Linear actuator

Abstract

The utility model provides a linear actuator. The linear actuator comprises a connecting rod (1), a first stator iron core (2), a first coil winding (3), a first fusiform ring groove column lead screw pair assembly and a first sleeve (8). The first stator iron core (2) sleeves one end of the connecting rod (1), the connecting rod (1) is fixedly connected with the first stator iron core (2), and the other end of the connecting rod (1) is fixed on the inner side of the first sleeve (8); the first coil winding (3) is wound on the first stator iron core (2); the first fusiform ring groove column lead screw pair assembly sleeves the outer side of the first stator iron core (2) and is rotationally connected with the connecting rod (1) through a bearing; and the first fusiform ring groove column lead screw pair assembly can rotate relative to the first stator iron core (2). The axial size of the linear actuator is greatly reduced; and the linear actuator can move more stably, and the bearing capacity is higher.

Description

Technical Field

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

[0002] Currently, linear actuators are electric drive devices that convert the rotational motion of a motor into linear reciprocating motion. They can be used as actuators in a variety of simple or complex processes. However, their large axial dimensions make them less compact and require more space, hindering their application in small spaces. Utility Model Content

[0003] To solve the above problems, an embodiment of the present application aims to provide a linear actuator.

[0004] In a first aspect, an embodiment of the present application provides a linear actuator, comprising: a connecting rod, a first stator core, a first coil winding, a first shuttle-shaped annular groove column lead screw subassembly, and a first sleeve;

[0005] The sub-core is sleeved on one end of the connecting rod and the connecting rod is fixedly connected to the first stator core, and the other end of the connecting rod is fixed on the inner side of the first sleeve;

[0006] The first coil winding is wound on the first stator core;

[0007] The first shuttle-shaped annular groove column screw subassembly is sleeved on the outside of the first stator core and is rotatably connected to the connecting rod via a bearing; the first shuttle-shaped annular groove column screw subassembly can rotate relative to the first stator core.

[0008] In a second aspect, an embodiment of the present application further provides a linear actuator comprising: an actuator housing, a second stator core, a second coil winding, and a second shuttle-shaped annular groove column lead screw subassembly;

[0009] The second stator core is fixedly arranged on the inner wall of the actuator housing, and the second coil winding is wound on the second stator core;

[0010] The second shuttle-shaped annular groove column screw subassembly passes through both sides of the actuator housing and is rotatably connected to the actuator housing through a bearing. The second shuttle-shaped annular groove column screw subassembly and the second stator core can generate relative rotation.

[0011] In the scheme provided by the first aspect of the embodiment of the present application, in the linear actuator, the first shuttle-shaped ring groove column screw pair assembly is used as a linear transmission component, the connecting rod, the first stator core and the first coil winding of the servo motor are integrated in the inner ring of the first shuttle-shaped ring groove column screw pair assembly, compared with the related art that the motor is arranged at the end of the ball screw pair of the linear motor cylinder, the axial size of the linear actuator is greatly saved by integrating the connecting rod, the first stator core and the first coil winding of the servo motor in the inner ring of the first shuttle-shaped ring groove column screw pair assembly; meanwhile, the use of the first shuttle-shaped ring groove column screw pair assembly can make the linear actuator move more smoothly and have higher carrying capacity.

[0012] In the scheme provided by the second aspect of the embodiment of the present application, in the linear actuator, the second shuttle-shaped ring groove column screw pair assembly is used as a linear transmission component, the second stator core and the second coil winding of the servo motor are integrated in the outer ring of the second shuttle-shaped ring groove column screw pair assembly, compared with the related art that the motor is arranged at the end of the ball screw pair of the linear motor cylinder, the axial size of the linear actuator is greatly saved by integrating the second stator core and the second coil winding of the servo motor in the outer ring of the second shuttle-shaped ring groove column screw pair assembly; meanwhile, the use of the second shuttle-shaped ring groove column screw pair assembly can make the linear actuator move more smoothly and have higher carrying capacity.

