High-thrust accurate position control linear driving device

Abstract

The utility model discloses a high-thrust accurate position control linear driving device. The sensor is structurally characterized in that the sensor is a cylindrical device composed of a control circuit board, a gear motor, a motor fixing support, a thrust bearing, a magnetic ring, a rotating screw rod, a blocking piece, a sliding support, a flexible circuit board A, a magnetic coding sensor chip, a flexible circuit board B, a flexible circuit board C, a Hall switch sensor chip, a magnetic column and a rear end cover; when the direct-current gear motor rotates, the rotating screw is driven to drive the sliding support to do linear motion in the axial direction, the Hall switch sensor chip can roughly measure the relative position of the sliding support and the motor fixing support, and the magnetic encoder sensor chip can accurately detect any angle position within a circle when the rotating screw rotates. The relative position of the sliding bracket and the motor fixing bracket can be accurately measured by combining the measurement results of the magnetic encoder sensor chip and the Hall switch sensor chip; the device is small in size, high in power and light in weight, and has a self-locking function.

Description

Technical Field

[0001] This utility model relates to a high-thrust, precise position control linear drive device. Background Technology

[0002] In the field of bionic robot joint actuation, existing solutions for joints requiring linear actuation generally fall into two categories: direct use of a circular rotary motor and use of an electric cylinder. Due to the inherent characteristics of the bionic human field, the driving device is required to be small in size, high in power, lightweight, and have a self-locking function. Ordinary circular rotary motors do not have a self-locking function, and the joint will deform severely when power is lost. Furthermore, the motor will overheat when the joint is kept in a joint state for a long time. If a mechanical self-locking function is added, the size will be too large. At the same time, converting circular motion into linear motion requires a large amount of space for movement, which is a challenge for the compact bionic human structure. Electric cylinder actuation has the problems of large size, large weight, and high noise. In addition, it is a non-coaxial structure and also requires a sufficiently large amount of space for movement. Summary of the Invention

[0003] This invention provides a high-thrust, precise position control linear drive device, applicable to, but not limited to, the field of bionic robot joint drive. It is a small, powerful, lightweight, self-locking, and coaxial cylindrical device.

[0004] This utility model comprises a cylindrical device consisting of a control circuit board 1, a geared motor 2, a motor mounting bracket 3, a thrust bearing 4, a magnetic ring 5, a rotating screw 6, a baffle 7, a sliding bracket 8, a flexible circuit board A9, a magnetic encoder sensor chip 10, a flexible circuit board B11, a flexible circuit board C12, a Hall effect switch sensor chip 13, a magnetic column 14, and a rear end cover 15. The control circuit board 1 is fixed to the rear of the geared motor 2 and, together with the geared motor 2, is fixed inside the motor mounting bracket 3. The thrust bearing 4 is coaxially fixed to the outside of the geared motor mounting bracket 3, and the magnetic ring 5 is coaxially fixed to the rotating screw. On the screw 6, the magnetic ring 5 and the rotating screw 6 rotate synchronously with the output shaft of the geared motor 2. The baffle 7 is installed on the outside of the rotating screw 6 and is stuck in the slot of the output shaft of the geared motor 2. Flexible circuit boards A9, B11, and C12 are fixed on the motor mounting bracket 3 and electrically connected to the control circuit board 1. The magnetic encoder sensor chip 10 is soldered on the flexible circuit board A9. The Hall switch sensor chip 13 is soldered in an array on the flexible circuit boards B11 and C12. The magnetic column 14 is fixed on the sliding bracket 8. The rear end cover 15 is fixed on the motor mounting bracket 3.

[0005] The motor mounting bracket 3 has a protrusion on its outer side, and the sliding bracket 8 has a groove on its inner side.

[0006] The external thread of the aforementioned rotating screw 6 has the same parameters as the internal thread of the sliding bracket 8.

[0007] A thrust bearing 4 is installed between the motor mounting bracket 3 and the rotating screw 6.

[0008] The aforementioned magnetic ring 5 is installed between the thrust bearing 4 and the rotating screw 6.

[0009] The baffle 7 mounted on the output shaft slot of the geared motor 2 prevents the rotating screw 6 from moving axially on the output shaft of the geared motor 2.

[0010] The aforementioned rear end cover 15 is fixed to the motor mounting bracket 3 by thread.

[0011] The aforementioned sliding bracket 8 has an opening on the side near the rear cover 15.

[0012] The aforementioned flexible circuit board A9 has been reinforced.

[0013] The center distance between the Hall switch sensor chips 14 soldered on the flexible circuit boards B11 and C12 is an integer multiple of the pitch of the rotating screw 6.

[0014] The aforementioned control circuit board 1 is electrically connected to the geared motor 2, and can control the speed and direction of rotation of the geared motor 2; the protrusion on the outer side of the motor fixing bracket 3 engages with the inner groove of the sliding bracket 8, so that the sliding bracket 8 can only move linearly along the axial direction; when the rotating screw 6 rotates together with the output shaft of the geared motor 2, the external thread of the rotating screw 6 engages with the internal thread of the sliding bracket 8, driving the sliding bracket 8 to move linearly along the axial direction; the magnetic ring 5 fixed on the rotating screw 6 changes the magnetic field around the magnetic encoding sensor chip 10 soldered on the flexible circuit board A when the rotating screw 6 rotates; the magnetic post 14 fixed on the sliding bracket 8 triggers the Hall switch sensor chips 13 soldered on the flexible circuit board B11 and the flexible circuit board C12 in sequence.

