Linear rotary actuator

Abstract

This utility model discloses a linear rotary actuator, in which a rotary drive assembly, a connecting block, and an output shaft are respectively installed inside a housing and arranged sequentially along a first direction. The rotary drive assembly and the output shaft are respectively installed on the connecting block and connected to each other. Simultaneously, the output shaft, the connecting block, and the linear drive assembly are arranged sequentially along a second direction, as are the rotary drive assembly, the elastic element, and the air pipe assembly. The portion of the output shaft extending out of the connecting block along the first direction is located on one side of the connecting block, while the rotary drive assembly, the elastic element, and the air pipe assembly are all at least partially located on the other side of the connecting block along the first direction. The structural arrangement of this linear rotary actuator ensures that the elastic element and the air pipe assembly no longer encroach on the axial space at the tail of the rotary drive assembly, reducing the axial space occupied by the housing and improving the utilization rate of radial space. This results in a more rational and compact layout of the components and simplifies assembly.

Description

Technical Field

[0001] This utility model relates to the field of automation equipment, and in particular to a linear rotary actuator. Background Technology

[0002] A linear rotary actuator is a device that can simultaneously output linear and rotary motion, and can also create negative pressure within the output shaft to attract and transport materials. Therefore, linear rotary actuators play a crucial role in automated manufacturing processes such as semiconductor chip processing and electronic equipment manufacturing.

[0003] Existing linear rotary actuators include a voice coil motor and a rotary motor, with a connecting block to connect the output shaft and the voice coil motor. The voice coil motor drives the connecting block, rotary motor, and output shaft to perform linear motion, and the rotary motor then drives the output shaft to perform rotary motion. However, the layout of the connecting block and other components in current linear rotary actuators is still not reasonable enough, the connections are complex, they occupy a lot of space, and are not conducive to assembly. Utility Model Content

[0004] The technical solution of this utility model is as follows: A linear rotary actuator is provided, comprising a housing, a linear drive assembly, a connecting block, a rotary drive assembly, an output shaft, an elastic element, and an air pipe assembly; wherein, the linear drive assembly is disposed within the housing; the connecting block is slidably mounted within the housing, the connecting block and the linear drive assembly are connected, and the connecting block can move linearly along a first direction under the drive of the linear drive assembly; the rotary drive assembly is disposed within the housing, the rotary drive assembly is mounted on the connecting block, and the rotary drive assembly can follow the connecting block in linear motion along the first direction; the output shaft is mounted on... The output shaft is mounted on the connecting block and connected to the rotary drive assembly. The output shaft can rotate under the drive of the rotary drive assembly and can follow the connecting block to move linearly in the first direction. The elastic element is connected to the connecting block and the housing. The airway assembly is connected to the connecting block and the housing. The airway assembly, the connecting block and the output shaft are connected in sequence to form an airway. The portion of the output shaft extending out of the connecting block in the first direction is located on one side of the connecting block. The rotary drive assembly, the elastic element and the airway assembly are all located at least partially on the other side of the connecting block in the first direction.

[0005] Preferably, the tracheal assembly includes a tracheal tube and an adapter and a connecting pipe connected to both ends of the tracheal tube. The connecting pipe is connected to and communicates with the connecting block. The adapter is installed on the housing and communicates with the housing, thereby forming a gas channel in which the housing, adapter, tracheal tube, connecting pipe, connecting block, and output shaft are connected in sequence.

[0006] Preferably, the linear rotary actuator further includes a slip ring assembly, which includes a brush and a conductive ring. The conductive ring is mounted on the output shaft, and the brush is mounted on the connecting block and rotatably connected to the brush. The output shaft is connected to the housing in sequence through the conductive ring, the brush, and the connecting block, so that the static electricity on the output shaft is grounded through the housing.

[0007] Preferably, the rotary drive assembly includes a rotary motor and a coupling mounted on the output end of the rotary motor; the connecting block is provided with a mounting groove, the coupling is mounted in the mounting groove, and the output shaft extends into the mounting groove and is connected to the coupling.

[0008] Preferably, the brush is mounted on the connecting block and extends into the mounting groove.