[0013] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0015] Figure 1 The structure schematic diagram of the first linear actuator provided by the embodiment 1 of the present application is shown;

[0016] Figure 2 The structure schematic diagram of the first nut in the first linear actuator provided by the embodiment 1 of the present application is shown;

[0017] Figure 3 The structure schematic diagram of the second linear actuator provided by the embodiment 2 of the present application is shown;

[0018] Figure 4 A schematic structural diagram of the second nut in the second linear actuator provided in Example 2 of the present application is shown. DETAILED DESCRIPTION

[0019] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships 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 element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on this application.

[0020] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0021] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they can refer to fixed connection, detachable connection, or integral connection; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0022] Currently, linear actuators are electric drive devices that convert the rotational motion of a motor into linear reciprocating motion. They can be used as actuators in a variety of simple or complex processes. However, their large axial dimensions make them less compact and require more space, hindering their application in small spaces.

[0023] Based on this, the following embodiments of the present application provide a linear actuator, which utilizes a first shuttle ring groove column screw subassembly or a second shuttle ring groove column screw subassembly as a linear transmission component, and integrates components such as the stator core and coil winding of the servo motor into the outer ring of the second shuttle ring groove column screw subassembly or the inner ring of the first shuttle ring groove column screw subassembly. Compared with the method in the related art of placing the motor at the end of the ball screw subassembly of the linear electric cylinder, which results in the linear actuator having a larger axial size, being less compact and occupying a large space, the axial size of the linear actuator is greatly saved by integrating components such as the stator core and coil winding of the servo motor into the outer ring of the second shuttle ring groove column screw subassembly or the inner ring of the first shuttle ring groove column screw subassembly. At the same time, the use of the first shuttle ring groove column screw subassembly or the second shuttle ring groove column screw subassembly can make the linear actuator move more smoothly and have a higher load-bearing capacity.

[0024] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and embodiments.

[0025] Example 1

[0026] See also Figure 1 The structural schematic diagram of the first linear actuator shown in the figure, this embodiment proposes a linear actuator, including: a connecting rod 1, a first stator core 2, a first coil winding 3, a first shuttle ring groove column screw subassembly and a first sleeve 8; the sub-core 2 is sleeved on one end of the connecting rod 1 and the connecting rod 1 is fixedly connected to the first stator core 2, and the other end of the connecting rod 1 is fixed on the inner side of the first sleeve 8; the first coil winding 3 is wound on the first stator core 2; the first shuttle ring groove column screw subassembly is sleeved on the outside of the first stator core 2 and is rotatably connected to the connecting rod 1 through a bearing; the first shuttle ring groove column screw subassembly can rotate relative to the first stator core 2.

[0027] Specifically, the first shuttle-shaped annular groove column screw subassembly includes: a first nut 4 , a first shuttle-shaped annular groove column 5 , a first planet carrier 6 and a second sleeve 7 .

[0028] The first nut 4 is sleeved on the outer side of the first stator core 2 . The first nut 4 is rotationally connected to the connecting rod 1 . The first nut 4 can rotate relative to the first stator core 2 .

[0029] In one embodiment, the first nut 4 and the connecting rod 1 are rotatably connected via a bearing.

[0030] The first planet carrier 6 is sleeved on the outside of the first nut 4, and the first nut 4 is located in the first planet carrier 6. The second sleeve 7 is sleeved on the outside of the first planet carrier 6. The sealing end of the second sleeve 7 is arranged reversely to the sealing end of the first sleeve 8. The outside wall of the second sleeve 7 is in contact with the inside wall of the first sleeve 8. The open end of the second sleeve 7 can reciprocate in the extension direction of the connecting rod 1 inside the first sleeve 8.

[0031] The other end of the connecting rod 1 is fixed to the inside of the sealing end of the first sleeve 8.

[0032] The two ends of the first shuttle-shaped ring groove column 5 are respectively rotationally connected with the two ends of the first planet carrier 6. The first shuttle-shaped ring groove column 5 is arranged on the circumferential surface of the first nut 4.

[0033] Here, the axes of the connecting rod 1, the first stator core 2, the first nut 4, the first planet carrier 6, the second sleeve 7 and the first sleeve 8 coincide.

[0034] Specifically, the middle part of the outer wall of the first shuttle-shaped ring groove column 5 is provided with a first ring groove area 501. The two sides of the first ring groove area 501 are respectively provided with a second ring groove area 502 which is integrally formed with the first ring groove area 501. The side of the second ring groove area 502 away from the first ring groove area 501 is provided with a first extension part which is rotationally connected with the first planet carrier 6. The outer diameter of the first ring groove area 501 is greater than the outer diameter of the second ring groove area 502.

