A push rod motor

Abstract

The application discloses a push rod motor, which comprises a shell, a driving assembly, a speed reduction transmission assembly and a push rod assembly; the driving assembly comprises a brushless motor provided with a main shaft; the speed reduction transmission assembly comprises at least one planetary gear; the planetary gear is in transmission connection with the main shaft; the main shaft drives the planetary gear to revolve around the main shaft through rotation; the push rod assembly comprises a screw rod and a telescopic rod; and the planetary gear is arranged on the screw rod. The driving assembly adopts the brushless motor, so that the noise of the push rod motor is reduced, and the efficiency is improved; the speed reduction transmission assembly adopts the planetary gear speed reduction mechanism; compared with the existing worm and gear structure, the transmission efficiency can be improved by 2 to 3 times; moreover, the planetary gear speed reduction mechanism can improve the layout of the push rod motor, reduce the overall radial size of the push rod motor, and facilitate the installation of the push rod motor; meanwhile, the length of the brushless motor can be integrated into the direction of the telescopic rod, so that the material of the telescopic rod can be saved under the condition of a long installation distance, and the material cost is reduced.

Description

Technical Field

[0001] This application relates to the field of motor technology, and in particular to a push rod motor. Background Technology

[0002] Most current linear actuator motors use brushed motors. Because brushed motors include carbon brushes, they generate a lot of noise during operation, and brushed motors have a shorter lifespan and lower efficiency.

[0003] Furthermore, most push rod motors use worm gear reduction systems. Due to the limitations of the worm gear mechanism, the motor body in the push rod motor cannot be coaxially set with the telescopic rod in the push rod motor. This results in a large radial dimension and irregular shape for the overall push rod motor, which can easily lead to problems with the installation of the push rod motor.

[0004] Meanwhile, since the overall length of the push rod motor cannot be increased, the length of the telescopic rod needs to be increased when the installation distance is long, which leads to waste of push rod materials and increases material costs. Utility Model Content

[0005] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a push rod motor that uses a brushless motor to reduce the noise of the push rod motor and optimizes the layout of the push rod motor by setting planetary gears.

[0006] According to a first aspect embodiment of the present application, the push rod motor includes a housing, a drive assembly, a reduction transmission assembly, and a push rod assembly. The drive assembly is disposed inside the housing and includes a brushless motor with a main shaft. The reduction transmission assembly is disposed inside the housing and includes at least one planetary gear, which is connected to the main shaft. The main shaft drives the planetary gear to revolve around the main shaft by rotation. The push rod assembly includes a lead screw and a telescopic rod. The main shaft, the lead screw, and the telescopic rod are coaxially arranged. The planetary gear is disposed on the lead screw, and the lead screw drives the telescopic rod to extend or retract relative to the housing by rotation.

[0007] The push rod motor according to the embodiments of this application has at least the following beneficial effects: the drive component adopts a brushless motor, which reduces the noise of the push rod motor and improves efficiency; the reduction transmission component adopts a planetary gear reduction mechanism, which can improve the transmission efficiency by 2 to 3 times compared with the existing worm gear structure; furthermore, the planetary gear reduction mechanism can improve the layout of the push rod motor, reduce the overall radial dimension of the push rod motor, and facilitate the installation of the push rod motor; at the same time, the length of the brushless motor can be integrated into the direction of the telescopic rod, which can save the material of the telescopic rod and reduce material costs in the case of long installation distance.

[0008] According to some embodiments of this application, the housing has an internal partition structure that defines a first space and a second space within the housing. The first space is used to accommodate a drive assembly, and the second space is used to accommodate a speed reduction transmission assembly and the push rod assembly. The main shaft passes through the partition structure to drive the planetary gears.

[0009] According to some embodiments of this application, the housing has an internal partition structure that defines a first space and a second space within the housing. The first space is used to accommodate a drive assembly, and the second space is used to accommodate a speed reduction transmission assembly and the push rod assembly. The main shaft passes through the partition structure to drive the planetary gears.

[0010] According to some embodiments of this application, the partition structure is provided with a first bearing mounting structure for mounting a first bearing, and the partition structure supports the rotatable main shaft through the first bearing.

[0011] According to some embodiments of this application, the inner wall of the housing is provided with a second bearing mounting structure for mounting a second bearing, and the housing supports the rotatable main shaft through the second bearing.

[0012] According to some embodiments of this application, the brushless motor includes a stator and a rotor fixedly connected to the main shaft. The stator surrounds the outside of the rotor, and an axial positioning structure and a radial positioning structure are provided between the housing and the stator.

[0013] According to some embodiments of this application, the motor axial positioning structure includes a motor axial positioning groove disposed on the housing and a motor axial positioning protrusion disposed on the stator, wherein the motor axial positioning protrusion can be embedded into the motor axial positioning groove.

[0014] According to some embodiments of this application, the motor radial positioning structure includes a motor radial positioning protrusion disposed on the housing and a motor radial positioning groove disposed on the stator, wherein the motor radial positioning protrusion can be embedded in the motor radial positioning groove.

[0015] According to some embodiments of this application, the speed reduction transmission assembly further includes a sun gear disposed on the main shaft and a gear ring disposed on the housing, wherein the planetary gears mesh between the sun gear and the gear ring.

[0016] According to some embodiments of this application, the teeth of the planetary gear, the sun gear, and the gear ring are all helical teeth.

