Compact linear actuator

Abstract

The utility model discloses a compact type linear actuator, which belongs to the field of linear actuators and comprises a shell, a linear actuator and a driving device. The baffle is connected with the shell; a first motor and a second motor, wherein a stator of the first motor and a stator of the second motor are connected in the shell; the first lead screw nut assembly is connected with a rotor of the first motor; the second lead screw nut assembly is connected with a rotor of the second motor; the base is connected with the first lead screw nut assembly and the second lead screw nut assembly in a limiting mode. The first magnet is connected with a rotor of the first motor; the second magnet is connected with a rotor of the second motor; the first magnetic sensor and the second magnetic sensor are connected in the shell, the first magnetic sensor and the first magnet are correspondingly arranged, and the second magnetic sensor and the second magnet are correspondingly arranged. The utility model has the technical effect of good compactness.

Description

Technical Field

[0001] This utility model relates to linear actuators, and more particularly to a compact linear actuator. Background Technology

[0002] A linear actuator is a mechanical device that converts some form of energy (such as electrical energy, hydraulic energy, or pneumatic energy) into linear motion.

[0003] Related linear actuators can achieve precise push, pull, or positioning actions and are widely used in space-constrained but high-precision, high-load automated equipment, such as robot joints, precision medical equipment, aerospace actuation systems, and industrial automation devices.

[0004] To reduce size, related linear actuators are generally designed in an integrated manner, but related integrated linear actuators still have the problem of poor compactness. Utility Model Content

[0005] Purpose of the utility model: The purpose of this utility model is to provide a compact linear actuator with good compactness.

[0006] Technical solution:

[0007] A compact linear actuator includes:

[0008] case;

[0009] A baffle connected to the housing;

[0010] A first motor and a second motor, the stators of the first motor and the second motor are both connected inside the housing;

[0011] A first lead screw and nut assembly connected to the rotor of the first motor;

[0012] A second lead screw and nut assembly connected to the rotor of the second motor;

[0013] A base that is limited and connected to both the first lead screw and nut assembly and the second lead screw and nut assembly.

[0014] Optional, also includes:

[0015] A first magnet connected to the rotor of the first motor;

[0016] A second magnet connected to the rotor of the second motor;

[0017] A first magnetic sensor and a second magnetic sensor are both connected inside the housing. The first magnetic sensor and the first magnet are respectively arranged to correspond to each other, and the second magnetic sensor and the second magnet are respectively arranged to correspond to each other.

[0018] Optional, also includes:

[0019] A first mounting base connected between the rotor of the first motor and the first magnet;

[0020] A second mounting bracket is connected between the rotor of the second motor and the second magnet.

[0021] Optional, also includes:

[0022] A first shielding layer encloses the first magnet, and the first shielding layer is connected to the first mounting base;

[0023] A second shielding layer encloses the second magnet, and the second shielding layer is connected to the second mounting base.

[0024] Optionally, it also includes a control board connected to the inner wall of the housing, wherein both the first magnetic sensor and the second magnetic sensor are electrically connected to the control board.

[0025] Optional,

[0026] The first lead screw nut assembly includes:

[0027] A first lead screw body connected to the rotor of the first motor, the first lead screw body passing through the baffle, and the first lead screw body and the housing connected by a first bearing;

[0028] A first nut is threaded onto the body of the first lead screw, and the first nut is connected to the base for a limiting connection.

[0029] The second lead screw nut assembly includes:

[0030] A second lead screw body connected to the rotor of the second motor, the second lead screw body passing through the baffle, and the second lead screw body and the housing connected by a second bearing;

[0031] A second nut is threaded onto the body of the second lead screw, and the second nut is connected to the base for limiting.

[0032] Optionally, the first lead screw and nut assembly further includes a first roller assembly that is rolled between the first lead screw body and the first nut; the second lead screw and nut assembly further includes a second roller assembly that is rolled between the second lead screw body and the second nut.