[0035] The inside wall of the second sleeve 7 is provided with a second sleeve threaded area 701.

[0036] Referring to Figure 2 The first nut 4 includes a first rotor magnetic ring 401 and a first ring groove transmission part 402. The first ring groove transmission part 402 is fixed on the two sides of the first rotor magnetic ring 401 respectively. The outer diameter of the first rotor magnetic ring 401 is smaller than the outer diameter of the first ring groove transmission part 402.

[0037] The first ring groove area 501 is opposite to the first rotor magnetic ring 401 and does not contact the surface of the first rotor magnetic ring 401. The first ring groove area 501 is threadedly connected with the second sleeve threaded area 701.

[0038] Each second ring groove area 502 is engaged with the first ring groove transmission part 402 on the same side, and the surface of the second ring groove area 502 does not contact the second sleeve threaded area 701.

[0039] The linear actuator provided in the embodiment further includes a first position sensor 9.

[0040] In one embodiment, the first position sensor 9 is a sensor based on the Hall effect.

[0041] Specifically, the first position sensor 9 includes: a first magnetic grid 901 , a first chip 902 and a first circuit board 903 .

[0042] Here, the first magnetic grid 901 is a ring structure.

[0043] The first magnetic grid 901 is embedded in the end face of the first ring groove transmission part 402 facing the first sleeve 8, and the first circuit board 903 is fixed on the connecting rod 1. After fixation, the end face of the first circuit board 903 is parallel to the end face of the first ring groove transmission part 402. The first chip 902 is welded on the end face of the first circuit board 903 facing the first magnetic grid 901, and the welding position of the first chip 902 corresponds to the embedded position of the first magnetic grid 901.

[0044] Furthermore, the linear actuator proposed in this embodiment further includes: a third position sensor 11 .

[0045] The third position sensor 11 is disposed between the first planet carrier 6 and the connecting rod 1 .

[0046] The third position sensor 11 includes a third magnetic grid 1101 , a third chip 1102 and a third circuit board 1103 .

[0047] The third magnetic grid 1101 is embedded in the end face of the first planetary carrier 6 facing the first sleeve 8, the third circuit board 1103 is located between the first circuit board 903 and the sealed end of the first sleeve 8, the third circuit board 1103 is fixedly set on the connecting rod 1, and the end face of the third circuit board 1103 after fixation is parallel to the end face of the first planetary carrier 6. The third chip 1102 is welded on the end face of the third circuit board 1103 facing the third magnetic grid 1101, and the welding position of the third chip 1102 corresponds to the embedded position of the third magnetic grid 1101.

[0048] The first position sensor 9 is used to control the rotation of the motor rotor, and the third position sensor 11 is used to detect the angle of revolution of the first shuttle-shaped annular groove column 5 around the connecting rod 1. Since there is no relative rotation between the second sleeve 7 and the connecting rod 1, that is, the third position sensor 11 is used to detect the angle of revolution of the first shuttle-shaped annular groove column 5 around the second sleeve 7, and the revolution of the first shuttle-shaped annular groove column 5 directly drives the second sleeve 7 to move in the lead direction, the third position sensor 11 can be used to calculate the relative displacement of the second sleeve 7 relative to the first shuttle-shaped annular groove column 5. At the same time, since the occlusal surface of the first shuttle-shaped annular groove column 5 and the first nut 4 is a concentric ring structure, the first shuttle-shaped annular groove column 5 and the first nut 4 will not undergo axial relative displacement. Therefore, the third position sensor 11 can be used to calculate the relative displacement between the second sleeve 7 and the connecting rod 1. Since the connecting rod 1 and the first sleeve 8 are fixedly connected, the third position sensor 11 can be used to calculate the relative displacement between the second sleeve 7 and the first sleeve 8.