[0017] According to some embodiments of this application, an axial positioning structure and a radial positioning structure for the gear ring are provided between the gear ring and the outer shell.

[0018] According to some embodiments of this application, the gear ring axial positioning structure includes a gear ring axial positioning groove disposed in the housing, and the gear ring can be embedded in the gear ring axial positioning groove.

[0019] According to some embodiments of this application, the gear ring radial positioning structure includes a gear ring radial positioning notch disposed within the range of the gear ring axial positioning groove and a gear ring radial positioning block disposed on the gear ring, wherein the gear ring radial positioning block can be embedded into the gear ring radial positioning notch.

[0020] According to some embodiments of this application, the lead screw is provided with a planetary gear carrier, the planetary gear carrier is provided with a rotating shaft, and the planetary gears are rotatably mounted on the rotating shaft.

[0021] According to some embodiments of this application, the inner wall of the housing is provided with a third bearing mounting structure for mounting a third bearing, and the housing supports the rotatable lead screw through the third bearing.

[0022] According to some embodiments of this application, the push rod assembly further includes a nut component with internal threads, the nut component engaging with the lead screw via the internal threads.

[0023] According to some embodiments of this application, the telescopic rod and the nut component are threadedly connected.

[0024] According to some embodiments of this application, the telescopic rod has a hollow structure, the hollow part of the telescopic rod is used to accommodate the lead screw, and the end of the telescopic rod is provided with a detachable end head, which can cover the end opening of the telescopic rod.

[0025] According to some embodiments of this application, the push rod assembly further includes a fixing rod, and the housing is provided with a fixing rod mounting structure for mounting the fixing rod.

[0026] According to some embodiments of this application, the fixing rod mounting structure includes a fixing rod mounting protrusion disposed on the housing and a fixing rod mounting groove disposed on the fixing rod, wherein the fixing rod mounting protrusion can be embedded into the fixing rod mounting groove.

[0027] According to some embodiments of this application, the fixing rod is a hollow structure, and the hollow part of the fixing rod is used to accommodate the lead screw, the nut component and the telescopic rod. A nut component guide structure is provided between the fixing rod and the nut component.

[0028] According to some embodiments of this application, the nut component guide structure includes a guide protrusion disposed on the fixing rod and a guide groove disposed on the nut component, wherein the guide protrusion can be embedded in the guide groove to limit the sliding of the nut component along the guide protrusion.

[0029] According to some embodiments of this application, the push rod motor further includes a control system, the control system comprising:

[0030] The self-learning module is used to acquire self-learning requests and generate motion commands through the self-learning requests. The telescopic rod can reach the limit position of the telescopic movement according to the motion commands, which is recorded as the critical point.

[0031] A reserved module is used to obtain a reserved gap for the operation settings of the push rod motor, and to determine the operating point range of the push rod motor through the reserved gap and the critical point.

[0032] An adaptive control module is used to obtain the running direction and running position of the push rod motor at the current moment, to determine whether the running position falls within the running position interval corresponding to the running direction, and to determine whether the push rod motor has run to a stall point, so as to control the running state of the push rod motor.

[0033] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0034] The present application will be further illustrated below with reference to the accompanying drawings and embodiments. It should be noted that the embodiments illustrated in the following drawings are exemplary and are only used to explain the present application, and should not be construed as limiting the present application.

[0035] Figure 1 This is a schematic diagram of the push rod motor according to an embodiment of this application;

[0036] Figure 2 This is a cross-sectional structural diagram of the push rod motor according to an embodiment of this application;

[0037] Figure 3 This is a cross-sectional view of the push rod motor according to an embodiment of this application;

[0038] Figure 4 This is the push rod motor in the embodiment of this application. Figure 3 A magnified view of part A in the middle;

[0039] Figure 5 This is a schematic diagram of the housing of the push rod motor in an embodiment of this application;

[0040] Figure 6 This is a schematic diagram of the internal structure of the housing of the push rod motor in an embodiment of this application;

[0041] Figure 7 This is a schematic diagram of the brushless motor in the push rod motor of this application embodiment;

[0042] Figure 8 This is a schematic diagram of the speed reduction transmission assembly in the push rod motor according to an embodiment of this application;

[0043] Figure 9 This is a schematic diagram of the push rod assembly in the push rod motor according to an embodiment of this application;

[0044] Figure 10 This is a cross-sectional view of the push rod assembly in the push rod motor of this application embodiment;

[0045] Figure 11 This is a schematic diagram of the planetary gear carrier in the push rod motor according to an embodiment of this application;

[0046] Figure 12 This is a schematic diagram of the nut component in the push rod motor according to an embodiment of this application;

[0047] Figure 13 This is a cross-sectional view of the telescopic rod and end of the push rod motor in the embodiment of this application;

[0048] Figure 14 This is a schematic diagram of the structure of the fixed rod in the push rod motor of this application embodiment;

[0049] Figure 15 This is a cross-sectional view of the fixed rod in the push rod motor of this application embodiment.

