Automatic door opening and closing actuator

Abstract

The present invention relates to the technical field of automobile components. Disclosed is an automatic door opening and closing actuator. The actuator comprises a mounting housing and a push rod, one end of the push rod extending out of a channel provided on the mounting housing and the other end of the push rod being disposed in the mounting housing so as to slide reciprocatingly, and further comprises a sealing tube, the sealing tube being sleeved outside the push rod, one end of the sealing tube being provided with an elastic covering ring covering the push rod, and the other end of the sealing tube being sealed and fixed to an inner wall of the channel or an end portion of the channel. The overall structure of the actuator of the present invention adopts an inward swing-type actuator similar to the prior art, so that the opening and closing of the vehicle door can be implemented by merely extending and retracting the push rod along the mounting housing. Thus, by configuring a suitable sealing tube between the channel of the mounting housing and the push rod, a gap between the channel and the push rod can be shielded, to prevent external dust and water from entering the inside of the mounting housing from the gap between the channel and the push rod, so that the whole actuator has a good waterproof effect, and a protection rating of IP6K7 can be achieved.

Description

Automatic door opening and closing drive Technical Field

[0001] This invention relates to the field of automotive parts technology, and in particular to an automatic door opening and closing actuator. Background Technology

[0002] With the popularization of new energy vehicles, electric vehicles have gained a significant share of the automotive market. Their low noise, environmental friendliness, and various high-tech features are key selling points that attract users. Among these, the automatic door opening and closing function, a technologically advanced feature, offers unparalleled practicality.

[0003] Electric door opening systems in automobiles, also known as electric car doors or simply electric doors, are a combination of components installed on the car door, including a door actuator, electric door lock, radar, and ECU, to electrically open and close the door without manual pushing or pulling. The actuator is the core component for automatic door opening and closing and can be divided into two structures: inward-swinging (without a motion envelope) and outward-swinging (with a motion envelope).

[0004] An externally swinging actuator typically consists of a motor, a lead screw, a gearbox, and a bracket fixed to the car door. The drive motor rotates the lead screw assembly, which in turn moves the gearbox, causing it to oscillate around the bracket, forming an envelope that electrically opens and closes the car door. However, this solution requires significant clearance from other moving parts within the door system, such as window glass and window regulators, resulting in a large installation space requirement, complex layout, and limited applicability. An internally swinging actuator, on the other hand, uses an integrated structure. A push rod with a curved, telescopic design houses the motion envelope within the actuator, pushing the door open and close.

[0005] The existing internal swing actuator structure is exemplified by the structure described in patent application CN202310518408.7, entitled "An Automobile Side Door Actuator Device." This actuator includes a housing assembly and within the housing assembly are a drive motor, a lead screw 5, a worm gear 61, a threaded rod, a sliding guide device, and a drive connecting rod. The threaded rod is rotatably connected within the housing assembly. The drive motor, lead screw 5, and worm gear 61 cooperate to drive the threaded rod to reciprocate. The sliding guide device is threadedly connected to the threaded rod. One end of the drive connecting rod is hinged to the sliding guide device, and the other end extends out of the housing assembly and is hinged to the automobile body. In use, the rotation of the threaded rod drives the drive connecting rod to move and push against the automobile body, causing the door to rotate along the hinge point between the door and the body, thus achieving the purpose of opening and closing the door.

[0006] In the aforementioned patents, the inward-swinging actuator occupies less space in the door system than the outward-swinging type, making system layout relatively easier and more adaptable. However, the inward-swinging actuator lacks a motion envelope and therefore cannot achieve waterproofing. Even though the patent utilizes a dustproof device (dustproof brush) to block some dust, this device cannot achieve the purpose of waterproofing the actuator. Therefore, it is necessary to provide an inward-swinging actuator with waterproof functionality. Summary of the Invention

[0007] To address the shortcomings of existing technologies, this invention provides an automatic door opening and closing actuator that solves the problem that the internal swing actuator in the prior art lacks waterproof capability.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: an automatic door opening and closing driver, including a mounting housing and a push rod, one end of the push rod extending out of a channel opened on the mounting housing, the other end of the push rod reciprocatingly sliding inside the mounting housing, and also including a sealing tube, the sealing tube being sleeved outside the push rod, one end of the sealing tube being provided with a covering ring of elastic material covering the push rod, and the other end of the sealing tube being sealed and fixed to the inner wall of the channel or the end of the channel;

[0009] The inner wall of the covering ring is provided with a first protruding ring, and at least one second protruding ring is provided on each side of the first protruding ring on the inner wall of the covering ring. Any adjacent first protruding ring and second protruding ring or any two adjacent second protruding rings form an oil groove for storing grease.

