Single-shaft composite actuator

Abstract

The single-shaft combined type actuator comprises a spline lead screw, the spline lead screw is divided into a first section and a second section, the surface of the first section is provided with a linear inner spline parallel to the axis of the spline lead screw, and the surface of the second section is provided with a spiral inner spline surrounding the spline lead screw; a spline is further included, the spline is provided with an outer spline matched with the linear inner spline, the spline is rotationally arranged on the first section of the spline lead screw in a sleeving mode, and the spline is further connected with a first motor; the device further comprises a ball nut, the ball nut is provided with an outer spline matched with the spiral inner spline, the second section of the spline lead screw is rotationally sleeved with the ball nut, and the ball nut is further connected with a second motor. The linear internal spline and the spiral internal spline are arranged on the spline lead screw in two sections and are connected in a matched mode through the splines and the ball nut, and therefore rotary motion, linear motion and rotary linear motion can be achieved on the spline lead screw.

Description

Technical Field

[0001] This utility model relates to the field of integrated motion devices, and in particular to a single-axis composite actuator. Background Technology

[0002] A composite actuator is an actuator capable of realizing two or more basic motions (such as linear motion, rotary motion, oscillation, etc.). Such actuators typically combine multiple drive technologies, providing complex motion modes within a single device to meet a wider range of application needs. Common composite actuators include those capable of realizing rotary motion alone, linear motion alone, or both simultaneously. These composite actuators are frequently used in precision machine tools to achieve precise transmission of rotary and linear motion, and in robotic arms and robots to improve the operational accuracy and efficiency of robots through precise control of rotary and linear motion.

[0003] In the prior art, Chinese utility model patent with publication number CN209982257U discloses a composite actuator for linear and rotary motion. It uses a hollow motor and a ball spline to achieve rotary motion and a ball screw motor to achieve linear motion. A connecting block connects the ball spline and the ball screw. When achieving linear motion, the connecting block drives the ball spline to perform linear motion. Although this structure can achieve both linear and rotary motion, the rods driving the linear and rotary motions are independent and separate. The dual-axis design makes the composite actuator structurally redundant and occupies a large volume. Therefore, there is an urgent need to design a single-axis composite actuator to solve the above problems. Utility Model Content

[0004] To address the issue of redundant structure and large size in the dual-axis design of the aforementioned technologies, this invention provides a single-axis composite actuator, comprising a splined screw divided into a first segment and a second segment. The surface of the first segment is provided with a linear internal spline parallel to the axis of the splined screw, and the surface of the second segment is provided with a helical internal spline surrounding the splined screw. It also includes a spline with an external spline adapted to the linear internal spline and rotatably fitted onto the first segment of the splined screw, and the spline is connected to a first motor. Furthermore, it includes a ball nut with an external spline adapted to the helical internal spline and rotatably fitted onto the second segment of the splined screw, and the ball nut is connected to a second motor. Activation of the first motor causes the splined screw to perform linear reciprocating motion; activation of the second motor causes the splined screw to rotate and perform linear reciprocating motion; simultaneous activation of the first and second motors causes the splined screw to rotate in place.

[0005] As a further improvement of this utility model, both the first motor and the second motor are provided with hollow cavities for the spline screw to pass through. The output ends of the first motor and the second motor are arranged opposite to each other along the axial direction of the spline screw, and the first motor and the second motor share the same motor cover for enclosure.

[0006] As a further improvement of this utility model, the spline is fixed to the spline clamping block by fasteners, and the spline clamping block is connected to the output end of the first motor; the outer surface of the ball nut is provided with a threaded structure, and the nut connecting block is fixedly connected to it by the threaded structure, and the nut connecting block is connected to the output end of the second motor.

[0007] As a further improvement of this utility model, it also includes a spline cover, the inner wall of which is equipped with a first bearing, and the spline clamping block is sleeved through the first bearing; it also includes a nut cover, the inner wall of which is equipped with a second bearing, and the nut connecting block is sleeved through the second bearing; the spline cover and the nut cover are respectively located on both sides of the motor cover and are fixedly connected to the motor cover.

[0008] As a further improvement of this utility model, it also includes a sensor mounting block, which is provided with a through hole and passes through the spline screw to be fixed to the side of the spline cover away from the first motor. The sensor mounting block is equipped with at least one origin sensor.

[0009] As a further improvement of this utility model, the spline screw is configured as a hollow shaft, and both ends of the spline screw are respectively provided with a suction nozzle mounting block and an air pipe adapter, and the air pipe adapter is equipped with a rotating air pipe connector.

[0010] As a further improvement of this utility model, a nameplate is also installed on the surface of the spline cover.

[0011] The beneficial effects of this utility model are as follows: Compared with the prior art, the single-axis composite actuator provided by this utility model is to set a linear internal spline and a helical internal spline in two sections on the spline screw, and to connect them through the spline and ball nut. Then, the spline and ball nut are connected to the first motor and the second motor respectively, so as to realize the rotational motion, linear motion and rotational-linear motion on a single axis respectively. Attached Figure Description

[0012] Figure 1 This is an overall view of the present utility model.