[0049] Of course, the relative displacement between the first sleeve 8 and the second sleeve 7 can also be deduced using the first position sensor 9, but the first nut 4 and the first shuttle-shaped annular groove column 5 may slip, so there will be errors in measuring the relative displacement between the first sleeve 8 and the second sleeve 7 using the first position sensor 9. Furthermore, the first position sensor 9 can be used in conjunction with the third position sensor 11 to determine whether there is slippage between the first nut 4 and the first shuttle-shaped annular groove column 5 based on the measured data, thereby adjusting the motor control parameters such as reducing the acceleration value to reduce slippage.

[0050] In one embodiment, the third position sensor 11 may be a sensor based on the Hall effect, or may be a grating sensor or a capacitive sensor.

[0051] Furthermore, the linear actuator proposed in this embodiment further includes: a first dust seal 10;

[0052] An annular groove 801 is formed on the inner side wall of the first sleeve 8 , and the first dust ring 10 is clamped in the annular groove 801 . The first dust ring 10 clamped in the annular groove 801 contacts the outer side wall of the second sleeve 7 .

[0053] In summary, this embodiment proposes a linear actuator, in which the first shuttle ring groove column screw subassembly is used as a linear transmission component, and the connecting rod, the first stator core and the first coil winding forming the servo motor are integrated into the inner ring of the first shuttle ring groove column screw subassembly. Compared with the method in the related art in which the motor is placed at the end of the ball screw subassembly of the linear electric cylinder, resulting in a larger axial size of the linear actuator, less compactness and a large space occupation, the axial size of the linear actuator is greatly saved by integrating the connecting rod, the first stator core and the first coil winding forming the servo motor into the inner ring of the first shuttle ring groove column screw subassembly; at the same time, the use of the first shuttle ring groove column screw subassembly can make the linear actuator move more smoothly and have a higher load-bearing capacity.

[0054] Example 2

[0055] See also Figure 3 As shown in the structural diagram of the second linear actuator, this embodiment provides a linear actuator including: an actuator housing h, a second stator core e, a second coil winding f, and a second shuttle-shaped annular groove column screw subassembly.

[0056] The second stator core e is fixedly disposed on the inner wall of the actuator housing h, and the second coil winding f is wound on the second stator core e.

[0057] The second shuttle-shaped annular groove column screw subassembly passes through both sides of the actuator housing h and is rotatably connected to the actuator housing h through bearings. The second shuttle-shaped annular groove column screw subassembly and the second stator core e can generate relative rotation.

[0058] The second shuttle-shaped annular groove column screw subassembly includes: a screw rod a, a second shuttle-shaped annular groove column b, a second nut c and a second planetary carrier d.

[0059] The two ends of the screw rod a respectively pass through the two sides of the actuator housing h; the second planet carrier d is sleeved on the screw rod a.

[0060] The second nut c is arranged between the second stator core e and the second shuttle-shaped annular groove column b and is sleeved on the second planetary carrier d. The second nut c is rotatably connected to the inner wall of the actuator housing h through a bearing, so that the second nut c can generate relative rotation with the second stator core e.

[0061] At least two of the second shuttle-shaped annular groove columns b are arranged on the circumferential inner surface of the second nut c, and two ends of each of the at least two second shuttle-shaped annular groove columns b are rotatably connected to two ends of the second planet carrier d respectively.

[0062] The second shuttle-shaped annular groove column b includes: a third annular groove area b01, and a fourth annular groove area b02 arranged on both sides of the third annular groove area b01; the fourth annular groove area b02 is integrally formed with the third annular groove area b01; the fourth annular groove area b02 is provided with a second extension portion on the side away from the third annular groove area b01, and the second extension portion is rotatably connected to the second planetary carrier d; wherein the outer diameter of the third annular groove area b01 is greater than the outer diameter of the fourth annular groove area b02.

[0063] The outer side wall of the screw a is provided with a screw thread area a01.

[0064] See also Figure 4 The structural schematic diagram of the second nut in the second linear actuator shown in the figure, the second nut c, includes: a second rotor magnetic ring c01 and a second ring groove transmission part c02 arranged on both sides of the second rotor magnetic ring c01; wherein, the inner diameter of the second rotor magnetic ring c01 is larger than the inner diameter of the second ring groove transmission part c02.

[0065] The third annular groove area b01 is arranged opposite to the inner circumferential wall of the second rotor magnetic ring c01 and does not contact the second rotor magnetic ring c01. The third annular groove area b01 is threadedly connected to the screw thread area a01.