[0010] Both the first protruding ring and the second protruding ring are interference-fitted with the push rod, and the annular center line of the first protruding ring and the center line of the push rod at the contact position between the first protruding ring and the push rod are collinear.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] The overall structure of the actuator in this invention adopts an internal swing actuator similar to existing technologies. Therefore, the opening and closing of the car door can be achieved simply by extending and retracting the push rod along the mounting housing. To this end, a suitable sealing tube is provided between the channel of the mounting housing and the push rod to block the gap between the channel and the push rod. The covering ring used in conjunction with the push rod wraps around the push rod and enables sealed sliding with it. Because both the first and second raised rings are interference-fitted with the push rod, external impurities can be effectively prevented from entering the mounting housing of the actuator along with the push rod. At the same time, an oil groove is provided inside the covering ring, which contains grease. The presence of grease allows the push rod to slide smoothly along the covering ring. Furthermore, the annular center line of the first raised ring and the center line of the push rod at the contact point between the first raised ring and the push rod are collinear. This means that the first raised ring is not affected or is minimally affected by the movement of the push rod, and can always wrap around the outer wall of the push rod, preventing external dust and water from entering the mounting housing through the gap between the covering ring and the push rod. This gives the entire actuator a good waterproof effect and can achieve an IP6K7 protection level.

[0013] Furthermore, the push rod extends along the curve to form an irregular rod structure.

[0014] Furthermore, the cross-section of the push rod along its length is circular.

[0015] Furthermore, the cross-section of the push rod along its length includes any one of a rectangle, a lantern shape, or an isosceles trapezoid.

[0016] Furthermore, there are two second protruding rings, which are respectively disposed on both sides of the first protruding ring, and the inner walls of the two second protruding rings are inclined outward relative to each other along the first protruding ring.

[0017] Furthermore, the sealing tube includes a built-in support frame and an outer elastic layer, with the covering ring and the elastic layer connected to form an integrated structure.

[0018] Furthermore, the support frame has a through-cavity structure, with a covering ring set at one end of the support frame, and an outwardly vertically extending annular plate at the other end of the support frame. A positioning plate that extends parallel to the annular plate is fixed on the annular plate, and an installation through hole that is consistent with the direction of the through cavity of the support frame is opened on the positioning plate. An elastic layer covers the support frame, the annular plate and the positioning plate.

[0019] Furthermore, the elastic layer covers both sides of the annular plate and the positioning plate, and the elastic layer covering the annular plate and the positioning plate has two outwardly extending annular sealing rings on both sides of the annular plate and the positioning plate.

[0020] Furthermore, the outer wall of the support frame is provided with multiple connecting grooves, and the elastic layer covers the multiple connecting grooves and fits and fixes the support frame.

[0021] Furthermore, it also includes a drive assembly, a lead screw 5, and a nut slider. The drive assembly is disposed within the mounting housing and is used to drive the lead screw 5 to rotate. The lead screw 5 is rotatably disposed within the mounting housing. The nut slider is sleeved on the lead screw 5 and threadedly connected to the lead screw 5. One end of the push rod located within the mounting housing is hinged to the nut slider.

[0022] Furthermore, a threaded through hole is provided on the nut slider, the lead screw 5 is sleeved in the threaded through hole and threadedly driven by the threaded through hole, the nut slider is fixed with a buffer nut of elastic material, the inner ring of the buffer nut is provided with a helix in the same direction as the threaded through hole, the buffer nut is sleeved on the outside of the lead screw 5 and threadedly connected to the lead screw 5 with an interference fit; and the center line of the buffer nut, the center line of the lead screw 5 and the center line of the threaded through hole are collinear.

[0023] Furthermore, the nut slider includes a built-in metal frame that is wrapped and fixed, and an outer plastic layer. A mounting through hole is provided on the metal frame, and a plastic nut is fixed in the mounting through hole. The inner hole of the plastic nut is a threaded through hole.

[0024] Furthermore, a mounting groove is provided on the metal frame, and the connecting end of the push rod is located in the mounting groove and is hinged to the mounting groove by a pin screw. The center line of the pin screw is perpendicular to the center line of the threaded through hole.

[0025] The length direction of the push rod is parallel to the length direction of the lead screw 5, and the push rod moves with the rotation of the lead screw 5 while rotating along the pin screw.

[0026] Furthermore, the nut slider has a connecting hole that communicates with the mounting groove. One end of the pin screw is fixed to the side wall of the mounting groove, and the other end of the pin screw is located in the mounting groove or in the connecting hole.

[0027] Furthermore, the outer wall of the plastic layer slides in contact with the inner wall of the mounting housing, and the plastic layer has a chamfered surface that matches the bolt holes on the outside of the mounting housing, with an arc-shaped recessed area oriented outward from the center on the chamfered surface.

[0028] Furthermore, the nut slider has an installation groove that protrudes outward along the threaded through hole, and the buffer nut is embedded and fixed in the installation groove.