[0013] Figure 2 This is an exploded view of the present invention.

[0014] Figure 3 This is a diagram of the internal structure of this utility model.

[0015] The symbols for the main components are explained below:

[0016] 1. Splined lead screw; 11. Linear internal spline; 12. Helical internal spline; 13. Spline;

[0017] 131. Spline clamping block; 132. Spline cover; 14. Ball nut; 141. Nut connecting block;

[0018] 142. Nut cover; 21. First motor; 22. Second motor; 23. Motor cover; 31. First bearing;

[0019] 32. Second bearing; 4. Sensor mounting block; 41. Origin sensor; 5. Nozzle mounting block;

[0020] 6. Tracheal adapter; 61. Rotary tracheal connector; 7. Nameplate. Detailed Implementation

[0021] To more clearly illustrate this utility model, the following description, in conjunction with the accompanying drawings, will provide a further picture.

[0022] In the following description, specific examples of general selection are given to provide a more in-depth understanding of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of them. It should be understood that the specific embodiments described are only used to explain the present invention and are not intended to limit the present invention.

[0023] It should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of a feature, whole, step, operation, element, or component, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, or combinations thereof.

[0024] Please see Figures 1 to 3This utility model discloses a single-axis composite actuator, including a splined screw 1, which is divided into a first segment and a second segment. The surface of the first segment is provided with a straight internal spline 11 parallel to the axis of the splined screw 1, and the surface of the second segment is provided with a helical internal spline 12 surrounding the splined screw 1. It also includes a spline 13, which is provided with an external spline adapted to the straight internal spline 11 and is rotatably sleeved on the first segment of the splined screw 1. The spline 13 is also connected to a first motor 21. It also includes a ball nut 14, which is provided with an external spline adapted to the helical internal spline 12 and is rotatably sleeved on the second segment of the splined screw 1. The ball nut 14 is also connected to a second motor 22. In this structure, the outer spline of spline 13 is connected to the inner spline 11 via balls, and the outer spline of ball nut 14 is also connected to the inner helical spline 12 via balls. When only the first motor 21 is started, spline 13 rotates, causing the balls of the outer spline in the spline to move along the inner helical spline 11, thereby driving the spline screw 1 to perform linear reciprocating motion. When only the second motor 22 is started, ball nut 14 rotates, causing the balls of the outer spline in ball nut 14 to move along the inner helical spline 12, thereby driving the spline screw 1 to rotate while also performing linear reciprocating motion. When the first motor 21 and the second motor 22 are started simultaneously, the rotation directions driven by the first motor 21 and the second motor 22 are opposite, thereby causing the spline screw 1 to rotate in place.

[0025] Please see Figure 2 Both the first motor 21 and the second motor 22 are provided with hollow cavities for the spline screw 1 to pass through. The output ends of the first motor 21 and the second motor 22 are arranged opposite to each other along the axial direction of the spline screw 1. The first motor 21 and the second motor 22 are enclosed by the same motor cover 23. The first motor 21 and the second motor 22 are provided with hollow cavities and are arranged side by side along the axial direction of the spline screw 1, so that the spline screw 1 passes through the first motor 21 and the second motor 22, which can minimize the volume as much as possible. At the same time, their output ends are opposite to each other, located at the two ends of the first motor 21 and the second motor 22 respectively. The first motor 21 and the second motor 22 are then connected together by the motor cover 23 to form a whole.

[0026] Please refer to the figure. Figure 3The spline 13 is fixed to the spline clamp 131 by fasteners, and the spline clamp 131 is connected to the output end of the first motor 21. The outer surface of the ball nut 14 is provided with a threaded structure, and the nut connecting block 141 is fixedly connected to it through the threaded structure. The nut connecting block 141 is connected to the output end of the second motor 22. In the whole formed by the first motor 21 and the second motor 22, the spline clamp 131 and the nut connecting block 141 are respectively connected to the left and right ends, avoiding direct connection between the output ends of the first motor 21 and the second motor 22 and the spline 13 and the ball nut 14. Moreover, the first motor 21 and the second motor 22 are provided with hollow cavities, so in this structure, spline screws 1 of different diameters and splines 13 and ball nuts 14 that are compatible with spline screws 1 can be replaced at any time. Therefore, in this utility model, spline screws 1 of different diameters can be selected according to different lead requirements.

[0027] Please see Figure 2 The actuator also includes a spline cover 132, on the inner wall of which a first bearing 31 is installed, and a spline clamping block 131 is fitted through the first bearing 31; it also includes a nut cover 142, on the inner wall of which a second bearing 32 is installed, and a nut connecting block 141 is fitted through the second bearing 32. The spline cover 132 and the nut cover 142 are located on both sides of the motor cover 23 and are fixedly connected to the motor cover 23. Installing the spline cover 132 and the nut cover 142 on both sides of the motor cover 23 creates a closed area, preventing other parts from falling into it and affecting the operation of the actuator when the motor is working. At the same time, the motor cover 23, the spline cover 132, and the nut cover 142 enclose the internal structure, making the actuator more aesthetically pleasing.