[0033] Optionally, it also includes a first linear displacement sensor and a second linear displacement sensor, both connected to the base, wherein the first linear displacement sensor and the first lead screw and nut assembly are correspondingly arranged, and the second linear displacement sensor and the second lead screw and nut assembly are correspondingly arranged.

[0034] Beneficial effects:

[0035] (1) The housing and baffle are used to enclose the receiving space, which is used to accommodate the first motor and the second motor. That is, the two motors share a housing and baffle, which makes the linear actuator of this scheme more compact.

[0036] (2) The control board, in conjunction with the first rotary encoder and the first linear displacement sensor, controls the first motor in a closed loop, and the control board, in conjunction with the second rotary encoder and the second linear displacement sensor, controls the second motor in a closed loop, resulting in high control accuracy.

[0037] (3) The first shielding layer is used to prevent the second magnet from interfering with the first magnet and the first magnetic sensor, and the second shielding layer is used to prevent the first magnet from interfering with the second magnet and the second magnetic sensor. Attached Figure Description

[0038] Figure 1 This is one of the structural diagrams of a compact linear actuator according to Embodiment 1 of this utility model;

[0039] Figure 2 This is a second structural diagram of a compact linear actuator according to Embodiment 1 of this utility model;

[0040] Figure 3 This is the third structural diagram of a compact linear actuator according to Embodiment 1 of this utility model;

[0041] Figure 4 for Figure 3 Cross-sectional view of AA;

[0042] In the diagram: 11. First motor; 12. First lead screw and nut assembly; 121. First lead screw body; 122. First nut; 13. First magnet; 14. First magnetic sensor; 15. First mounting base; 16. First shielding layer; 17. First bearing; 18. First roller assembly; 19. First linear displacement sensor; 21. Second motor; 22. Second lead screw and nut assembly; 221. Second lead screw body; 222. Second nut; 23. Second magnet; 24. Second magnetic sensor; 25. Second mounting base; 26. Second shielding layer; 27. Second bearing; 28. Second roller assembly; 29. ​​Second linear displacement sensor; 3. Housing; 4. Baffle; 5. Base. Detailed Implementation

[0043] To make the technical solution of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0044] The present application will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the relevant utility model and not intended to limit the utility model. Furthermore, it should be noted that, for ease of description, only the parts related to the utility model are shown in the accompanying drawings. The terms "first," "second," etc., used in this utility model are provided for the convenience of describing the technical solution of this utility model and have no specific limiting effect; they are all general terms and do not constitute a limitation on the technical solution of this utility model. It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of this application can be combined with each other. In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this utility model. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. Multiple technical solutions in the same embodiment, as well as multiple technical solutions in different embodiments, can be arranged and combined to form new technical solutions that do not contradict or conflict, all of which are within the scope of protection claimed by this utility model.

[0045] Example 1

[0046] like Figures 1-4 This embodiment provides a compact linear actuator, including: a housing 3; a baffle 4 connected to the housing 3; a first motor 11 and a second motor 21, the stators of the first motor 11 and the second motor 21 are both connected inside the housing 3; a first lead screw nut assembly 12 connected to the rotor of the first motor 11; a second lead screw nut assembly 22 connected to the rotor of the second motor 21; and a base 5 that is limitedly connected to both the first lead screw nut assembly 12 and the second lead screw nut assembly 22.

[0047] Specifically, the housing 3 and the baffle 4 are used to enclose a receiving space to accommodate the first motor 11 and the second motor 21. That is, the two motors share a housing 3 and a baffle 4, which facilitates the compactness of the linear actuator in this solution. The first lead screw nut assembly 12 is used to convert the rotational motion of the first motor 11 into linear motion, and the second lead screw nut assembly 22 is used to convert the rotational motion of the second motor 21 into linear motion. The first motor 11 and the second motor 21 are both preferably frameless torque motors, and the first lead screw nut assembly 12 and the second lead screw nut assembly 22 can both be ball bearing type, roller type, etc. The base 5 is used to limit the first lead screw nut assembly 12 and the second lead screw nut assembly 22.