[0009] Preferably, the linear rotary actuator further includes a circuit board and a connecting plate. The circuit board is mounted on one end of the connecting block that connects to the rotary drive assembly via the connecting plate. In a second direction perpendicular to the first direction, the circuit board is disposed between the rotary drive assembly and the elastic element. This arrangement makes the positions of the rotary drive assembly, the circuit board, and the elastic element more compact, reduces the space occupied by the three components inside the housing, and simplifies assembly.

[0010] Preferably, the circuit board is connected to the connecting block via the connecting plate, and the circuit board is also connected to the housing, so that the output shaft is connected to the housing in sequence via the conductive ring, the brush, the connecting block and the circuit board, so that the static electricity on the output shaft is grounded through the housing.

[0011] Preferably, the linear rotary actuator further includes a rotary sealing assembly, which includes a sealing cylinder and a sealing ring. The sealing cylinder is fitted outside the output shaft and installed inside the connecting block, and the sealing ring is installed between the sealing cylinder and the connecting block and / or between the sealing cylinder and the output shaft.

[0012] Preferably, the output shaft is rotatably mounted on the connecting block via bearings, and the bearings are mounted at both ends of the sealing cylinder.

[0013] Preferably, the connecting block is provided with a pressure relief port, which is located between the bearing and the sealing ring.

[0014] Preferably, one end of the connecting block is further provided with a wire groove for accommodating the wire connected to the linear drive assembly, and a wire pressing plate is also provided on the wire groove for pressing the wire into the wire groove.

[0015] Preferably, the linear drive assembly includes a multi-segment linear motor to accommodate different customer length requirements.

[0016] Preferably, the linear rotary actuator further includes a temperature sensor disposed between the rotary drive assembly and the elastic element. The temperature sensor is used to detect the temperature of the rotary drive assembly for overload or fault alarm. Moreover, the arrangement of the rotary drive assembly, temperature sensor, and elastic element in sequence along the second direction makes the structure of the three components more compact, reduces their occupation of the internal space of the housing, and simplifies assembly.

[0017] Preferably, the elastic element is arranged along the first direction, and in a second direction perpendicular to the first direction, the elastic element is located between the rotary drive assembly and the air tube assembly. This arrangement reduces the space occupied inside the housing and simplifies assembly.

[0018] Preferably, the linear rotary actuator further includes a guide assembly, which includes a slidingly engaged slider and a guide rail. The guide rail is mounted on the housing and extends along the first direction. The slider is connected to the bottom of the connecting block, and the engaging slider and guide rail provide guidance for the linear movement of the connecting block.

[0019] Preferably, the connecting block has a through hole through which oil is injected into the oil injection hole of the slider.

[0020] Compared with the prior art, the linear rotary actuator of this invention connects the output shaft to one side of the connecting block along the first direction, while the rotary drive assembly, elastic element, and air pipe assembly are all connected to the other side of the connecting block along the first direction. Simultaneously, the output shaft and linear drive assembly are respectively positioned on both sides of the connecting block along the second direction, and the rotary drive assembly, elastic element, and air pipe assembly are arranged sequentially along the second direction. This structural arrangement ensures that the elastic element and air pipe assembly no longer encroach on the axial space at the tail of the rotary drive assembly, reducing the axial space occupied by the housing and improving the utilization rate of radial space. This results in a more rational and compact layout of the components of the linear rotary actuator and simplifies assembly. Attached Figure Description

[0021] Figure 1 This is a structural schematic diagram of the linear rotary actuator of this utility model.

[0022] Figure 2 This is a structural diagram from another angle.

[0023] Figure 3 yes Figure 1 A schematic diagram of the structure after removing the top cover.

[0024] Figure 4 yes Figure 3 A structural diagram from another angle.

[0025] Figure 5 yes Figure 3 The exploded diagram.

[0026] Figure 6 yes Figure 5 An enlarged schematic diagram of part A in the middle.

[0027] Figure 7 yes Figure 1 A sectional view.

[0028] Figure 8 yes Figure 7 A partially enlarged schematic diagram.

[0029] Figure 9 yes Figure 3 A schematic diagram of the connecting block.

