An integrated spin-on actuator

Abstract

The utility model relates to automatic equipment technical field, concretely relates to an integral spinning formula executor, including base, press down drive subassembly, rotary drive subassembly and press bar. Press down drive subassembly includes servo motor no. 1 and screw nut mechanism, is used for driving press bar linear motion, rotary drive subassembly includes servo motor no. 2 and belt pulley drive mechanism, is used for driving press bar rotation movement. The press bar passes through a group of raceways and steel ball and the driven wheel of rotary drive subassembly constitute rolling friction pair, so that press bar can be driven rotation by rotary drive subassembly, can also move along the axial smoothness under the drive of press down drive subassembly. The utility model integrates press down and rotation function in an organic whole, and the structure is compact, does not need external conversion mechanism, solves the problem that the existing technology split type design exists and occupies the space, control complex, motion precision low etc.

Description

Technical Field

[0001] This utility model relates to the field of automation equipment technology, specifically to an integrated spinning actuator that integrates linear pressing and rotation functions. Background Technology

[0002] In automated machining, assembly, and testing, actuator end tools often require precise linear pressing and rotary motion. For example, in processes such as screw fastening, precision pressing, and tightening caps, it is necessary to apply a certain vertical pressure to the workpiece while simultaneously rotating the tool head.

[0003] Existing technical solutions typically employ a split design, where a linear module (electric cylinder) handles the downward pressing action, while a rotary module (such as a rotary cylinder or motor) handles the rotational action. The two are mechanically connected in series via a mounting plate. Alternatively, to achieve rotation while simultaneously pressing down linearly, a conversion structure such as a telescopic universal joint is used to transmit torque.

[0004] However, the aforementioned prior art has the following obvious drawbacks: 1. Large space occupation and complex structure: The split design connects two independent modules in series, resulting in a long axial dimension and large volume of the entire actuator, which is not suitable for compact equipment layout with limited space.

[0005] 2. Complex control and low coordination accuracy: Two independent drive units require two independent control systems. To achieve synchronous motion, complex linkage control programming is required, and there are cumulative errors, making it difficult to guarantee the precise coordination of pressing and rotating motion.

[0006] 3. Transmission backlash and accuracy loss: The use of universal joints and other conversion mechanisms introduces transmission backlash and elastic deformation, resulting in reduced rotational and pressing positioning accuracy, which is difficult to meet the requirements, especially in applications requiring high-precision positioning.

[0007] 4. Heavy weight and slow dynamic response: The split structure has many parts and a heavy overall weight, which affects the dynamic response speed of the actuator.

[0008] Therefore, there is an urgent need in this field for an integrated actuator that is compact, easy to control, and has high motion accuracy to solve the above problems. Utility Model Content

[0009] The purpose of this invention is to overcome the shortcomings of the existing technology and provide an integrated spinning actuator that highly integrates pressing and rotating functions. Through an innovative mechanical structure, it achieves independent or synchronous control of the two movements, and has the advantages of compact structure, high motion accuracy, and flexible control.

[0010] Technical solution: An integrated spinning actuator, comprising: a base; The downward drive assembly is fixedly installed on the base and includes a servo motor and a lead screw and nut mechanism driven by the servo motor. A rotary drive assembly, fixedly mounted on the base, includes a second servo motor and a belt pulley transmission mechanism driven by the second servo motor; The pressure rod is fixedly connected to the nut part of the lead screw and nut mechanism so that it can move linearly with the lead screw and nut mechanism. The pressure rod has an axially extending raceway on its body. The driven wheel of the belt pulley transmission mechanism is connected to the raceway through multiple steel balls, so that the driven wheel can drive the pressure rod to rotate, and the pressure rod can move axially relative to the driven wheel.

[0011] In a further embodiment, the driven wheel is mounted on a pivot seat via a second bearing, and the pivot seat is fixed to one end of the base.

[0012] In a further embodiment, the lead screw and nut mechanism includes a lead screw connected to an output end of the servo motor via a coupling, a lead screw nut sleeved on the lead screw, and a first bearing and bearing seat supporting the lead screw. The lead screw nut is connected to the pressure rod.