[0029] Furthermore, the nut slider is provided with two inwardly recessed grooves and an outwardly protruding auxiliary slider, the grooves being arranged along the length of the lead screw 5. Attached Figure Description

[0030] Figure 1 is a schematic diagram of the exploded structure of the first structure in this invention;

[0031] Figure 2 is a first cross-sectional view of the first structure in this invention;

[0032] Figure 3 is a second cross-sectional view of the first structure in this invention;

[0033] Figure 4 is a schematic diagram of the internal structure of the first structure in this invention;

[0034] Figure 5 is a third cross-sectional view of the first structure in this invention;

[0035] Figure 6 is an enlarged view of part D in Figure 5;

[0036] Figure 7 is a partial schematic diagram of Figure 2;

[0037] Figure 8 is an exploded structural diagram of some components in the actuator of the first structure in this invention;

[0038] Figure 9 is a schematic diagram of the appearance of the sealing tube in this invention;

[0039] Figure 10 is an envelope diagram of the push rod motion in this invention;

[0040] Figure 11 is a plan view of the motion of the push rod in different positions of the mounting housing during the use of the driver in this invention;

[0041] Figure 12 is an exploded view of the sliding pair structure and the mounting shell of the first structure in this invention.

[0042] Figure 13 is a cross-sectional view along the screw axis of the sliding pair structure and the mounting housing of the first structure in this invention.

[0043] Figure 14 is a cross-sectional view of the sliding pair structure and the mounting housing of the first structure in this invention along the radial direction of the lead screw.

[0044] Figure 15 is a schematic diagram of the structure in Figure 14 after removing the outer shell and lead screw 5;

[0045] Figure 16 is a cross-sectional view of the nut slider of the first structure in this invention along the radial direction of the lead screw 5;

[0046] Figure 17 is a cross-sectional view of the nut slider of the first structure in this invention along the axial direction of the lead screw 5;

[0047] Figure 18 is a simplified coordinate diagram of the push rod motion trajectory in this invention;

[0048] Figure 19 is a schematic diagram of the external structure of the push rod of the present invention;

[0049] Figure 20 is a schematic diagram of the exploded structure of the second structure in this invention;

[0050] Figure 21 is a partial structural diagram of the first cross-sectional view of the second structure in this invention;

[0051] Figure 22 is an exploded structural diagram of the nut slider, mounting shell, push rod and lead screw 5 of the second structure in this invention;

[0052] Figure 23 is a cross-sectional view of the sliding pair structure of the second type of the present invention and the mounting housing during assembly along the radial direction of the lead screw 5;

[0053] Figure 24 is a second cross-sectional view of the second structure in this invention.

[0054] In the diagram: 2. Housing 2, end cap 21, bolt hole 101, lead screw 5, first cylindrical section 501, external spline section 502, second cylindrical section 503, push rod 3, sliding joint 31, hinge 32, pin screw 4, retaining ring 401, nut slider 1, metal frame 11, plastic layer 12, buffer nut 13, mounting groove 131, mounting slot 14, connecting hole 141, chamfered surface 15, arc-shaped recessed area 151, auxiliary slider 16, slide groove 17, plastic nut 18, threaded through hole 181, gearbox housing. 20. Cover plate 201, annular groove 202, reinforcing rib 203, support frame 310, connecting groove 311, annular plate 312, elastic layer 320, blocking block 323, covering ring 33, second protruding ring 331, first protruding ring 332, oil groove 333, sealing pipe 34, mounting through hole 35, positioning plate 351, connecting through hole 36, second annular protrusion 37, first annular protrusion 38, servo motor 6, worm gear 61, worm 62, output shaft 601, stop bushing 611, snap ring 612. Detailed Implementation

[0055] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0056] As shown in Figures 1-4, this invention discloses an automatic door opening and closing actuator. The overall structure of the actuator is similar to that of the prior art, including a mounting housing 2 and a lead screw 5, a nut slider 1, a push rod 3, and a drive assembly that are installed in conjunction with the mounting housing 2. The mounting housing 2 is used to integrate the various components, realizing the integrated installation of the actuator; at the same time, the mounting housing 2 is provided with multiple bolt holes 101 for fixing to the vehicle body, which facilitates the fixing of the actuator to the vehicle body.

[0057] Considering spatial layout, the mounting housing 2 has a hollow strip structure. The lead screw 5 is rotatably connected within the mounting housing 2 and is positioned along the length of the mounting housing 2. The nut slider 1 is sleeved on the lead screw 5 and threadedly connected to the lead screw 5. Simultaneously, the nut slider 1 is slidably connected to the inner wall of the mounting housing 2, defining the cross-sectional structure of the mounting housing 2. This allows for limiting the movement of the nut slider 1 on the lead screw 5 without adding additional sliding pairs. The movement of the nut slider 1 drives the extension and retraction of the push rod 3. For this purpose, one end of the push rod 3 is located on the inner wall of the mounting housing 2 and hinged to the nut slider 1, while the other end of the push rod 3 extends out of the mounting housing 2 and is hinged to the vehicle body. The drive assembly is used to drive the rotation of the lead screw 5. The drive assembly is electrically controlled, such as a motor (servo motor, stepper motor, or other programmable motor) coaxially mounted with the lead screw 5.