[0066] Each of the fourth annular groove areas b02 is engaged with the second annular groove transmission portion c02 on the same side and does not contact the surface of the screw thread area a01.

[0067] The linear actuator proposed in this embodiment further includes: a second position sensor g arranged between the second nut c and the actuator housing h.

[0068] In one embodiment, the second position sensor g is a sensor based on the Hall effect.

[0069] The second position sensor g includes: a second magnetic grid g01, a second chip g02 and a second circuit board g03.

[0070] The second magnetic grating g01 is embedded in the end surface of the second annular groove transmission portion c02 facing the actuator housing h.

[0071] In one embodiment, the second magnetic grid g01 is a ring structure.

[0072] The second circuit board g03 is fixed on the actuator housing h.

[0073] The end surface of the second circuit board g03 is parallel to the end surface of the second ring groove transmission part c02.

[0074] The second chip g02 is soldered on the end surface of the second circuit board g03 facing the second magnetic grid g01 , and the soldering position of the second chip g02 corresponds to the embedded position of the second magnetic grid g01 .

[0075] Furthermore, the linear actuator proposed in this embodiment further includes: a fourth position sensor j.

[0076] The fourth position sensor j includes: a fourth magnetic grid j01, a fourth chip j02 and a fourth circuit board j03.

[0077] The fourth magnetic grid j01 is embedded in the end face of the second planetary carrier d facing the actuator housing h. The fourth circuit board j03 is located between the second circuit board g03 and the sealed end of the actuator housing h. The fourth circuit board j03 is fixed on the inner wall of the actuator housing h. The end face of the fourth circuit board j03 after fixation is parallel to the end face of the second planetary carrier d. The fourth chip j02 is welded on the end face of the fourth circuit board j03 facing the fourth magnetic grid j01. The welding position of the fourth chip j02 corresponds to the embedded position of the fourth magnetic grid j01.

[0078] Here, the second position sensor g is used to control the rotation of the motor rotor, and the fourth position sensor j is used to detect the angle of revolution of the second shuttle-shaped annular groove column b around the screw a. Since the revolution of the second shuttle-shaped annular groove column b directly drives the screw a in the lead direction, the fourth rotary encoder j can be used to calculate the relative displacement of the screw a relative to the second shuttle-shaped annular groove column b. At the same time, since the occlusal surfaces of the second shuttle-shaped annular groove column b and the second nut c are concentric ring structures, the second shuttle-shaped annular groove column b and the second nut c do not experience axial relative displacement. Therefore, the fourth position sensor j can be used to calculate the relative displacement between the screw a and the second nut c. Furthermore, since there is no axial displacement between the second nut c and the actuator housing h, the fourth position sensor j can be used to calculate the relative displacement between the screw a and the actuator housing h.

[0079] As in the first embodiment, the relative displacement between the screw a and the housing h can also be derived using the second position sensor g, but the obtained relative displacement will have errors. Furthermore, the second position sensor g can be used in conjunction with the fourth position sensor j to determine whether there is slippage between the second nut c and the second shuttle-shaped annular groove column b based on the measured data.

[0080] The linear actuator proposed in this embodiment is characterized by further comprising: a second dust ring i.

[0081] The second dust seals i are arranged at positions on both sides of the actuator housing h where the screw a penetrates.

[0082] After being installed, the second dust seal i is fixedly connected to the actuator housing h and contacts the screw a.

[0083] In summary, this embodiment proposes a linear actuator, in which a second shuttle ring groove column screw subassembly is used as a linear transmission component, and the second stator core and the second coil winding forming the servo motor are integrated into the outer ring of the second shuttle ring groove column screw subassembly. Compared with the method in the related art in which the motor is placed at the end of the ball screw subassembly of the linear electric cylinder, resulting in a larger axial size of the linear actuator, less compactness and a large space occupation, the axial size of the linear actuator is greatly saved by integrating the second stator core and the second coil winding forming the servo motor into the outer ring of the second shuttle ring groove column screw subassembly; at the same time, the use of the second shuttle ring groove column screw subassembly can make the linear actuator move more smoothly and have a higher load-bearing capacity.