[0013] In a further embodiment, the belt pulley transmission mechanism includes a reducer disposed at the output end of the servo motor, a driving pulley mounted at the output end of the reducer, the driven pulley, and a belt connecting the driving pulley and the driven pulley.

[0014] In a further embodiment, the number of raceways is four, evenly distributed along the circumference of the pressure bar.

[0015] In a further embodiment, a connecting seat is installed at the other end of the base, the servo motor is installed on the connecting seat, and the first bearing, bearing housing and coupling are located inside the connecting seat.

[0016] In a further embodiment, the speed reducer is mounted on the pivot seat.

[0017] The beneficial effects of this utility model are: 1. Highly integrated and compact structure: The two drive systems of pressing and rotating are cleverly integrated into one main structure, sharing a single pressure rod output, which greatly reduces the axial dimension and overall volume, saving equipment installation space.

[0018] 2. High motion precision: The pressure rod directly serves as the output component for pressing and rotating, eliminating the errors caused by connection gaps and conversion mechanisms in a split design. The lead screw and nut mechanism ensures high precision in linear motion, while torque is transmitted through steel balls and raceways, resulting in smooth transmission, small gaps, and accurate rotational positioning.

[0019] 3. Flexible control and superior performance: Two servo motors can be controlled independently, enabling the actuator to achieve multiple working modes such as "pressing only", "rotating only", and "pressing and rotating simultaneously" to adapt to complex process requirements. It features low rolling friction resistance, fast response speed, and good dynamic performance.

[0020] 4. High rigidity and long service life: The one-piece structure has high rigidity and can withstand large axial forces and torques. It uses rolling friction with steel balls, resulting in low wear and a long service life. Attached Figure Description

[0021] Figure 1 This is an isometric drawing of this utility model.

[0022] Figure 2 This is a cross-sectional view of the present invention.

[0023] Reference numerals in the attached drawings: 1. Base, 2. Servo motor 1, 3. Servo motor 2, 4. Pressure rod, 5. Second bearing, 6. Conversion seat, 7. Coupling, 8. Lead screw, 9. Lead screw nut, 10. First bearing, 11. Bearing seat, 12. Reducer, 13. Drive wheel, 14. Driven wheel, 15. Belt, 16. Connecting seat. Detailed Implementation

[0024] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0025] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0026] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" 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 utility model based on the specific circumstances. Furthermore, the technical features involved in the different embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0027] An integrated spinning actuator includes: a base 1, a downward drive assembly, a rotary drive assembly, and a pressure rod 4.

[0028] Both the downward drive assembly and the rotary drive assembly are fixedly mounted on the base 1.

[0029] The downward drive assembly includes a servo motor 2 and a lead screw and nut mechanism driven by the servo motor 2. The nut part of the lead screw and nut mechanism is fixedly connected to the pressure rod 4 and is used to drive the pressure rod 4 to perform precise linear downward and upward movements.

[0030] The rotary drive assembly includes a servo motor 23 and a belt-driven pulley mechanism 15 driven by the servo motor 23.

[0031] The core improvement of this utility model lies in the fact that the pressure rod 4 has an axially extending raceway machined on its body, and the driven wheel 14 of the belt 15 pulley transmission mechanism is connected to the raceway through multiple steel balls. This structure allows the driven wheel 14 to efficiently transmit torque to the pressure rod 4 through the steel balls, driving it to rotate; at the same time, since the steel balls can roll within the raceway, the pressure rod 4 can move axially freely relative to the driven wheel 14 under the drive of the downward pressure drive assembly.

[0032] In one embodiment, such as Figures 1 to 2 As shown, the driven wheel 14 is mounted on a pivot seat 6 via a second bearing 5. The pivot seat 6 is fixed on the base 1, ensuring stable support for the rotary drive assembly.