[0030] Figure 10 yes Figure 9 A sectional view. Detailed Implementation

[0031] Embodiments of the present invention will now be described with reference to the accompanying drawings, in which similar element reference numerals represent similar elements. It should be noted that the directional descriptions involved in the present invention, such as up, down, left, right, front, and back, indicating directions or positional relationships, are based on the directions or positional relationships shown in the drawings and are only for the convenience of describing the technical solutions of this application or / 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 of this application. The terms "first," "second," etc., described are only used to distinguish technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the sequential relationship of the indicated technical features.

[0032] First combine Figures 1-10As shown, in one embodiment of this utility model, the provided linear rotary actuator 1 includes a housing 11, a linear drive assembly 12, a connecting block 13, a rotary drive assembly 14, an output shaft 15, an elastic element 16, and an air pipe assembly 17. The linear drive assembly 12 is disposed within the housing 11. The connecting block 13 is slidably mounted within the housing 11 and connected to the linear drive assembly 12. The connecting block 13 moves linearly in a first direction (X-axis direction) under the drive of the linear drive assembly 12. The rotary drive assembly 14 is disposed within the housing 11 and mounted on the connecting block 13. The rotary drive assembly 14 follows the connecting block 13 in its linear movement along the first direction (X-axis direction). Furthermore, the rotary drive assembly 14 is also connected to the output shaft 15 mounted on the connecting block 13. The output shaft 15 follows the connecting block 13 in its linear movement along the first direction (X-axis direction) and rotates under the drive of the rotary drive assembly 14. The elastic element 16 and the air tube assembly 17 are arranged side by side inside the housing 11, and the two ends of the elastic element 16 are respectively connected to the connecting block 13 and the housing 11. The two ends of the air tube assembly 17 are respectively connected to the connecting block 13 and the housing 11. The housing 11, the air tube assembly 17, the connecting block 13 and the output shaft 15 are connected in sequence to form an airway.

[0033] Continue to combine Figures 1-2 As shown, in this embodiment, the housing 11 includes a bottom shell 111, an upper cover plate 112 covering the top of the bottom shell 111, and a side cover plate 113 covering the sides of the bottom shell 111. A receiving space is formed within the bottom shell 111, and the components of the linear rotary actuator 1 are housed within this receiving space. The upper cover plate 112 is detachably connected to the top of the bottom shell 111 to shield the receiving space, and the side cover plate 113 is detachably connected to the sides of the bottom shell 111. The structures of the bottom shell 111, upper cover plate 112, and side cover plate 113 are all conventional structures in the art.

[0034] The following is combined Figures 3-4As shown, in this embodiment, the rotary drive assembly 14, connecting block 13, and output shaft 15 are arranged sequentially along the first direction (X-axis direction), and the portions of the output shaft 15 and the rotary drive assembly 14 extending out of the connecting block 13 along the first direction (X-axis direction) are respectively located on both sides of the connecting block 13. Simultaneously, the linear drive assembly 12, connecting block 13, and output shaft 15 are arranged sequentially along the second direction (Y-axis direction), and the linear drive assembly 12 and output shaft 15 are respectively connected to the connecting block 13. Furthermore, the rotary drive assembly 14, elastic element 16, and air tube assembly 17 are also arranged sequentially along the second direction (Y-axis direction), and the elastic element 16 and air tube assembly 17 are located on the side of the rotary drive assembly 14. Compared with the prior art, the air tube assembly 17 does not need to be located at the tail of the rotary drive assembly 14, thus avoiding encroachment on axial space. Instead, most of the elastic element 16 and air tube assembly 17 are located on the side of the rotary drive assembly 14, and most of all three are located on one side of the connecting block 13, which reduces the axial space occupation and improves the utilization rate of radial space. The first direction (X-axis direction) is perpendicular to the second direction (Y-axis direction). The aforementioned structural arrangement makes the layout of each component of the linear rotary actuator 1 reasonable and compact, reduces the internal space occupied by each component in the housing 11, and simplifies the assembly of each component.