[0048] Furthermore, such as Figure 4 It also includes: a first magnet 13 connected to the rotor of the first motor 11; a second magnet 23 connected to the rotor of the second motor 21; a first magnetic sensor 14 and a second magnetic sensor 24 both connected inside the housing 3, wherein the first magnetic sensor 14 and the first magnet 13 are respectively arranged, and the second magnetic sensor 24 and the second magnet 23 are respectively arranged.

[0049] Specifically, the first magnet 13 and the first magnetic sensor 14 are used together to form a first rotary encoder, which is used to measure the rotation angle or number of revolutions of the rotor of the first motor 11; the second magnet 23 and the second magnetic sensor 24 are used together to form a second rotary encoder, which is used to measure the rotation angle or number of revolutions of the rotor of the second motor 21.

[0050] Furthermore, such as Figure 4 It also includes: a first mounting base 15 connected between the rotor of the first motor 11 and the first magnet 13; and a second mounting base 25 connected between the rotor of the second motor 21 and the second magnet 23.

[0051] Specifically, the first mounting base 15 is used to connect the rotor of the first motor 11 and the first magnet 13; the second mounting base 25 is used to connect the rotor of the second motor 21 and the second magnet 23.

[0052] Furthermore, such as Figure 4 It also includes: a first shielding layer 16 that covers the first magnet 13, the first shielding layer 16 being connected to the first mounting base 15; and a second shielding layer 26 that covers the second magnet 23, the second shielding layer 26 being connected to the second mounting base 25.

[0053] Specifically, the first shielding layer 16 rotates with the rotor of the first magnet 13, the first mounting base 15, and the first motor 11, and is used to prevent the second magnet 23 from interfering with the first magnet 13 and the first magnetic sensor 14; the second shielding layer 26 rotates with the rotor of the second magnet 23, the second mounting base 25, and the second motor 21, and is used to prevent the first magnet 13 from interfering with the second magnet 23 and the second magnetic sensor 24. The materials of the first shielding layer 16 and the second shielding layer 26 can be permalloy, silicon steel, etc.

[0054] Furthermore, such as Figure 4 It also includes a control board connected to the inner wall of the housing 3, and the first magnetic sensor 14 and the second magnetic sensor 24 are both electrically connected to the control board.

[0055] Specifically, since both the first magnetic sensor 14 and the second magnetic sensor 24 are electrically connected to the control board, it is convenient for the first magnetic sensor 14 and the second magnetic sensor 24 to share a control board, which further facilitates the compactness of the linear actuator in this solution.

[0056] Furthermore, such as Figure 4 The first lead screw and nut assembly 12 includes: a first lead screw body 121 connected to the rotor of the first motor 11, the first lead screw body 121 passing through the baffle 4, the first lead screw body 121 and the housing 3 being connected by a first bearing 17; a first nut 122 threaded onto the outside of the first lead screw body 121, the first nut 122 and the base 5 being in a limiting connection; the second lead screw and nut assembly 22 includes: a second lead screw body 221 connected to the rotor of the second motor 21, the second lead screw body 221 passing through the baffle 4, the second lead screw body 221 and the housing 3 being connected by a second bearing 27; a second nut 222 threaded onto the outside of the second lead screw body 221, the second nut 222 and the base 5 being in a limiting connection.

[0057] Specifically, the rotor of the first motor 11 drives the first lead screw body 121 to rotate, and under the limiting action of the base 5, the first nut 122 moves linearly along the first lead screw body 121; the rotor of the second motor 21 drives the second lead screw body 221 to rotate, and under the limiting action of the base 5, the second nut 222 moves linearly along the second lead screw body 221; the first bearing 17 and the second bearing 27 are both preferably deep groove ball bearings.

[0058] Furthermore, such as Figure 4 The first lead screw and nut assembly 12 further includes a first roller assembly 18 that is rolled between the first lead screw body 121 and the first nut 122; the second lead screw and nut assembly 22 further includes a second roller assembly 28 that is rolled between the second lead screw body 221 and the second nut 222.