[0028] Please see Figure 2 and Figure 3 The system also includes a sensor mounting block 4, which has a through hole through which the spline screw 1 passes and is fixed to the side of the spline cover 132 away from the first motor 21. The sensor mounting block 4 has at least one origin sensor 41 mounted on it. In this invention, the sensor mounting block 4 has two origin sensors 41, which are used to calibrate the distance traveled by the spline screw 1 under the action of the spline 13 and the distance traveled under the action of the ball nut 14, respectively, and to establish the origin position. The coordinate system is calibrated by the origin position to ensure the accuracy of movement or operation.

[0029] Please see Figure 2The splined screw 1 is a hollow shaft, and each end of the splined screw 1 is respectively equipped with a nozzle mounting block 5 and an air pipe adapter 6. The air pipe adapter 6 is equipped with a rotating air pipe connector 61. The rotating air pipe connector 61 is used to connect the air pipe, and the nozzle mounting block 5 is used to connect the nozzle. Gas is drawn from the nozzle through the negative pressure air pipe to achieve more diverse functions. At the same time, the nozzle mounting block 5 and the air pipe adapter 6 are respectively located at both ends of the splined screw 1, so they can be used as hard limiters to prevent the spline 13 and the ball nut 14 from disengaging from the splined screw 1.

[0030] Please see Figure 2 The surface of the spline cover 132 is also fitted with a nameplate 7. The actuator is identified by the nameplate 7. Example

[0031] In this embodiment, the specific models of each component are: MTL motor of model MDH(12)-4006-324KE and spline screw of model BSSP0812-117R140S247C5T. Because the models of these standard motors and spline screws are limited, the models of accessories are also limited accordingly, so they will not be described in detail.

[0032] The advantages of this utility model are:

[0033] 1. The spline screw of this utility model is set in two sections, with linear internal splines and helical internal splines in different sections. The splines and ball nuts are adapted to connect the linear internal splines and helical internal splines respectively. The splines and ball nuts are connected to the first motor and the second motor respectively, so that the spline screw can perform linear motion, rotational motion and rotational linear motion respectively.

[0034] 2. The first motor and the second motor of this utility model are provided with hollow cavities, as well as spline clamping blocks and nut connecting blocks. Through the above structure, spline screws of different diameters can be adapted, and spline screws of different diameters can be selected according to different lead requirements.

[0035] The above-disclosed embodiments are only a few specific examples of this utility model. However, this utility model is not limited thereto. Any variations that can be conceived by those skilled in the art should fall within the protection scope of this utility model.

Claims

1. A single-axis composite actuator, characterized in that, Includes a spline screw, which is divided into a first section and a second section. The surface of the first section is provided with a straight internal spline parallel to the axis of the spline screw, and the surface of the second section is provided with a helical internal spline surrounding the spline screw. It also includes a spline, which is provided with an external spline that is adapted to the linear spline and is rotatably sleeved on the first section of the spline screw. The spline is also connected to a first motor. It also includes a ball nut, which is provided with an external spline that is adapted to the internal spline of the spiral and is rotatably sleeved on the second section of the spline screw. The ball nut is also connected to a second motor. When the first motor is started, the spline screw performs linear reciprocating motion. When the second motor is started, the spline screw rotates and performs linear reciprocating motion. When the first motor and the second motor are started simultaneously, the spline screw rotates in place.

2. The single-axis composite actuator according to claim 1, characterized in that, Both the first motor and the second motor are provided with hollow cavities through which the spline screw passes. The output ends of the first motor and the second motor are arranged opposite to each other along the axial direction of the spline screw. The first motor and the second motor share the same motor cover for enclosure.

3. A single-axis composite actuator according to claim 2, characterized in that, The spline is fixed to the spline clamping block by fasteners, and the spline clamping block is connected to the output end of the first motor; the outer surface of the ball nut is provided with a threaded structure, and the nut connecting block is fixedly connected to it through the threaded structure, and the nut connecting block is connected to the output end of the second motor.

4. A single-axis composite actuator according to claim 3, characterized in that, It also includes a spline cover, the inner wall of which is fitted with a first bearing, and the spline clamping block is sleeved through the first bearing; it also includes a nut cover, the inner wall of which is fitted with a second bearing, and the nut connecting block is sleeved through the second bearing; the spline cover and the nut cover are respectively located on both sides of the motor cover and are fixedly connected to the motor cover.

5. A single-axis composite actuator according to claim 4, characterized in that, It also includes a sensor mounting block, which has a through hole and is fixed to the side of the spline cover away from the first motor by passing through the spline screw through the through hole. The sensor mounting block is equipped with at least one origin sensor.

6. A single-axis composite actuator according to claim 1, characterized in that, The spline screw is a hollow shaft, and each end of the spline screw is provided with a nozzle mounting block and an air pipe adapter, and the air pipe adapter is equipped with a rotating air pipe connector.

7. A single-axis composite actuator according to claim 4, characterized in that, A nameplate is also mounted on the surface of the spline cover.

Images