[0050] Figure label:

[0051] 100. Outer shell; 101. Separation structure; 102. First space; 103. Second space; 104. First bearing; 105. First bearing mounting structure; 106. Second bearing; 107. Second bearing mounting structure; 108. Third bearing; 109. Third bearing mounting structure;

[0052] 200. Brushless motor; 201. Spindle; 202. Stator; 203. Rotor; 204. Motor axial positioning slot; 205. Motor axial positioning protrusion; 206. Motor radial positioning protrusion; 207. Motor radial positioning slot;

[0053] 301. Planetary gear; 302. Sun gear; 303. Gear ring; 304. Axial positioning groove of gear ring; 305. Radial positioning notch of gear ring; 306. Radial positioning block of gear ring;

[0054] 401. Lead screw; 402. Telescopic rod; 403. Planetary gear carrier; 404. Shaft; 405. Nut assembly; 406. End; 407. Fixing rod; 408. Fixing rod mounting protrusion; 409. Fixing rod mounting groove; 410. Guide protrusion; 411. Guide groove. Detailed Implementation

[0055] The embodiments of this application are described in detail below with reference to the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0056] In the description of this application, it should be understood that the terms "center", "middle", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, 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, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0057] In the description of this application, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing 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 order of the indicated technical features.

[0058] In the description of this application, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection 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 application based on the specific circumstances.

[0059] In the description of this application, the use of terms such as "one embodiment," "some embodiments," "an example," "some instances," "some embodiments," "illustrative embodiment," "example," "specific example," and "some examples" indicates that the specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0060] This application provides a linear actuator motor, which includes a housing 100, a drive assembly, a reduction gear assembly, and a actuator assembly. The drive assembly and the reduction gear assembly are located inside the housing 100, which protects them. The drive assembly provides power to the linear actuator motor. The drive assembly, reduction gear assembly, and actuator assembly are connected by a transmission relationship. The torque output by the drive assembly drives the reduction gear assembly to rotate, which then transmits the torque to the actuator assembly. Finally, the actuator assembly converts the rotational motion into linear motion, thus enabling the linear actuator motor to output linear motion.

[0061] Traditional linear actuator motors mostly employ worm gear reduction systems. According to the transmission principle of worm gear mechanisms, the worm wheel and worm cannot be arranged coaxially, resulting in a large overall radial dimension of the linear actuator motor, which is detrimental to its installation. Furthermore, because the worm wheel and worm cannot be arranged coaxially, traditional linear actuator motors cannot integrate the length of the drive components into the direction of the actuator. When the installation distance of the linear actuator motor is large, it wastes material from the actuator, increasing material costs.

[0062] Specifically, such as Figure 1 , Figure 2 and Figure 3 As shown, the structural form of the speed reduction transmission assembly in this application ensures that the drive assembly and the push rod assembly are arranged coaxially. On the one hand, the coaxial drive assembly and push rod assembly help reduce the overall radial dimension of the push rod motor, facilitating the installation of the push rod motor; on the other hand, the length of the drive assembly can be integrated into the extension direction of the push rod assembly, which helps save material for the push rod assembly and reduce material costs when the installation distance of the push rod motor is large.

[0063] like Figure 4 , Figure 5 and Figure 6 As shown, in some examples, the housing 100 encloses the drive assembly and the reduction gear assembly, thereby protecting them. Simultaneously, a portion of the push rod assembly is located inside the housing 100, which also provides some protection for the push rod assembly.

[0064] Furthermore, to facilitate the installation of the drive assembly and the reduction gear assembly inside the housing 100, the housing 100 includes a first housing and a second housing, which are detachably connected. During the assembly of the push rod motor, the first housing and the second housing are first disassembled, separating them into two independent parts, thereby facilitating the installation of the drive assembly and the reduction gear assembly inside the housing 100. After the drive assembly and the reduction gear assembly are installed in the first housing or the second housing, the first housing and the second housing are assembled as a single unit.

[0065] The first and second housings are detachably connected by fasteners. Specifically, the fasteners can be screws. The first housing has a threaded hole, and the second housing has a through hole at a corresponding position. The fastener passes through the through hole and connects to the threaded hole, thereby connecting the first and second housings. Alternatively, the threaded hole can be located in the second housing, in which case the through hole is located in the first housing.

[0066] Furthermore, the outer casing 100 enables the connection between the push rod motor and the external structure. Specifically, when the outer casing 100 needs to be rotatably connected to the external structure, both the first and second casings are provided with lugs, and there is a certain gap between the two lugs. Each lug has a connecting hole and a hinge pin that can be inserted into the connecting hole. The external structure can be inserted into the gap between the two lugs, and in this case, the lugs and the external structure are rotatably connected via the hinge pin.

[0067] like Figure 7 As shown, in some examples, the drive assembly is located inside the housing 100, and the drive assembly includes a brushless motor 200. Traditional linear actuator motors mostly use brushed motors, which are noisy, have short lifespans, and low efficiency, thus limiting their effectiveness. This application uses a brushless motor 200. Because it lacks a carbon brush structure, the brushless motor 200 has a longer lifespan, lower noise, and is more than 15% more efficient than a brushed motor of the same size.

[0068] The brushless motor 200 is equipped with a main shaft 201. It can be understood that the brushless motor 200 outputs torque to the outside through the main shaft 201, thereby driving the speed reduction transmission component to rotate. The speed reduction transmission component then transmits the torque to the push rod assembly, ultimately realizing the movement of the push rod assembly.

[0069] like Figure 8 As shown, in some examples, the reduction gear assembly is located inside the housing 100, and the reduction gear assembly adopts a planetary gear reduction mechanism. Since the push rod motor of this application adopts a planetary gear reduction mechanism, it is convenient to arrange the drive assembly and the push rod assembly coaxially, thereby reducing the radial dimension of the push rod motor, and also making it easier to integrate the length of the brushless motor 200 into the direction of the push rod assembly.