[0035] In this embodiment, the first direction (X-axis direction) is the length direction of the linear rotary actuator 1, and the second direction (Y-axis direction) is the width direction of the linear rotary actuator 1. Of course, in other embodiments, the first direction (X-axis direction) and the second direction (Y-axis direction) can also be other directions.

[0036] The following is combined Figure 3-6 , Figure 9-10 As shown, in one embodiment of this utility model, the connecting block 13 is provided with a mounting groove 131, which at least extends through the top of the connecting block 13. The rotary drive assembly 14 and the output shaft 15 extend from both ends of the connecting block 13 into the mounting groove 131 and are connected along a first direction (X-axis direction), so that the rotary drive assembly 14 can drive the output shaft 15 to rotate.

[0037] See Figure 9 As shown, the connecting block 13 is also provided with a mounting hole 132 extending along the first direction, which connects to the mounting groove 131. The output shaft 15 is rotatably mounted in the mounting hole 132 via two bearings 23. The mounting method between the output shaft 15, the bearings 23 and the connecting block 13 is a conventional method in the art.

[0038] Combination Figures 5-6As shown, in this embodiment, the rotary drive assembly 14 includes a rotary motor 141 and a coupling 142 mounted on the output end of the rotary motor 141. The coupling 142 is mounted within a mounting groove 131. The rotary motor 141 is mounted on a connecting block 13 via an adapter plate 24, positioning the rotary motor 141 at one end of the connecting block 13 in a first direction (X-axis direction). An output shaft 15 extends from the other end of the connecting block 13 in the first direction (X-axis direction) into the mounting hole 132 and the mounting groove 131, connecting to the coupling 142. The output shaft 15 and the connecting block 13 are rotatably connected via a bearing 23. Therefore, the rotary motor 141 can drive the output shaft 15 to rotate via the coupling 142.

[0039] The following is combined Figures 3-5 As shown, in one embodiment of this utility model, the connecting block 13 is fixedly connected to the linear drive assembly 12 on the side away from the output shaft 15 in the second direction, thereby realizing the sequential arrangement of the linear drive assembly 12, the connecting block 13, and the output shaft 15 along the second direction (Y-axis direction). In this embodiment, the linear drive assembly 12 preferably includes multiple segments of spliced ​​linear motors, each linear motor being sequentially arranged along the first direction (X-axis direction) and installed on the housing 11 to accommodate different customer length requirements, thus making the linear rotary actuator 1 of this application more widely applicable.

[0040] Understandably, the linear drive assembly 12 is not limited to the structural configuration of this embodiment, and other structural forms may also be adopted.

[0041] The following is combined Figure 5 , Figure 9 As shown, in this embodiment, the connecting block 13 has a wire groove 133 at one end away from the output shaft 15 in the first direction. The wire groove 133 is specifically located on the side of the rotary drive assembly 14, and is formed by a recess in the top of the connecting block 13. The wire groove 133 is used to accommodate the wire connected to the linear drive assembly 12, thereby facilitating the installation and fixing of the wire.

[0042] Combination Figure 3-5 As shown, in this embodiment, a wire pressing plate 26 is also provided on the wire groove 133. The wire pressing plate 26 is detachably connected to the connecting block 13 by a connector (e.g., a bolt). The wire pressing plate 26 is used to press the wire into the wire groove 133, thereby fixing the wire in the wire groove 133.

[0043] The following will continue to combine Figures 3-5As shown, in one embodiment of this utility model, the elastic element 16 and the air tube assembly 17 are installed at one end of the wire guide groove 133 of the connecting block 13. Furthermore, in the second direction (Y-axis direction), the rotary drive assembly 14, the elastic element 16, and the air tube assembly 17 are arranged sequentially, such that most of the elastic element 16 and the air tube assembly 17 are located on the side of the rotary drive assembly 14. The air tube assembly 17 does not need to be located at the tail of the rotary drive assembly 14, thus avoiding encroachment on axial space. This reduces the axial space occupied and improves the utilization rate of radial space, thereby reducing the internal space of the housing 11 occupied by the three components.