[0059] Specifically, both the first roller assembly 18 and the second roller assembly 28 are used to convert sliding into rolling, which helps to reduce wear.

[0060] Furthermore, such as Figure 2 It also includes a first linear displacement sensor 19 and a second linear displacement sensor 29, both of which are connected to the base 5. The first linear displacement sensor 19 and the first lead screw and nut assembly 12 are respectively set, and the second linear displacement sensor 29 and the second lead screw and nut assembly 22 are respectively set.

[0061] Specifically, the first linear displacement sensor 19 is used to detect the linear displacement of the first nut 122 of the first lead screw nut assembly 12, and the second linear displacement sensor 29 is used to detect the linear displacement of the second nut 222 of the second lead screw nut assembly 22. Both the first linear displacement sensor 19 and the second linear displacement sensor 29 can be optical, inductive, etc.

[0062] The above embodiments only illustrate several implementation methods of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A compact linear actuator, characterized in that, include: Shell (3); The baffle (4) is connected to the housing (3); The first motor (11) and the second motor (21) are connected to the housing (3). The first lead screw nut assembly (12) is connected to the rotor of the first motor (11); The second lead screw nut assembly (22) is connected to the rotor of the second motor (21); The base (5) is limitedly connected to both the first lead screw nut assembly (12) and the second lead screw nut assembly (22).

2. A compact linear actuator according to claim 1, characterized in that, Also includes: The first magnet (13) is connected to the rotor of the first motor (11); A second magnet (23) connected to the rotor of the second motor (21); A first magnetic sensor (14) and a second magnetic sensor (24) are both connected inside the housing (3). The first magnetic sensor (14) and the first magnet (13) are respectively arranged, and the second magnetic sensor (24) and the second magnet (23) are respectively arranged.

3. A compact linear actuator according to claim 2, characterized in that, Also includes: A first mounting base (15) is connected between the rotor of the first motor (11) and the first magnet (13); A second mounting base (25) is connected between the rotor of the second motor (21) and the second magnet (23).

4. A compact linear actuator according to claim 3, characterized in that, Also includes: A first shielding layer (16) surrounds the first magnet (13), and the first shielding layer (16) is connected to the first mounting base (15); A second shielding layer (26) surrounds the second magnet (23), and the second shielding layer (26) is connected to the second mounting base (25).

5. A compact linear actuator according to claim 2, characterized in that, It also includes a control board connected to the inner wall of the housing (3), and the first magnetic sensor (14) and the second magnetic sensor (24) are both electrically connected to the control board.

6. A compact linear actuator according to any one of claims 1-5, characterized in that, The first lead screw nut assembly (12) includes: A first lead screw body (121) is connected to the rotor of the first motor (11), the first lead screw body (121) passes through the baffle (4), and the first lead screw body (121) and the housing (3) are connected by a first bearing (17). A first nut (122) is threaded onto the outside of the first lead screw body (121), and the first nut (122) and the base (5) are connected in a limiting manner; The second lead screw nut assembly (22) includes: A second lead screw body (221) is connected to the rotor of the second motor (21), the second lead screw body (221) passes through the baffle (4), and the second lead screw body (221) and the housing (3) are connected by a second bearing (27); A second nut (222) is threaded onto the outside of the second lead screw body (221), and the second nut (222) and the base (5) are connected in a limiting manner.

7. A compact linear actuator according to claim 6, characterized in that, The first lead screw nut assembly (12) further includes a first roller assembly (18) that is rolled between the first lead screw body (121) and the first nut (122); the second lead screw nut assembly (22) further includes a second roller assembly (28) that is rolled between the second lead screw body (221) and the second nut (222).

8. A compact linear actuator according to any one of claims 1-5, characterized in that, It also includes a first linear displacement sensor (19) and a second linear displacement sensor (29) that are both connected to the base (5). The first linear displacement sensor (19) and the first lead screw nut assembly (12) are respectively arranged, and the second linear displacement sensor (29) and the second lead screw nut assembly (22) are respectively arranged.

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