[0070] Furthermore, the reduction gear assembly includes planetary gears 301, and at least one planetary gear 301 is provided. Specifically, this application provides three planetary gears 301.

[0071] Simultaneously, planetary gear 301 is connected to the main shaft 201 via a transmission connection, and the rotation of the main shaft 201 drives the planetary gear 301 to rotate as well. It is worth noting that the planetary gear 301 also revolves around the main shaft 201 during its rotation. Compared to the worm gear structure in traditional linear actuator motors, the transmission efficiency of the planetary gear 301 reduction mechanism can be increased by 2 to 3 times.

[0072] like Figure 9 and Figure 10 As shown, in some examples, the push rod assembly includes a lead screw 401 and a telescopic rod 402, and a planetary gear 301 is disposed on the lead screw 401. When the planetary gear 301 revolves around the main shaft 201, the planetary gear 301 drives the lead screw 401 to rotate together.

[0073] Furthermore, the lead screw 401 and the telescopic rod 402 are connected by a lead screw and nut mechanism, so the push rod assembly can convert the rotational motion of the lead screw 401 into the linear motion of the telescopic rod 402, thereby realizing the telescopic motion of the telescopic rod 402 relative to the outer shell 100.

[0074] like Figure 6 As shown, in some examples, housing 100 is a hollow component, with one end open and the other end closed. The drive assembly is located at the closed end of housing 100, while the push rod assembly is located at the open end of housing 100, facilitating the extension of the push rod assembly from the inside of housing 100 to the outside of housing 100.

[0075] The housing 100 has an internal partition structure 101 that divides the internal space of the housing 100 into a first space 102 and a second space 103. The first space 102 is located near the closed end of the housing 100, and the second space 103 is located near the open end of the housing 100. Therefore, the first space 102 is used to accommodate the drive assembly, and the second space 103 is used to accommodate the reduction transmission assembly and the push rod assembly.

[0076] Understandably, since the main shaft 201 can transmit torque between the drive assembly and the reduction gear assembly, the main shaft 201 needs to pass through the partition structure 101 to be connected to the planetary gear 301 for transmission. To facilitate the main shaft 201 passing through the partition structure 101, a hole structure is provided in the middle of the partition structure 101.

[0077] In some examples, the spindle 201 transmits torque to the reduction gear assembly through its own rotation. To facilitate the rotation of the spindle 201, a first bearing 104 is installed in the partition structure 101. The first bearing 104 is mounted on the hole structure through its outer edge, and the spindle 201 passes through the inner hole of the first bearing 104. The first bearing 104 can support the spindle 201 while allowing it to rotate, thereby initially ensuring the stability of the position of the spindle 201 inside the housing 100.

[0078] Furthermore, to facilitate the placement of the first bearing 104 on the partition structure 101, the partition structure 101 is provided with a first bearing mounting structure 105. Specifically, the first bearing mounting structure 105 includes bosses disposed at both ends of the hole structure, and the bosses extend a certain distance into the interior region of the hole structure, thus forming annular grooves on the inner wall of the hole structure with the bosses at both ends of the hole structure. It can be understood that the width of the annular groove corresponds to the width of the first bearing 104, and the first bearing 104 is embedded in the annular groove, thereby achieving the positioning of the first bearing 104.

[0079] In some examples, the spindle 201 is not stable enough to be supported by the first bearing 104 alone, so a second bearing 106 is also installed inside the housing 100. The spindle 201 also passes through the inner hole of the second bearing 106. The first bearing 104 and the second bearing 106 jointly support the spindle 201, thereby ensuring the stability of the spindle 201, and the first bearing 104 and the second bearing 106 do not affect the rotation of the spindle 201.

[0080] To facilitate the mounting of the second bearing 106 on the housing 100, a second bearing mounting structure 107 is provided on the inner wall of the housing 100. The second bearing mounting structure 107 is used to mount the second bearing 106. It can be understood that since the main shaft 201 is a straight shaft structure, the first bearing 104 and the second bearing 106 need to be coaxial. Therefore, the first bearing mounting structure 105 and the second bearing mounting structure 107 also need to be coaxial.

[0081] Specifically, the second bearing mounting structure 107 is disposed at the closed end of the housing 100. The second bearing mounting structure 107 includes an annular boss disposed on the inner wall of the housing 100, and the annular boss defines a groove structure. It can be understood that the shape of the groove structure defined by the annular boss corresponds to the shape of the second bearing 106, and the second bearing 106 is embedded in the groove structure, thereby achieving the positioning of the second bearing 106.

[0082] like Figure 3 , Figure 4 and Figure 7 As shown, in some examples, the brushless motor 200 includes a stator 202 and a rotor 203. The stator 202 is mounted on the inner wall of the housing 100, while the rotor 203 is fixedly connected to the spindle 201, and the stator 202 surrounds the outer side of the rotor 203.

[0083] Furthermore, the stator 202 needs to be positioned on the inner wall of the housing 100, so that the stator 202 and the housing 100 form a whole, preventing relative movement between the stator 202 and the housing 100. Therefore, a positioning structure is provided between the housing 100 and the stator 202.

[0084] Specifically, the positioning structures between the housing 100 and the stator 202 include a motor axial positioning structure and a motor radial positioning structure. It is understood that the motor axial positioning structure is used to lock the axial position of the stator 202, while the motor radial positioning structure is used to lock the radial position of the stator 202.

