rotatably connected to the brake seat.

17. The actuation system according to claim 16, wherein: The screw rod freely passes through the self-locking device and the planetary reduction mechanism. A support seat is mounted on the screw rod. The support seat axially abuts the brake seat to transmit the axial load of the screw rod. The first housing has a load-bearing step to withstand the axial load thrust guided by the brake seat and the inner ring gear, thereby preventing the planetary retainer, planetary gear and sun gear from being subjected to the axial load thrust of the screw rod.

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