[0058] In some embodiments of the present invention, as shown in Figures 1, 2, 3, 4, 20, 21, and 24, the drive assembly employs a servo motor 6 (stepper motor or other motor capable of electric control), a worm gear 62, and a worm wheel 61 meshing with the worm gear 62. The worm gear 62 and the servo motor 6 are coaxially arranged, and the worm wheel 61 and the lead screw 5 are coaxially fixed.

[0059] The worm gear 62 and the servo motor 6 can be connected using the structure shown in Figures 1 and 3. Specifically, the output shaft 601 of the servo motor 6 is fixed to the lower end of the worm gear 62, and the upper end of the worm gear 62 is connected to the gearbox housing 20 via a bearing, rotating within the gearbox housing 20. Meanwhile, the assembly method of the worm wheel 61 and the lead screw 5 is shown in Figures 1 and 2. The stop bushing 611 is inserted into the lead screw 5, moved until the first cylindrical section 501 of the lead screw 5 is riveted to it, and then the worm wheel 61 (worm wheel 61 assembly) is inserted. The worm wheel 61 has an internal spline, and the lead screw 5 has an external spline section 502. The two are connected, allowing for coaxial rotation. Simultaneously, a retaining ring 612 is used to restrict the installation position of the worm wheel 61 on the lead screw 5, ensuring the proper positioning and assembly of the worm wheel 61 and the lead screw 5.

[0060] In addition to the structures described above, the connection between the lead screw 5 and the worm gear 61, and the connection between the worm gear 62 and the servo motor 6, can also be configured according to the structures shown in Figures 20, 21, and 24. Specifically, the output shaft 601 of the servo motor 6 passes through the worm gear 62 and is fixedly connected to it with an interference fit. The upper end of the output shaft 601 is rotatably connected to the gearbox housing 20. The assembly of the worm gear 61 and the lead screw 5 is as follows: the stop bushing 611 is inserted into the lead screw 5, and the worm gear 61 (worm gear 61 assembly) is pressed into the lead screw 5 with an interference fit. The worm gear 61 has an internal spline and a cylindrical step. The internal spline is connected to the external spline section 502 on the lead screw 5, and the cylindrical step is interference-fitted to the second cylindrical section 503 on the lead screw 5. The two are connected to achieve coaxial rotation.

[0061] Compared to the structures shown in Figures 1 and 3, the assembly of the worm gear 61 with the lead screw 5 and the assembly of the worm gear 62 with the servo motor 6, using the structures in Figures 20, 21, and 24, can significantly increase the connection stability between the worm gear 62 and the servo motor 6, improve the service life of the entire device, and also reduce the abnormal noise caused by abnormal movement in the connection between the worm gear 61 and the lead screw 5, thus making it more conducive to the quiet handling of the door opening and closing.

[0062] Since the gearbox housing 20 is used to install the drive components (worm gear 61, worm 62), the shape of the gearbox housing 20 in Figure 1 and Figure 20 is slightly different to meet the assembly requirements of different assembly structures. In Figure 20, the gearbox housing 20 is provided with more reinforcing ribs 203 on the outside, which increases the strength of the gearbox housing 20 and, more importantly, ensures its dimensional accuracy to adapt to the transmission requirements of the drive components in Figure 20.

[0063] Meanwhile, given that the worm gear 62 needs to be set perpendicular to the lead screw 5, a waterproof motor can be used for the servo motor 6. Furthermore, waterproof sealing and fixing of the servo motor 6 and the mounting housing 2 at their connection points prevents water or dust from entering the mounting housing 2. In use, the drive assembly receives commands from the controller (the vehicle's ECU) and actuates, driving the lead screw 5 to rotate. The nut slider 1 reciprocates along the length of the lead screw 5, thereby driving the push rod 3 to reciprocate, opening and closing the door. When the door needs to be hovered, the controller continuously powers the drive assembly. This dynamic power ensures that the door overcomes its own weight and remains hovered within the designed slope and opening angle. The internal swing actuator structure of this invention solves the problem of the actuator lacking a motion envelope, achieving a function that facilitates door layout.

[0064] Since the other end of the push rod 3 needs to extend out of the mounting housing 2 to hinge with the vehicle body, a channel for the push rod 3 to pass through is provided on the mounting housing 2. In this embodiment, the mounting housing 2 is open at both ends along its length, with one end being detachably and sealed to the end cap 21, and the other end serving as the channel. To ensure good waterproofing of the entire actuator, the gap between the channel and the push rod 3 needs to be sealed; therefore, the present invention also includes a sealing sleeve.

[0065] Specifically, the sealing tube 34 is sleeved on the outside of the push rod 3. One end of the sealing tube 34 is provided with a covering ring 33 of elastic material covering the push rod 3. The other end of the sealing tube 34 is sealed and fixed to the inner wall of the channel or the end of the channel. The inner wall of the covering ring 33 is provided with a first protruding ring 332. At least one second protruding ring 331 is provided on each side of the first protruding ring 332 on the inner wall of the covering ring 33. Any adjacent first protruding ring 332 and second protruding ring 331 or any two adjacent second protruding rings 331 form an oil groove 333 for storing grease. The first protruding ring 332 and the second protruding ring 331 are both interference fit with the push rod 3, and the annular center line of the first protruding ring 332 and the center line of the push rod 3 at the contact position between the first protruding ring 332 and the push rod 3 are collinear.