[0085] like Figure 6 and Figure 7 As shown, in some examples, the motor axial positioning structure includes a motor axial positioning groove 204 and a motor axial positioning protrusion 205. The stator 202 is generally formed into an annular structure. To adapt to the shape of the stator 202, the motor axial positioning groove 204 is formed into an annular groove disposed on the inner wall of the housing 100, while the motor axial positioning protrusion 205 is disposed on the outer wall of the stator 202.

[0086] It is understandable that the shape of the motor axial positioning groove 204 corresponds to the shape of the motor axial positioning protrusion 205, ensuring that the motor axial positioning protrusion 205 can be embedded in the motor axial positioning groove 204, thereby realizing the axial positioning of the stator 202.

[0087] like Figure 6 and Figure 7 As shown, in some examples, the motor radial positioning structure includes a motor radial positioning groove 207 and a motor radial positioning protrusion 206. The motor radial positioning groove 207 is disposed on the outer wall of the stator 202, while the motor radial positioning protrusion 206 is disposed on the inner wall of the housing 100.

[0088] Specifically, the motor radial positioning groove 207 extends along the axial direction of the push rod motor, and correspondingly, the motor radial positioning protrusion 206 also extends along the axial direction of the push rod motor. It can be understood that the shape of the motor radial positioning groove 207 corresponds to the shape of the motor radial positioning protrusion 206, ensuring that the motor radial positioning protrusion 206 can be embedded in the motor radial positioning groove 207, thereby achieving the radial positioning of the stator 202.

[0089] like Figure 7 and Figure 8 As shown, in some examples, the speed reduction transmission assembly also includes a sun gear 302, and the sun gear 302 and planet gears 301 cooperate to form a planet gear mechanism.

[0090] The sun gear 302 is fixedly mounted to the main shaft 201, and the sun gear 302 and the planet gears 301 are meshed together. Specifically, both the sun gear 302 and the planet gears 301 are gears.

[0091] Furthermore, the reduction gear assembly also includes a gear ring 303, which is disposed on the housing 100 and meshes with the planet gears 301. Therefore, the planet gears 301 mesh between the sun gear 302 and the gear ring 303.

[0092] During operation, the main shaft 201 drives the sun gear 302 to rotate. Since the sun gear 302 and planet gears 301 mesh, the planet gears 301 will rotate relative to the sun gear 302. At the same time, since the planet gears 301 also mesh with the ring gear 303, under the joint constraint of the ring gear 303 and the sun gear 302, the planet gears 301 revolve around the sun gear 302.

[0093] In some examples, the teeth of planetary gear 301, sun gear 302, and ring gear 303 are all helical teeth.

[0094] In some examples, the gear ring 303 needs to be positioned on the inner wall of the housing 100 so that the gear ring 303 and the housing 100 form a whole, preventing relative movement between the gear ring 303 and the housing 100. Therefore, a positioning structure is provided between the housing 100 and the gear ring 303.

[0095] Specifically, the positioning structures between the housing 100 and the gear ring 303 include an axial positioning structure and a radial positioning structure. It is understood that the axial positioning structure is used to lock the axial position of the gear ring 303, while the radial positioning structure is used to lock the radial position of the gear ring 303.

[0096] like Figure 6 and Figure 8 As shown, in some examples, the gear ring axial positioning structure includes a gear ring axial positioning groove 304. The gear ring 303 is formed as a ring structure, and to accommodate the shape of the gear ring 303, the gear ring axial positioning groove 304 is an annular groove disposed on the inner wall of the housing 100.

[0097] It is understandable that the width of the axial positioning groove 304 of the gear ring corresponds to the thickness of the gear ring 303, which facilitates the gear ring 303 to be embedded in the axial positioning groove 304, thereby achieving the axial positioning of the gear ring 303.

[0098] like Figure 6 and Figure 8 As shown, in some examples, the radial positioning structure of the gear ring includes a radial positioning notch 305 and a radial positioning block 306. The radial positioning notch 305 is disposed on the housing 100. Since the outer edge of the gear ring 303 is located within the range of the axial positioning groove 304, the radial positioning notch 305 is positioned within the range of the axial positioning groove 304 to facilitate its action on the gear ring 303. Simultaneously, the radial positioning block 306 is disposed on the outer edge of the gear ring 303.

[0099] It is understandable that the shape of the radial positioning notch 305 of the gear ring corresponds to the shape of the radial positioning block 306 of the gear ring, which facilitates the insertion of the radial positioning block 306 of the gear ring into the radial positioning notch 305 of the gear ring, thereby realizing the radial positioning of the gear ring 303.

[0100] In some examples, the sun gear 302, planet gears 301, and ring gear 303 need to be coaxially aligned to facilitate the coaxial alignment of the spindle 201, lead screw 401, and telescopic rod 402. Therefore, compared to traditional linear actuator motors, the linear actuator motor of this application has a compact structure, integrating the length of the brushless motor 200 into the direction of the telescopic rod 402. When the linear actuator motor of this application requires long-distance installation, the coaxial alignment of the brushless motor 200 and the telescopic rod 402 effectively saves material for the telescopic rod 402, thereby reducing material costs.