[0015] The present invention will now be further described with reference to the accompanying drawings. Attached Figure Description

[0016] Figure 1 This is a cross-sectional view along the center line of the present invention.

[0017] Figure 2 This is an axially split view of the present invention.

[0018] Figure 3 This is a radially split view of the present invention.

[0019] Figure 4 This is a radial sectional view of the present invention. Implementation

[0020] When the DC geared motor 2 rotates, it drives the rotating screw 6 to rotate. The external thread of the rotating screw 6 engages with the internal thread of the sliding bracket 8. Because the inner groove of the sliding bracket 8 is restricted by the outer protrusion of the motor fixing bracket 3, the sliding bracket 8 is driven to move linearly along the axial direction outside the motor fixing bracket 3.

[0021] When the magnetic ring 5 fixed on the rotating screw 6 rotates, it provides a changing magnetic field to the magnetic encoder sensor chip 10, which can accurately detect any angular position within one revolution of the rotating screw 6.

[0022] The magnetic column 14 fixed on the sliding bracket 8 moves with the sliding bracket 8, sequentially triggering the Hall switch sensor chip 13 on the flexible circuit board B11 and flexible circuit board C12 fixed on the motor fixing bracket 3. Since the chip center distance of the Hall switch sensor chip 13 is an integer multiple of the thread pitch of the rotating screw 6, the relative position of the sliding bracket 8 and the motor fixing bracket 3 can be roughly measured.

[0023] By combining the precise angle of the rotating screw 6 within one revolution measured by the magnetic encoder sensor chip 10 and the relative position of the sliding bracket 8 and the motor fixed bracket 3 roughly measured by the Hall switch sensor chip 13, the relative position of the sliding bracket 8 and the motor fixed bracket 3 can be accurately measured.

[0024] When the geared motor 2 rotates and pushes the sliding bracket 8, the reaction force on the sliding bracket 8 is transmitted in sequence to the rotating screw 6, magnetic ring 5, thrust bearing 4, and motor fixing bracket 3. All components are in surface contact, with a large contact area, making them less prone to damage.

[0025] When the geared motor 2 rotates and pulls the sliding bracket 8, the reaction force on the sliding bracket 8 is transmitted in sequence to the rotating screw 6, the baffle 7, the output shaft of the geared motor 2, and the motor fixing bracket 3. The sliding bracket 8, the rotating screw 6, and the baffle 7 have a large contact area, high working strength, and are not easily damaged. The baffle 7, the output shaft of the geared motor 2, and the motor fixing bracket 3 are all metal parts, which have high working strength and are not easily damaged.

Claims

1. A high-thrust, precise position control linear drive device, characterized in that... A cylindrical device comprising a control circuit board, a geared motor, a motor mounting bracket, a thrust bearing, a magnetic ring, a rotating screw, a baffle plate, a sliding bracket, a flexible circuit board A, a magnetic encoder sensor chip, a flexible circuit board B, a flexible circuit board C, a Hall effect switch sensor chip, a magnetic column, and a rear end cover. The control circuit board is fixed to the rear of the geared motor and, together with the geared motor, is fixed inside the motor mounting bracket. The thrust bearing is coaxially fixed to the outside of the geared motor mounting bracket. The magnetic ring is coaxially fixed to the rotating screw, and the magnetic ring and rotating screw rotate synchronously with the output shaft of the geared motor. The baffle plate is mounted on the outside of the rotating screw and is engaged in a slot on the output shaft of the geared motor. Flexible circuit boards A, B, and C are fixed to the motor mounting bracket and electrically connected to the control circuit board. The magnetic encoder sensor chip is soldered to flexible circuit board A. The Hall effect switch sensor chips are arrayed and soldered to flexible circuit boards B and C. The magnetic column is fixed to the sliding bracket, and the rear end cover is fixed to the motor mounting bracket.

2. The high-thrust precision position control linear drive device according to claim 1, characterized in that... The motor mounting bracket has a protrusion on the outside, and the sliding bracket has a groove on the inside.

3. The high-thrust precision position control linear drive device according to claim 1, characterized in that... The external thread of the rotating screw has the same parameters as the internal thread of the sliding bracket.

4. The high-thrust precision position control linear drive device according to claim 1, characterized in that... A thrust bearing is installed between the motor mounting bracket and the rotating screw.

5. A high-thrust precision position control linear drive device according to claim 1, characterized in that... The magnetic ring is installed between the thrust bearing and the rotating screw.

6. A high-thrust precision position control linear drive device according to claim 1, characterized in that... A baffle plate mounted on the output shaft slot of the geared motor prevents the rotating screw from moving axially on the output shaft of the geared motor.

7. A high-thrust precision position control linear drive device according to claim 1, characterized in that... The rear cover is fixed to the motor mounting bracket by thread.

8. A high-thrust precision position control linear drive device according to claim 1, characterized in that... The sliding bracket has an opening on the side near the rear cover.

9. A high-thrust precision position control linear drive device according to claim 1, characterized in that... Flexible circuit board A has reinforcement treatment.

10. A high-thrust precision position control linear drive device according to claim 1, characterized in that... The center-to-center distance between the Hall switch sensor chips soldered on flexible circuit boards B and C is an integer multiple of the screw pitch of the rotating screw.

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