[0066] The sealing tube 34 can be made entirely of plastic or rubber. If the sealing tube 34 is made entirely of rubber, the connection method between the sealing tube 34 and the inner wall or port of the channel needs to be considered. Adhesive bonding can be used to achieve a tight connection between the sealing tube 34 and the channel. If the sealing tube 34 is made of plastic, the sealing tube 34 and the channel can be fixed using a snap-fit ​​method with a sealing gasket or other fixing methods for a sealed connection. The sealing tube 34 is used to block the gap between the push rod 3 and the channel, while the covering ring 33 further prevents external impurities (water, dust, etc.) from entering the mounting housing 2 through the gap between the covering ring 33 and the push rod 3. Given that the push rod 3 will reciprocate during use, the covering ring 33 must also ensure smooth movement of the push rod 3 while providing good waterproofing. Therefore, in this embodiment, a first protruding ring 332 and a second protruding ring 331 are provided on the inner wall of the covering ring 33 for cooperation. Both the first raised ring 332 and the second raised ring 331 are interference-fitted with the push rod 3, effectively preventing external impurities from entering the mounting housing 2 of the driver along with the push rod 3. At the same time, an oil groove 333 is provided inside the covering ring 33, which contains grease. The presence of grease allows the push rod 3 to slide smoothly along the covering ring 33. Furthermore, the annular center line of the first raised ring 332 and the center line of the push rod 3 at the contact position between the first raised ring 332 and the push rod 3 are collinear. This means that the first raised ring 332 is not affected or is basically unaffected by the movement of the push rod 3, and can always wrap around the outer wall of the push rod 3, preventing external dust and water from entering the mounting housing 2 through the gap between the covering ring 33 and the push rod 3. This gives the entire driver a good waterproof effect and can achieve an IP6K7 protection level.

[0067] In another embodiment of the present invention, as shown in Figures 5, 7, and 11, there are two second protruding rings 331, which are respectively disposed on both sides of the first protruding ring 332. The more second protruding rings 331 there are, the greater the thickness (length of the cavity) of the corresponding covering ring 33, and the larger the contact area between the covering ring 33 and the push rod 3, which can affect the movement of the push rod 3. However, if only one second protruding ring 331 is provided, only one oil groove 333 can be formed, and the oil storage effect of a single oil groove 333 is difficult to control. Furthermore, the distance between the first protruding ring 332 and the second protruding ring 331 should not be too large. Moreover, if only one second protruding ring 331 is provided, the force on both sides of the first protruding ring 332 will be uneven. Therefore, in this embodiment, a second protruding ring 331 is provided on each side of the first protruding ring 332 to ensure that the first protruding ring 332 is always aligned with the center line of the contact portion of the push rod 3 during the movement of the push rod 3. To further enhance the lubricant retention effect of the two second raised rings 331, in this embodiment, the inner walls of the two second raised rings 331 are inclined outward relative to the first raised ring 332. In this manner, as the push rod 3 travels along the first raised ring 332, either second raised ring 331 can scrape off the lubricant on the push rod 3, ensuring that the lubricant can remain in the oil groove 333 for a longer period, thus extending its service life.

[0068] In the prior art, the push rod 3 is a straight rod or an irregularly shaped rod. When the push rod 3 with a straight rod structure extends and retracts inside the mounting housing 2, the mounting housing 2 will also swing with the car door, resulting in a certain swing angle for the push rod 3 during the extension and retraction process. In order to ensure that the covering ring 33 always has an interference fit with the push rod 3, the structure of the sealing tube 34 can be made of rubber, so that the side wall of the density tube can be bent and deformed to adapt to the movement of the push rod 3.

[0069] However, the push rod 3 with a straight rod structure requires a large internal space during its extension and retraction within the mounting housing 2, meaning the mounting housing 2 is too large, which is not conducive to the door layout. Therefore, using a push rod 3 with an irregular rod structure can make the overall size of the mounting housing 2 smaller, which is more conducive to space layout. To this end, in another embodiment of the present invention, in order to make the extension and retraction of the push rod 3 within the mounting housing 2 more stable, the push rod 3 extends along a curve to form an irregular rod structure. As shown in Figures 1 and 5, the push rod 3 has a strip-shaped structure, with a sliding joint 31 fixed at one end along the length direction of the push rod 3. The sliding joint 31 is hinged to the nut slide seat, and a hinge part 32 is fixed at the other end of the push rod 3, which is connected to the vehicle body. The push rod 3 has a smoothly transitioning curved structure along its length direction, forming an irregular rod structure with a peak and a trough. Compared to straight rods, shaped rods are more adaptable to angle changes during door opening and closing, allowing the rod to extend and retract stably. This further reduces door vibration during opening and closing, making the doors more stable.