[0044] More specifically, the elastic element 16 extends along a first direction (X-axis direction), one end of the elastic element 16 is connected to the connecting block 13 via a connector (e.g., bolt), and the other end of the elastic element 16 is connected to the housing 11 via a connector (e.g., bolt). The air tube assembly 17 includes an air tube 171 and an adapter 172 and an adapter pipe 173 connected to both ends of the air tube 171. The adapter pipe 173 is connected to the connecting block 13 and located on the side of the elastic element 16, and the adapter pipe 173 communicates with the connecting block 13. The adapter 172 is installed on the housing 11 and communicates with the housing 11, thereby forming an air passage in which the housing 11, adapter 172, air tube 171, adapter pipe 173, connecting block 13, and output shaft 15 are sequentially connected.

[0045] In a preferred embodiment, the trachea 171 is curved, thereby reducing the axial space occupied by the housing 11. In a specific embodiment, the trachea 171 is generally U-shaped, so that the adapters 172 and adapter pipes 173 connected to both ends of the trachea 171 are arranged generally along the second direction (Y-axis direction), making the overall structure of the trachea assembly 17 compact, occupying less axial space in the housing 11, and improving the utilization of radial space. Of course, the trachea 171 can also be configured with other shapes that have a smaller volume.

[0046] Combination Figure 3-5 , Figure 9-10 As shown, in one embodiment, the connecting block 13 is provided with a first air passage 134, the specific shape of which is not limited. One end of the first air passage 134 passes through one end of the connecting block 13 in a first direction, thereby communicating with the adapter pipe 173. The other end of the first air passage 134 passes through the mounting hole 132 to communicate with the second air passage 151 in the output shaft 15. The manner in which the first air passage 134 and the second air passage 151 are constructed is conventional in the art.

[0047] It should be noted that, Figure 10 The illustration only shows a portion of the first airway 134 and should not be used as a limitation of this application.

[0048] The following is combined Figure 3-4 , Figure 7-8 As shown, in one embodiment of this utility model, the linear rotary actuator 1 further includes a rotary sealing assembly 18, which is disposed between the output shaft 15 and the connecting block 13. Specifically, the rotary sealing assembly 18 includes a sealing cylinder 181 and a sealing ring 182. The sealing cylinder 181 is fitted outside the output shaft 15 and abuts against the two bearings 23. The sealing ring 182 is installed between the sealing cylinder 181 and the connecting block 13 and / or between the sealing cylinder 181 and the output shaft 15. For example, in Figure 7-8 In one specific embodiment shown, the sealing ring 182 is installed between the sealing cylinder 181 and the connecting block 13, and between the sealing cylinder 181 and the output shaft 15. Of course, other embodiments are not limited to this arrangement.

[0049] Combination Figure 9-10 As shown, in this embodiment, the connecting block 13 is also provided with a pressure relief port 135, which is connected to the mounting hole 132. The pressure relief port 135 is opened at the position between the bearing 23 and the sealing ring 182, and is used to drain oil and / or relieve pressure on the output shaft 15.

[0050] Let's combine them again below. Figures 3-6 As shown, in one embodiment of this utility model, the linear rotary actuator 1 further includes a slip ring assembly 19. Specifically, the slip ring assembly 19 includes a conductive ring 191 and a brush 192. The conductive ring 191 is fitted onto the output shaft 15, and the brush 192 is mounted on the connecting block 13 and rotatably connected to the conductive ring 191. In one specific embodiment, the conductive ring 191 is located within the mounting groove 131 of the connecting block 13, and the brush 192 is mounted on the connecting block 13 via a connector (e.g., a bolt), with the brush 192 extending into the mounting groove 131, thus rotatably connecting the brush 192 to the conductive ring 191. In this way, the output shaft 15 is connected to the housing 11 sequentially through the conductive ring 191, the brush 192, and the connecting block 13, allowing static electricity on the output shaft 15 to be grounded through the housing 11.

[0051] Continue to combine Figures 3-5 As shown, in this embodiment, the linear rotary actuator 1 also includes a circuit board 20. The circuit board 20 is mounted on one end of the connecting block 13 to the rotary drive assembly 14 via a connecting plate 25, and the circuit board 20 is arranged perpendicular to the top plate 112 of the housing 11, thereby occupying less lateral space, that is, occupying less space in the width direction of the housing 11. At the same time, in the second direction (Y-axis direction), the circuit board 20 is disposed between the rotary drive assembly 14 and the elastic member 16. This arrangement makes the structure of the rotary drive assembly 14, the circuit board 2, and the elastic member 16 compact, and the internal space occupied by the three is small.