[0101] like Figure 11 As shown, in some examples, to ensure the installation of planetary gear 301, lead screw 401 is provided with planetary gear carrier 403, which is located at the end of lead screw 401 used to install planetary gear 301.

[0102] The lead screw 401 is coaxial with the main shaft 201, and the sun gear 302 mounted on the main shaft 201 is also coaxial with the main shaft 201. Therefore, the sun gear 302 is also located at the axis of the lead screw 401. Meanwhile, since the planet gears 301 need to mesh around the sun gear 302, the planet gears 301 are offset from the axis of the lead screw 401. To ensure that the planet gears 301 can be installed in the preset positions, the planetary gear carrier 403 needs to extend radially outward along the lead screw 401; that is, the radial dimension of the planetary gear carrier 403 is greater than the radial dimension of the lead screw 401.

[0103] Furthermore, the planetary gear carrier 403 is provided with a rotating shaft 404, the position of which corresponds to the preset position of the planetary gears 301. It can be understood that the planetary gears 301 are rotatably mounted on the planetary gear carrier 403 via the rotating shaft 404, ensuring that the planetary gears 301 can rotate under the action of the sun gear 302.

[0104] like Figure 4 As shown, in some examples, in order to ensure the stability of the lead screw 401 and keep the lead screw 401 and the rotating shaft 404 coaxial, the push rod motor of this application is also provided with a third bearing 108.

[0105] The third bearing 108 is mounted on the inner wall of the housing 100 via its outer edge, and the lead screw 401 is mounted in the inner hole of the third bearing 108. The third bearing 108 can support the lead screw 401, and at the same time, the third bearing 108 does not affect the rotation of the lead screw 401.

[0106] It is understandable that the outer wall of the lead screw 401 is provided with a mating section for engaging with the third bearing 108, thereby ensuring the connection between the third bearing 108 and the lead screw 401.

[0107] Furthermore, the third bearing 108 is installed close to the planetary gear carrier 403. To avoid frequent friction between the end faces of the planetary gear carrier 403 and the third bearing 108, a stepped structure is provided between the mating section of the lead screw 401 and the planetary gear carrier 403. The end face of the third bearing 108 contacts the stepped surface of the stepped structure, thereby isolating the third bearing 108 and the planetary gear carrier 403 and preventing friction between the third bearing 108 and the planetary gear carrier 403 from affecting the rotation of the planetary gear carrier 403.

[0108] In addition, the inner wall of the outer casing 100 is provided with a third bearing mounting structure 109, which is used to mount the third bearing 108, thereby ensuring that the third bearing 108 is stably mounted inside the outer casing 100.

[0109] Specifically, the third bearing mounting structure 109 includes two bosses disposed on the inner wall of the housing 100, the two bosses being spaced apart from each other to form a groove structure for accommodating the third bearing 108. It is understood that the distance between the two bosses corresponds to the thickness of the third bearing 108, and when the third bearing 108 is embedded in the groove structure formed by the two bosses, axial movement of the third bearing 108 relative to the housing 100 can be avoided.

[0110] like Figure 12 As shown, in some examples, the push rod assembly also includes a nut component 405. It is understood that the outer wall of the lead screw 401 is provided with external threads, while the nut component 405 is a hollow structure. The hollow part of the nut component 405 is provided with internal threads. The internal threads and external threads mesh with each other, thereby forming a lead screw and nut mechanism between the lead screw 401 and the nut component 405.

[0111] Furthermore, the telescopic rod 402 is mounted on the nut component 405. When the planetary gear 301 revolves around the sun gear 302, the planetary gear carrier 403 rotates, thereby driving the lead screw 401 to rotate. Under the constraint of the internal and external threads, as the lead screw 401 rotates, the nut component 405 will move linearly along the lead screw 401, thereby driving the telescopic rod 402 to extend and retract.

[0112] In some examples, the telescopic rod 402 and the nut component 405 are connected by threads.

[0113] Specifically, the nut component 405 is provided with external threads, while the telescopic rod 402 is a hollow component. The hollow part of the telescopic rod 402 is provided with internal threads, and the internal threads are located close to the end of the telescopic rod 402. The nut component 405 and the telescopic rod 402 form a detachable threaded connection through the internal and external threads here.

[0114] like Figure 13 As shown, in some examples, in order to ensure the extension and retraction stroke of the telescopic rod 402, the lead screw 401 that cooperates with the nut component 405 has a certain length, and the hollow telescopic rod 402 can accommodate the lead screw 401 with a certain length.

[0115] Furthermore, the end of the telescopic rod 402 is provided with a detachable end head 406, which can cover the end opening of the telescopic rod 402, thereby enclosing the lead screw 401 inside the telescopic rod 402 and preventing substances from the external environment from adhering to the lead screw 401. At the same time, the end head 406 is also used to connect to an external structure, thereby allowing the telescopic motion of the push rod motor to be output to the external structure.

[0116] Specifically, the portion of the telescopic rod 402 used for mounting the end 406 is also provided with internal threads, and the outer wall of the end 406 is provided with external threads. The telescopic rod 402 and the end 406 form a detachable threaded connection through the internal and external threads here.

[0117] like Figure 14 As shown, in some examples, the push rod assembly also includes a fixed rod 407, which is also a hollow structure. Parts of the nut component 405 and the telescopic rod 402 are located inside the fixed rod 407, so the fixed rod 407 has the function of protecting the nut component 405 and the telescopic rod 402.