[0070] During the movement of the push rod 3 with its irregular rod structure, the offset position of the center line of the push rod 3 along the center line of the channel (or the covering ring 33) changes little with the movement of the push rod 3. At this time, the sealing tube 34 can be made of plastic material for positioning and sealing installation, as long as the covering ring 33 is made of rubber material sleeved on the push rod 3 to achieve an interference fit between the two. In this invention, considering the installation of the covering ring 33 on the sealing tube 34, the sealing tube 34 is set as a double-layer structure with an internal support frame 310 and an external elastic layer 320, and the covering ring 33 and the elastic layer 320 are connected to form an integral structure.

[0071] Theoretically, the sealing tube 34 can be a hollow cylindrical structure, a rectangular cavity structure, a hollow truncated cone structure, or other through-cavity structures. The sealing tube 34 ensures that the push rod 3 can pass through, that the sealing tube 34 can be fixed to the channel of the mounting shell 2, and that the push rod 3 can cooperate with the covering ring 33. Therefore, the sealing tube 34 can be any structure that can achieve the above functions. In this embodiment, as shown in Figure 10, considering the movement space (motion envelope) of each part of the push rod 3 in the sealing tube 34 during the movement of the irregularly shaped push rod 3, in this embodiment, as shown in Figure 9, the sealing tube 34 adopts a flat structure with one end larger than the other. The small end is provided with a covering ring 33, and the large end is fixed to the channel of the mounting shell 2. This structure can ensure that the push rod 3 is not affected by the internal cavity structure of the sealing tube 34 when it moves. At the same time, it can also ensure the secondary sealing connection between the sealing tube 34, the push rod 3, and the mounting shell 2, ensuring the sealing effect of the actuator.

[0072] To accommodate the irregularly shaped push rod 3, in this embodiment, the sealing tube 34 is composed of two layers of material. The support frame 310 can be made of injection molded material, requiring sufficient hardness; the elastic layer 320 can be made of rubber, meeting elasticity requirements. The support frame 310 and the elastic layer 320 can be fixedly connected using either secondary injection molding or external adhesive coating. The sealing tube 34, composed of the support frame 310 and the elastic layer 320, meets both rigidity and elasticity requirements, ensuring that the position of the covering ring 33 of the sealing tube 34 remains essentially unchanged with the movement of the push rod 3 (relative to the mounting housing 2 of the actuator), and ensuring that the covering ring 33 always wraps around the push rod 3.

[0073] The double-layered sealing tube 34 ensures that the covering ring 33 is always in contact with the push rod 3, and the position of the covering ring 33 will not change due to the movement of the push rod 3. After ensuring the installation position of the covering ring 33, the structure of the covering ring 33 is further designed by using a first protruding ring 332 and at least two second protruding rings 331 to form at least two oil grooves 333. The first protruding ring 332 and the second protruding ring 331 are both interference-fitted with the push rod 3, which can effectively prevent external impurities from entering the mounting housing 2 of the driver along with the push rod 3; and the oil grooves 333 are filled with grease, which allows the push rod 3 to slide smoothly along the covering ring 33, achieving effective sealing of the push rod 3. As shown in Figure 11, the annular center line of the first protruding ring 332 and the center line of the push rod 3 at the contact position between the first protruding ring 332 and the push rod 3 are collinear. This means that the first protruding ring 332 is not affected or is basically unaffected by the movement of the push rod 3, and can always wrap around the outer wall of the push rod 3, so that the entire actuator can achieve the IP6K7 protection level.

[0074] The design of the covering ring 33 matches the irregular structure of the push rod 3, ensuring that the first protruding ring 332 of the covering ring 33 is always aligned with the push rod 3 at that position along the moving path of the push rod 3. To this end, the present invention limits the curvature of the push rod 3 along its length direction.

[0075] Through coordinate system transformation:

[0076] Origin of coordinate system:

[0077] The origin is the point where the hinge axis (the axis of the hinge connecting the door and the body) intersects with the plane perpendicular to the hinge axis through the rotation center of the sliding joint 31; that is, the origin of the relative coordinate system is the point H where the plane perpendicular to the hinge axis through the center line of the sliding joint 31 (the plane in Figure 18) intersects with the hinge axis.

[0078] Z-axis of coordinate system: Align the Z-axis with the hinge axis.

[0079] X-axis of coordinate system: The X-axis coincides with the vector direction from the rotation center of the fixed joint (hinge part 32) to the rotation center of the sliding joint 31. It is the line connecting the center points of the hinge part 32 and the sliding joint 31, i.e. the center line of the push rod.

[0080] The relative coordinate system H-xyz is obtained. The actuator moves in the xy plane of this coordinate system, and its motion trajectory is simplified as shown in Figure 18.

[0081] In the picture:

[0082] Point H: Center of hinge rotation

[0083] Point E: Center of rotation of the fixed joint

[0084] Point R n: Rotation center of sliding joint

[0085] line segment C n D n : The centerline of the mounting housing (the mounting housing includes the gear housing and the mounting housing itself; the centerlines of the gear housing and the mounting housing are collinear).