[0052] In this embodiment, the circuit board 20 is connected to the connecting block 13 via the connecting plate 25, and the circuit board 20 is also connected to the housing 11. This allows the output shaft 15 to be connected to the housing 11 in sequence via the conductive ring 191, the brush 192, the connecting block 13, and the circuit board 20, so that the static electricity on the output shaft 15 is grounded through the housing 11.

[0053] Continue to combine Figures 3-5 As shown, in one embodiment of this utility model, the linear rotary actuator 1 further includes a temperature sensor 22. The temperature sensor 22 is disposed between the rotary drive assembly 14 and the circuit board 20, close to the rotary drive assembly 14. The temperature sensor 22 is used to detect the temperature of the rotary drive assembly 14 for overload or fault alarm purposes. Furthermore, the rotary drive assembly 14, temperature sensor 22, circuit board 20, elastic element 16, and air pipe assembly 17 are arranged sequentially along the second direction (Y-axis direction). This arrangement makes the structure of each component more compact, further reducing the internal space occupied by the housing 11.

[0054] Combined again Figures 3-5 As shown, in one embodiment of this utility model, the linear rotary actuator 1 further includes a guide component 21. The guide component 21 includes a slider 212 and a guide rail 211 that are slidably engaged. The guide rail 211 is mounted on the bottom shell 111 and extends along the first direction (X-axis direction). The slider 212 is connected to the bottom of the connecting block 13. The slider 212 and the guide rail 211 provide a guide for the linear motion of the connecting block 13.

[0055] Combination Figures 9-10 As shown, in this embodiment, the connecting block 13 is also provided with a through hole 136, which is located in the middle of the connecting block 13. After the connecting block 13 is installed on the slider 212, the through hole 136 is located above the slider 212, and oil can be injected into the oil injection hole of the slider 212 through the through hole 136.

[0056] Combined again Figures 1-10 As shown, when the linear rotary actuator 1 of this utility model is used, a negative pressure is applied to the air pipe assembly 17. Through the air passage formed by the housing 11, adapter 172, air pipe 171, adapter pipe 173, connecting block 13, and output shaft 15 in sequence, a negative pressure is formed in the output shaft 15, so that the output shaft 15 can suck up the material.

[0057] Then, the linear drive assembly 12 is controlled to operate, driving the connecting block 13 to move linearly along the first direction (X-axis direction), thereby causing the output end 15 to move linearly along the first direction (X-axis direction). During this process, the rotary drive assembly 14 can be controlled to operate, driving the output shaft 15 to rotate. This transfers the material to a predetermined position and / or angle. At this time, removing the negative pressure applied to the air tube assembly 17 allows the output end 15 to release the material.

[0058] In summary, the linear rotary actuator 1 of this invention connects the output shaft 15 to one side of the connecting block 13 along the first direction (X-axis direction), and the rotary drive assembly 14, the elastic element 16, and the air pipe assembly 17 are all connected to the other side of the connecting block 13 along the first direction (X-axis direction). Simultaneously, the output shaft 15 and the linear drive assembly 12 are respectively positioned on both sides of the connecting block 13 along the second direction (Y-axis direction), and the rotary drive assembly 14, the elastic element 16, and the air pipe assembly 17 are sequentially arranged along the second direction (Y-axis direction). This structural arrangement ensures that the elastic element 16 and the air pipe assembly 17 no longer encroach on the axial space of the tail of the rotary drive assembly 14, reducing the axial space occupied by the housing 11 and improving the utilization rate of radial space. This results in a more rational and compact layout of the components of the linear rotary actuator 1 and simplifies assembly.

[0059] The structures of the other parts of the linear rotary actuator 1 involved in this application are all conventional structures well known to those skilled in the art, and will not be described in detail.