[0033] In one embodiment, such as Figures 1 to 2 As shown, the lead screw and nut mechanism includes a lead screw 8, a lead screw nut 9, a first bearing, and a bearing housing 11. The lead screw 8 is connected to the output shaft of the servo motor 2 via a coupling 7, and is supported and positioned by the first bearing 10 and the bearing housing 11.

[0034] In one embodiment, such as Figures 1 to 2As shown, the belt-pulley transmission mechanism includes a drive pulley 13, a driven pulley 14, and a belt 15. The servo motor 13 drives the drive pulley 13 through the reducer 12, which in turn drives the driven pulley 14 to rotate via the belt 15.

[0035] In one embodiment, such as Figures 1 to 2 As shown, the raceway is preferably four raceways, evenly distributed around the circumference of the pressure rod 4, and cooperates with multiple sets of steel balls to ensure the uniformity and stability of torque transmission, while also ensuring the guiding accuracy of the axial movement of the pressure rod 4.

[0036] Working principle: Individual pressing: Servo motor 2 is activated, driving the pressure rod 4 to move linearly. At this time, servo motor 3 is not working, and the driven wheel 14 is stationary. The pressure rod 4 slides axially relative to the driven wheel 14 by the steel balls rolling along its raceway.

[0037] Independent rotation: Servo motor 23 is started, and power is transmitted to driven wheel 14 via reducer 12, drive wheel 13, and belt 15. Driven wheel 14 drives pressure rod 4 to rotate through the meshing of steel balls and raceways. At this time, servo motor 2 remains stationary, the lead screw and nut mechanism is self-locked or holds its position, and pressure rod 4 only rotates without axial movement.

[0038] Spinning Synchronization: Servo motor 1 (2) and servo motor 2 (3) are started simultaneously. The pressure rod 4 moves downward under the drive of servo motor 1 (2) and rotates under the drive of servo motor 2 (3), realizing a compound motion of "pressing down and rotating at the same time".

[0039] As another implementation, the raceways may not be four, but three or six, as long as the effective transmission of torque and smooth axial movement can be guaranteed.

[0040] In another embodiment, the belt drive 15 can also be replaced by a synchronous belt drive or a gear drive, as long as it can transmit the rotational motion of the servo motor 2 3 to the driven wheel 14.

[0041] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. An integrated spinning actuator, characterized in that, include: Base; The downward drive assembly is fixedly installed on the base and includes a servo motor and a lead screw and nut mechanism driven by the servo motor. A rotary drive assembly, fixedly mounted on the base, includes a second servo motor and a belt pulley transmission mechanism driven by the second servo motor; The pressure rod is fixedly connected to the nut part of the lead screw and nut mechanism so that it can move linearly with the lead screw and nut mechanism. The pressure rod has an axially extending raceway on its body. The driven wheel of the belt pulley transmission mechanism is connected to the raceway through multiple steel balls, so that the driven wheel can drive the pressure rod to rotate, and the pressure rod can move axially relative to the driven wheel.

2. The integrated spinning actuator according to claim 1, characterized in that, The driven wheel is mounted on a pivot seat via a second bearing, and the pivot seat is fixed to one end of the base.

3. The integrated spinning actuator according to claim 2, characterized in that, The lead screw and nut mechanism includes a lead screw connected to one output end of the servo motor via a coupling, a lead screw nut sleeved on the lead screw, and a first bearing and bearing seat supporting the lead screw. The lead screw nut is connected to the pressure rod.

4. The integrated spinning actuator according to claim 2, characterized in that, The belt pulley transmission mechanism includes a reducer located at the output end of the servo motor, a drive pulley installed at the output end of the reducer, a driven pulley, and a belt connecting the drive pulley and the driven pulley.

5. The integrated spinning actuator according to claim 1, characterized in that, The number of raceways is four, which are evenly distributed along the circumference of the pressure bar.

6. The integrated spinning actuator according to claim 3, characterized in that, A connecting seat is installed at the other end of the base, and the servo motor is installed on the connecting seat. The first bearing, bearing housing and coupling are located inside the connecting seat.

7. The integrated spinning actuator according to claim 4, characterized in that, The speed reducer is mounted on the pivot seat.

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