[0086] line segment A n B n : Inner contour line segment of the mounting shell

[0087] Point C n The sealing setting midpoint of the sealing tube (the center point of the first raised ring).

[0088] Point P n The intersection of the line connecting the center of the fixed joint and the center of the sliding joint with the inner contour line of the mounting housing.

[0089] Click Q n The point where the center line of the mounting shell intersects at any opening degree with the initial opening degree.

[0090] From the simplified model above, we can conclude that: during the entire opening process of the door, points E and H remain fixed, points C and D rotate around point H, the length of the driver centerline segment CD remains constant, and the rotation angle of segment CD is equal to the door opening angle α. Point R rotates around point E while maintaining the length of segment ER. (Length |C) n P n |Set the midpoint C where the push rod centerline ER deviates from the seal. n The length of the push rod centerline ER at full opening is compensated for by this deviation length, thus forming a push rod curve that ensures sealing function.

[0091] By assembling the driver inside the car door, the following known terms can be obtained: H x H y E x E y D 0x D 0y R 0x R 0y C 0x C 0y |CH|, |DH|, |ER|

[0092] The angle θ (the angle of rotation of line segment ER around point E) and the angle γ between the driver centerline CD and the push rod centerline ER can be obtained by geometric relationships for any opening α.

[0093] The door opening angle α is generally 0° to 72°. Let the opening angle increment Δα be 1° (the smaller the increment, the higher the accuracy), and the push rod centerline ER can be obtained at each opening angle. n Deviation from sealing set point C nThe coordinates of the 73 points P n P nx =C nx +|C n P n |*sin(θ-γ; P ny =C ny -|C n P n |*cos(θ-γ);

[0094] Point P obtained from each opening n Rotate θ in the opposite direction around point E to obtain point P. n Coordinate P when the car door is closed n ': P′ ny =0;

[0095] Point C can be obtained through geometric relationships. n The coordinates C of the door in the closed position when rotated θ in the opposite direction around point E. n ': C′ nx =P′ nx +|C n P n |*sinγ; C′ ny =0+|C n P n |*cosγ;

[0096] Each point C can be imported using 3D design software such as CATIA or UG. n The coordinates of ' are used to generate the push rod 3 curve structure shown in Figure 19 through this point set.

[0097] Based on the curved shape, the push rod 3 can ensure optimal fit with the covering ring 33, avoiding gaps between the push rod 3 and the multiple protruding rings inside the covering ring 33 during the movement of the push rod 3, which would lead to sealing failure and ensure the sealing effect between the push rod 3 and the covering ring 33.

[0098] The push rod 3 has an irregular shape along its length, which allows it to effectively cooperate with the sealing tube 34 described above, achieving a double sealing effect between the sealing tube 34, the push rod 3, and the mounting housing 2. It is only necessary to ensure that the inner cavity structure of the covering ring 33 and the cross-sectional structure of the push rod 3 are compatible. Therefore, the cross-section of the push rod 3 along its length can be any shape, such as circular, rectangular, lantern-shaped, or isosceles trapezoidal. In another embodiment of the invention, considering the wear effect on the push rod 3 and the covering ring 33, as shown in Figures 3 and 4, the cross-section of the push rod 3 along its length is circular. A push rod with a circular cross-section reduces the wear of the covering ring 33 and improves the service life of the sealing tube 34.

[0099] In another embodiment of the present invention, to increase the contact area between the support frame 310 and the elastic layer 320, thereby improving the connection stability between them, in this embodiment, a plurality of connecting grooves 311 are evenly distributed on the outer wall of the support frame 310, and the elastic layer 320 covers the plurality of connecting grooves 311 and is fixedly attached to the support frame 310. The structure of the connecting grooves 311 can be annular or strip-shaped, the purpose of which is to increase the contact area between the outer wall of the support frame 310 and the elastic layer 320 by setting multiple connecting grooves 311. As shown in FIG9, in this embodiment, the plurality of connecting grooves 311 are arranged side by side along the through cavity direction of the annular structure, and each connecting groove 311 is an annular groove structure arranged circumferentially along the through cavity direction of the annular structure. This structure can achieve a larger contact area between the support frame 310 and the elastic layer 320, further improving the connection stability between them.