[0060] The above-disclosed embodiments are merely preferred embodiments of the present utility model and should not be construed as limiting the scope of the present utility model. Therefore, any equivalent variations made in accordance with the scope of the present utility model application shall still fall within the scope of the present utility model.

Claims

1. A linear rotary actuator, characterized in that, include: case; A linear drive assembly is disposed within the housing; A connecting block is slidably installed inside the housing. The connecting block is connected to the linear drive assembly, and the connecting block can move linearly along a first direction under the drive of the linear drive assembly. A rotary drive assembly is disposed within the housing and mounted on the connecting block. The rotary drive assembly can follow the connecting block to move linearly along the first direction. An output shaft is mounted on the connecting block and connected to the rotary drive assembly. The output shaft can rotate under the drive of the rotary drive assembly and can follow the connecting block to move linearly in the first direction. An elastic element connects the connecting block and the housing; A tracheal tube assembly, connected to the connecting block and the housing; The airway is formed by sequentially connecting the tracheal assembly, the connecting block, and the output shaft. The portion of the output shaft extending out of the connecting block along the first direction is located on one side of the connecting block. The rotary drive assembly, the elastic element, and the airway assembly are all located at least partially on the other side of the connecting block along the first direction.

2. The linear rotary actuator as described in claim 1, characterized in that, The tracheal assembly includes a trachea and adapters and adapter tubes connected to both ends of the trachea. The adapter tubes are connected to and communicate with the connecting block, and the adapters are installed on the housing and communicate with the housing.

3. The linear rotary actuator as described in claim 1, characterized in that, The linear rotary actuator further includes a slip ring assembly, which includes a brush and a conductive ring. The conductive ring is mounted on the output shaft, and the brush is mounted on the connecting block and rotatably connected to the brush. The output shaft is connected to the housing in sequence through the conductive ring, the brush, and the connecting block.

4. The linear rotary actuator as described in claim 3, characterized in that, The rotary drive assembly includes a rotary motor and a coupling mounted on the output end of the rotary motor; The connecting block is provided with a mounting groove, the coupling is installed in the mounting groove, and the output shaft extends into the mounting groove and is connected to the coupling; The brush is mounted on the connecting block and extends into the mounting groove.

5. The linear rotary actuator as described in claim 3, characterized in that, It also includes a circuit board and a connecting plate, wherein the circuit board is mounted on the connecting block via the connecting plate, and the circuit board is disposed between the rotary drive assembly and the elastic element; The circuit board is connected to the connecting block via the connecting plate, and the circuit board is also connected to the housing, so that the output shaft is connected to the housing in sequence via the conductive ring, the brush, the connecting block and the circuit board.

6. The linear rotary actuator as described in claim 1, characterized in that, The linear rotary actuator further includes a rotary sealing assembly, which includes a sealing cylinder and a sealing ring. The sealing cylinder is fitted outside the output shaft and installed inside the connecting block, and the sealing ring is installed between the sealing cylinder and the connecting block and / or between the sealing cylinder and the output shaft. The output shaft is rotatably mounted on the connecting block via bearings, and the bearings are mounted at both ends of the sealing cylinder; The connecting block has a pressure relief port, which is located between the bearing and the sealing ring.

7. The linear rotary actuator as described in claim 1, characterized in that, One end of the connecting block is further provided with a wire groove for accommodating wires connected to the linear drive assembly. A wire clamping plate is also provided on the wire groove for pressing the wires into the wire groove; and / or... The linear drive assembly includes a multi-segment linear motor.

8. The linear rotary actuator as described in claim 1, characterized in that, The linear rotary actuator also includes a temperature sensor, which is disposed between the rotary drive assembly and the elastic element, and is used to detect the temperature of the rotary drive assembly.

9. The linear rotary actuator as described in claim 1, characterized in that, The elastic element is arranged along the first direction and is located between the rotary drive assembly and the air tube assembly.

10. The linear rotary actuator as claimed in claim 1, characterized in that, The linear rotary actuator further includes a guide assembly, which includes a sliding block and a guide rail. The guide rail is installed on the housing and extends along the first direction. The slider is connected to the bottom of the connecting block, and the connecting block has a through hole through which oil is injected into the slider's oil injection hole.

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