[0084] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A linear actuator, characterized in that: include: Connecting rod (1), first stator core (2), first coil winding (3), first shuttle-shaped annular groove column screw subassembly and first sleeve (8); The first stator core (2) is sleeved on one end of the connecting rod (1), and the connecting rod (1) is fixedly connected to the first stator core (2), and the other end of the connecting rod (1) is fixed on the inner side of the first sleeve (8); The first coil winding (3) is wound on the first stator core (2); The first shuttle-shaped annular groove column screw subassembly is sleeved on the outside of the first stator core (2) and is rotatably connected to the connecting rod (1) via a bearing; the first shuttle-shaped annular groove column screw subassembly can rotate relative to the first stator core (2).

2. The linear actuator according to claim 1, characterized in that The first shuttle-shaped annular groove column screw subassembly comprises: a first nut (4), a first shuttle-shaped annular groove column (5), a first planet carrier (6) and a second sleeve (7); The first nut (4) is sleeved on the outside of the first stator core (2), the first nut (4) is rotatably connected to the connecting rod (1), and the first nut (4) can rotate relative to the first stator core (2); The first planet carrier (6) is sleeved on the outside of the first nut (4), and the first nut (4) is located inside the first planet carrier (6); the second sleeve (7) is sleeved on the outside of the first planet carrier (6); the sealing end of the second sleeve (7) is arranged opposite to the sealing end of the first sleeve (8); the outer wall of the second sleeve (7) is in contact with the inner wall of the first sleeve (8); the open end of the second sleeve (7) can reciprocate inside the first sleeve (8) along the extension direction of the connecting rod (1); The other end of the connecting rod (1) is fixed to the inner side of the sealing end of the first sleeve (8); The two ends of the first shuttle-shaped annular groove column (5) are rotatably connected to the two ends of the first planetary carrier (6) respectively, and the first shuttle-shaped annular groove column (5) is arranged on the circumferential surface of the first nut (4).

3. The linear actuator according to claim 2, characterized in that A first annular groove area (501) is provided in the middle of the outer wall of the first shuttle-shaped annular groove column (5), and second annular groove areas (502) integrally formed with the first annular groove area (501) are provided on both sides of the first annular groove area (501), and a first extension portion is provided on a side of the second annular groove area (502) away from the first annular groove area (501), and the first extension portion is rotatably connected to the first planet carrier (6); wherein the outer diameter of the first annular groove area (501) is greater than the outer diameter of the second annular groove area (502); The inner side wall of the second sleeve (7) is provided with a second sleeve threaded area (701); The first nut (4) comprises: a first rotor magnetic ring (401) and a first ring groove transmission part (402); the first ring groove transmission part (402) is respectively fixed on both sides of the first rotor magnetic ring (401); wherein the outer diameter of the first rotor magnetic ring (401) is smaller than the outer diameter of the first ring groove transmission part (402); The first annular groove area (501) is opposite to the first rotor magnetic ring (401) and does not contact the surface of the first rotor magnetic ring (401), and the first annular groove area (501) is threadedly connected to the second sleeve thread area (701); Each of the second annular groove areas (502) is engaged with the first annular groove transmission portion (402) on the same side, and the second annular groove area (502) is not in contact with the surface of the second sleeve threaded area (701).

4. The linear actuator according to claim 3, characterized in that Also includes: a first position sensor (9); The first position sensor (9) comprises: a first magnetic grid (901), a first chip (902) and a first circuit board (903); The first magnetic grid (901) is embedded in the end face of the first ring groove transmission part (402) facing the first sleeve (8); the first circuit board (903) is fixed on the connecting rod (1); the end face of the first circuit board (903) after being fixed is parallel to the end face of the first ring groove transmission part (402); the first chip (902) is welded on the end face of the first circuit board (903) facing the first magnetic grid (901); the welding position of the first chip (902) corresponds to the embedding position of the first magnetic grid (901).

5. The linear actuator according to claim 3, characterized in that Also includes: A first dust seal (10); An annular groove (801) is provided on the inner side wall of the first sleeve (8), and the first dust ring (10) is clamped in the annular groove (801). The first dust ring (10) clamped in the annular groove (801) contacts the outer side wall of the second sleeve (7).