[0118] Meanwhile, the fixing rod 407 also prevents the nut component 405 from rotating. When the lead screw 401 rotates, if the nut component 405 rotates with the lead screw 401 at the same amplitude, the nut component 405 and the lead screw 401 do not rotate relative to each other, and the telescopic rod 402 cannot complete the telescopic movement. In this application, because the fixing rod 407 restricts the rotation of the nut component 405, the lead screw 401 and the nut component 405 can rotate relative to each other, thereby ensuring that the telescopic rod 402 can smoothly complete the telescopic movement.

[0119] Furthermore, the fixing rod 407 is installed on the housing 100. To facilitate the installation of the fixing rod 407, a fixing rod installation structure is provided between the housing 100 and the fixing rod 407.

[0120] like Figure 6 and Figure 15 As shown, in some examples, the fixing rod mounting structure includes a fixing rod mounting protrusion 408 and a fixing rod mounting groove 409.

[0121] The fixing rod mounting protrusion 408 is disposed on the inner wall of the outer casing 100, and the fixing rod mounting groove 409 is disposed on the outer wall of the fixing rod 407. It can be understood that the fixing rod mounting groove 409 is formed as an annular groove.

[0122] Furthermore, the width of the fixing rod mounting protrusion 408 corresponds to the width of the fixing rod mounting groove 409. When the fixing rod mounting protrusion 408 is embedded in the fixing rod mounting groove 409, the fixing rod 407 completes the installation process.

[0123] In some examples, a nut component guide structure is provided between the fixed rod 407 and the nut component 405. The fixed rod 407 prevents the nut component 405 from rotating through the nut component guide structure, and the nut component guide structure can guide the nut component 405 to perform linear motion. Therefore, the nut component 405 can drive the telescopic rod 402 to perform telescopic motion.

[0124] like Figure 12 and Figure 15 As shown, in some examples, the nut component guide structure includes a guide protrusion 410 and a guide groove 411.

[0125] The guide protrusion 410 is disposed on the inner wall of the fixing rod 407, and the extension direction of the guide protrusion 410 is a straight line. At the same time, the guide groove 411 is disposed on the outer wall of the nut component 405, and the width of the guide groove 411 corresponds to the width of the guide protrusion 410. The guide protrusion 410 is embedded in the guide groove 411, thereby forming a sliding connection between the nut component 405 and the fixing rod 407, which facilitates the sliding of the nut component 405 along the extension direction of the guide protrusion 410.

[0126] In some examples, the linear actuator also includes a control system, which includes a self-learning module, a reserved module, and an adaptive control module.

[0127] The system includes a testing phase before the push rod motor is used. During the testing phase, the tester sends a self-learning request to the control system, enabling the control system to acquire the request. Upon receiving the self-learning request, the control system generates a telescopic motion command based on the request. Specifically, the push rod motor selects to execute either the contraction motion first and then the extension motion, or vice versa, depending on the actual situation. This embodiment uses the example of executing the contraction motion first and then the extension motion for illustration.

[0128] The control system first outputs a retraction motion command to the motor and controls the motor to run in reverse. During the motor's reverse movement, it detects whether the push rod motor is in a retracted state, i.e., whether the motor has reached the reverse stall point. During this process, the current value of the motor at this time is acquired and compared with a preset current value. If the acquired current value is greater than the preset current value, it indicates that the motor has reached the reverse stall point; if the acquired current value is not greater than the preset current value, it indicates that the motor has not reached the reverse stall point.

[0129] Under normal circumstances, when a motor is moving forward or backward, its current value remains relatively stable and does not suddenly increase. The preset current value is a value higher than the motor's normal operating current value. This preset current value can be determined based on the sensitivity requirements for detecting whether the stall point has been reached. If lower sensitivity is required, the preset current value can be set larger; if higher sensitivity is required, the preset current value can be set smaller. However, regardless of the specific value used, the preset current value must be higher than the maximum current value of the motor during normal operation.

[0130] Furthermore, if the motor does not reach the reverse stall point, the motor needs to continue to move in the reverse direction until it reaches the reverse stall point and then stops moving in the reverse direction; if the motor reaches the reverse stall point, the control system will record the point where the motor is rotating at this time as the critical point, that is, the contraction critical point.

[0131] Simultaneously, an extension motion command is output to the motor to control its forward operation, and the system detects whether the motor has reached the forward stall point during forward operation. The working principle for detecting whether the motor has reached the forward stall point is the same as that for detecting whether the motor has reached the reverse stall point.

[0132] Specifically, the preset current value corresponding to the reverse stall point can be the same as the preset current value corresponding to the forward stall point, or it can be different from the preset current value corresponding to the forward stall point.

[0133] If the motor has not reached the forward stall point, it will continue to move in the forward direction until it reaches the stall point. If the motor does reach the stall point, the control system will record this point as the critical point, i.e., the extension critical point.

[0134] Upon receiving a self-learning request, motion commands are generated and output based on the request to make the motor move. At the same time, the critical points corresponding to the contraction state and the extension state are recorded. Based on the two critical points, the approximate stroke of the motor is obtained, providing relevant information for subsequent motor control. In this way, the operating state of the push rod motor is controlled.

[0135] Compared to traditional push rod motors, the push rod motor of this application reduces motor noise, ensures high efficiency, and extends service life by employing a brushless motor 200. Simultaneously, the push rod motor of this application uses a planetary gear type reduction transmission assembly, resulting in high system transmission efficiency, which can be 2 to 3 times higher than the transmission efficiency of existing worm gear structures. Furthermore, the push rod motor of this application integrates the motor length into the direction of the push rod assembly, saving material for the push rod assembly and reducing material costs in cases of long installation distances. Additionally, the use of a control system eliminates the need for travel limit switches, reducing structural costs.

[0136] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application. Furthermore, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

Claims

1. A push rod motor, characterized in that, include: shell; A drive assembly is disposed inside the housing, the drive assembly including a brushless motor with a spindle; A speed reduction transmission assembly is disposed inside the housing. The speed reduction transmission assembly includes at least one planetary gear, which is connected to the main shaft. The main shaft drives the planetary gear to revolve around the main shaft by rotation. A push rod assembly includes a lead screw and a telescopic rod. The main shaft, the lead screw, and the telescopic rod are coaxially arranged. The planetary gear is disposed on the lead screw. The lead screw drives the telescopic rod to perform telescopic movement relative to the housing by rotation.

2. The push rod motor according to claim 1, characterized in that, The housing has an internal partition structure that defines a first space and a second space within the housing. The first space is used to accommodate the drive assembly, and the second space is used to accommodate the speed reduction transmission assembly and the push rod assembly. The main shaft passes through the partition structure to drive the planetary gears.

3. The push rod motor according to claim 2, characterized in that, The partition structure is provided with a first bearing mounting structure for mounting a first bearing, and the partition structure supports the rotatable main shaft through the first bearing.

4. The push rod motor according to claim 2, characterized in that, The inner wall of the housing is provided with a second bearing mounting structure for mounting a second bearing, and the housing supports the rotatable main shaft through the second bearing.

5. The push rod motor according to claim 1, characterized in that, The brushless motor includes a stator and a rotor fixedly connected to the main shaft. The stator surrounds the outside of the rotor. An axial positioning structure and a radial positioning structure are provided between the housing and the stator.

6. The push rod motor according to claim 5, characterized in that, The motor axial positioning structure includes a motor axial positioning groove disposed on the housing and a motor axial positioning protrusion disposed on the stator, wherein the motor axial positioning protrusion can be embedded into the motor axial positioning groove.

7. The push rod motor according to claim 5, characterized in that, The motor radial positioning structure includes a motor radial positioning protrusion disposed on the housing and a motor radial positioning groove disposed on the stator, wherein the motor radial positioning protrusion can be embedded into the motor radial positioning groove.

8. The push rod motor according to claim 1, characterized in that, The speed reduction transmission assembly also includes a sun gear disposed on the main shaft and a gear ring disposed on the housing, with planetary gears meshing between the sun gear and the gear ring.

9. The push rod motor according to claim 8, characterized in that, The teeth of the planetary gear, the sun gear, and the gear ring are all helical teeth.

10. The push rod motor according to claim 8, characterized in that, An axial positioning structure and a radial positioning structure for the gear ring are provided between the gear ring and the outer shell.

11. The push rod motor according to claim 10, characterized in that, The gear ring axial positioning structure includes a gear ring axial positioning groove disposed in the outer shell, and the gear ring can be embedded in the gear ring axial positioning groove.

12. The push rod motor according to claim 11, characterized in that, The radial positioning structure of the gear ring includes a radial positioning notch of the gear ring disposed within the range of the axial positioning groove of the gear ring and a radial positioning block of the gear ring disposed on the gear ring, wherein the radial positioning block of the gear ring can be embedded into the radial positioning notch of the gear ring.

13. The push rod motor according to claim 1, characterized in that, The lead screw is equipped with a planetary gear carrier, the planetary gear carrier is equipped with a rotating shaft, and the planetary gears are rotatably mounted on the rotating shaft.

14. The push rod motor according to claim 1, characterized in that, The inner wall of the housing is provided with a third bearing mounting structure for mounting a third bearing, and the housing supports the rotatable lead screw through the third bearing.

15. The push rod motor according to claim 1, characterized in that, The push rod assembly also includes a nut component with internal threads, which engages with the lead screw via the internal threads.

16. The push rod motor according to claim 15, characterized in that, The telescopic rod and the nut component are threaded together.

17. The push rod motor according to claim 1, characterized in that, The telescopic rod has a hollow structure, and the hollow part of the telescopic rod is used to accommodate the lead screw. The end of the telescopic rod is provided with a detachable end head, which can cover the end opening of the telescopic rod.

18. The push rod motor according to claim 15, characterized in that, The push rod assembly also includes a fixing rod, and the housing is provided with a fixing rod mounting structure for mounting the fixing rod.

19. The push rod motor according to claim 18, characterized in that, The fixing rod mounting structure includes a fixing rod mounting protrusion disposed on the outer shell and a fixing rod mounting groove disposed on the fixing rod, wherein the fixing rod mounting protrusion can be embedded into the fixing rod mounting groove.

20. The push rod motor according to claim 18, characterized in that, The fixing rod has a hollow structure, and the hollow part of the fixing rod is used to accommodate the lead screw, the nut component and the telescopic rod. A nut component guide structure is provided between the fixing rod and the nut component.

21. The push rod motor according to claim 20, characterized in that, The nut component guide structure includes a guide protrusion disposed on the fixing rod and a guide groove disposed on the nut component. The guide protrusion can be embedded in the guide groove to limit the sliding of the nut component along the guide protrusion.

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