6. The linear actuator according to claim 4, characterized in that Also includes: a third position sensor (11); The third position sensor (11) is arranged between the first planet carrier (6) and the connecting rod (1); The third position sensor (11) comprises: a third magnetic grid (1101), a third chip (1102) and a third circuit board (1103); The third magnetic grid (1101) is embedded in the end face of the first planet carrier (6) facing the first sleeve (8); the third circuit board (1103) is located between the first circuit board (903) and the sealed end of the first sleeve (8); the third circuit board (1103) is fixedly arranged on the connecting rod (1); the end face of the third circuit board (1103) after being fixed is parallel to the end face of the first planet carrier (6); the third chip (1102) is welded on the end face of the third circuit board (1103) facing the third magnetic grid (1101); the welding position of the third chip (1102) corresponds to the embedded position of the third magnetic grid (1101).

7. A linear actuator, characterized in that: include: an actuator housing (h), a second stator core (e), a second coil winding (f), and a second shuttle-shaped ring-grooved column screw subassembly; The second stator core (e) is fixedly arranged on the inner wall of the actuator housing (h), and the second coil winding (f) is wound on the second stator core (e); The second shuttle-shaped ring groove column screw subassembly passes through both sides of the actuator housing (h) and is rotationally connected to the actuator housing (h) through a bearing, and relative rotation can be generated between the second shuttle-shaped ring groove column screw subassembly and the second stator core (e).

8. The linear actuator according to claim 7, characterized in that The second shuttle-shaped annular groove column screw subassembly comprises: a screw (a), a second shuttle-shaped annular groove column (b), a second nut (c) and a second planet carrier (d); The two ends of the screw (a) respectively pass through the two sides of the actuator housing (h); the second planet carrier (d) is sleeved on the screw (a); The second nut (c) is arranged between the second stator core (e) and the second shuttle-shaped annular groove column (b) and is sleeved on the second planet carrier (d). The second nut (c) is rotatably connected to the inner wall of the actuator housing (h) through a bearing, so that the second nut (c) can generate relative rotation with the second stator core (e); At least two of the second shuttle-shaped annular groove columns (b) are arranged on the circumferential inner surface of the second nut (c), and the two ends of each of the at least two second shuttle-shaped annular groove columns (b) are rotatably connected to the two ends of the second planetary carrier (d).

9. The linear actuator according to claim 8, characterized in that The second shuttle-shaped annular groove column (b) comprises: a third annular groove area (b01), and fourth annular groove areas (b02) arranged on both sides of the third annular groove area (b01); the fourth annular groove area (b02) and the third annular groove area (b01) are integrally formed; a second extension portion is provided on a side of the fourth annular groove area (b02) away from the third annular groove area (b01), and the second extension portion is rotatably connected to the second planet carrier (d); wherein the outer diameter of the third annular groove area (b01) is greater than the outer diameter of the fourth annular groove area (b02); The outer side wall of the screw (a) is provided with a screw thread area (a01); The second nut (c) comprises: a second rotor magnetic ring (c01) and second ring groove transmission parts (c02) arranged on both sides of the second rotor magnetic ring (c01); wherein the inner diameter of the second rotor magnetic ring (c01) is larger than the inner diameter of the second ring groove transmission part (c02); The third annular groove area (b01) is arranged opposite to the inner circumferential wall of the second rotor magnetic ring (c01) and does not contact the second rotor magnetic ring (c01), and the third annular groove area (b01) is threadedly connected to the screw thread area (a01); Each of the fourth annular groove areas (b02) is engaged with the second annular groove transmission portion (c02) on the same side and does not contact the surface of the screw thread area (a01).

10. The linear actuator according to claim 9, characterized in that Also includes: a second position sensor (g) disposed between the second nut (c) and the actuator housing (h); The second position sensor (g) comprises: a second magnetic grid (g01), a second chip (g02) and a second circuit board (g03); The second magnetic grid (g01) is embedded in the end surface of the second ring groove transmission part (c02) facing the actuator housing (h); The second circuit board (g03) is fixed on the actuator housing (h); The second chip (g02) is soldered on the end surface of the second circuit board (g03) facing the second magnetic grid (g01), and the soldering position of the second chip (g02) corresponds to the embedded position of the second magnetic grid (g01).

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