[0100] To facilitate the connection between the sealing tube 34 and the mounting housing 2, and to achieve a sealed connection between the drive assembly and the mounting housing 2, as shown in Figures 1, 2, 7, and 8, a gearbox housing 20 is connected to one end of the mounting housing 2 where a channel is provided; the lower end of the gearbox housing 20 is open and sealed to the housing of the servo motor 6; the worm gear 61 and the lead screw 5 are disposed inside the gearbox housing 20; the gearbox housing 20 has a through groove along the length of the lead screw 5; one end of the through groove of the gearbox housing 20 is fitted onto the outer wall of the mounting housing 2, and a retaining plate is provided on the inner wall of the gearbox housing 20 at intervals from the open end of the mounting housing 2, the retaining plate and the open end of the mounting housing 2 forming an annular retaining groove 202 for mounting the sealing tube 34; a cover plate 201 for sealing connection is provided at the other end of the through groove of the gearbox housing 20, the cover plate 201, the gearbox housing 20, and the mounting housing 2 are locked together by connecting bolts to lock and fix the sealing tube 34. To ensure that the sealing tube 34 can be adapted to the annular retaining groove 202, the structure of the support frame 310 is defined in this invention. Specifically, the support frame 310 has a through-cavity structure. A covering ring 33 is provided at one end of the support frame 310, and an annular plate 312 extending vertically outward is provided at the other end of the support frame 310. A positioning plate 351 extending parallel to the annular plate 312 is fixed on the annular plate 312. The positioning plate 351 has a mounting through hole 35 that is consistent with the direction of the through cavity of the support frame 310. An elastic layer 320 is provided to cover the support frame 310, the annular plate 312, and the positioning plate 351. The elastic layer 320 covers both sides of the annular plate 312 and the positioning plate 351, and is an elastic layer 320 covering the annular plate 312 and the positioning plate 351. Two annular sealing rings extending outward are provided on both sides of the annular plate 312 and the positioning plate 351, respectively.

[0101] As shown in Figures 5, 6, and 9, the mounting through hole 35 on the positioning plate 351 facilitates the installation of the lead screw 5, allowing it to pass through. The positioning plate 351 also extends the area of ​​the annular plate 312 towards the lead screw 5. This arrangement also allows the support frame 310, the annular plate 312, and the positioning plate 351 to form an integrated support structure. This integrated support structure can be injection molded, and the external elastic layer 320 is fixed to the internal support structure using external adhesive coating or secondary injection molding. Simultaneously, due to the insertion and engagement of the auxiliary housing and the mounting housing 2, an annular groove 202 for mounting the sealing tube 34 can be formed. The annular plate 312 and the positioning plate 351 can form a snap-fit ​​plate that is snapped into the annular groove 202. To achieve a sealed connection between the snap-fit ​​plate and the annular groove 202, two annular sealing rings are provided. The two annular sealing rings are in sealing contact with the side wall of the annular groove 202, forming a labyrinth-structured sealing structure, thereby achieving a double-layer sealing and fixing of the sealing tube 34, the gearbox housing 20, and the mounting housing 2. The two annular sealing rings can be configured with the same structure or different structures depending on their function and structure. In this embodiment, as shown in Figures 5, 6, and 9, the structures of the two annular sealing rings are slightly different, consisting of a first annular sealing ring and a second annular sealing ring. The first annular sealing ring mainly abuts against the side near the covering ring 33, while the second annular sealing ring is located near the corresponding position on the circumference of the annular plate 312. This method is more conducive to sealing and fixing the sealing tube 34, the gearbox housing 20, and the mounting housing 2.

[0102] To improve the connection between the outer covering layer (elastic layer 320) and the built-in skeleton (support structure), as shown in Figures 7 and 4, a connecting through hole 36 is provided between the positioning plate 351 and the annular plate 312. The outer covering elastic layer 320 passes through the connecting through hole 36 and forms a blocking block 323, which is used to increase the connection between the outer covering layer and the skeleton.

[0103] During installation, after the second annular sealing ring 322 is interference-fitted with the gear housing 20, the gear housing 20 with the sealing structure 3 is clamped at the end position of the mounting housing 2 and fixed with connecting bolts, thereby achieving a sealed connection between the sealing structure 3 and the mounting housing 2 and the gear housing 20.

[0104] Based on the above-described driver structure, the waterproof performance was verified:

[0105] 1. Testing Standards

[0106] Dustproof test standard: ISO 20653-2013; Waterproof test standard: GB / T 4208-2017.

[0107] 2. Test Requirements:

[0108] (1) Waterproofing test requirements:

[0109] Immersion depth: 1m; Immersion time: 30min;

[0110] (2) Dustproof requirements:

[0111] ① Dust type: Arizona A2 dust,

[0112] ② Dust consumption: 2kg / m3

[0113] ③ Test time: 6 seconds of blowing dust, 15 minutes of pause, 20 cycles.

[0114] 3. Evaluation Results:

[0115] 1) After being soaked in water, the product was removed and functioned normally;

[0116] 2) There is no water or dust inside the product.

[0117] The sealing tube 343 of the present invention can solve the problem of dust and water resistance of the sliding part of the driver push rod 31 and the mounting housing 22, so that the driver can achieve the IP6K7 protection level.

[0118] In another embodiment of the present invention, to reduce abnormal noise during the use of the drive, the sliding pair structure of the drive is also improved. As shown in Figures 1 and 12, the sliding pair structure includes a nut slider 1, a push rod 3, and a lead screw 5. The push rod 3 and the lead screw 5 are horizontally arranged, and the lead screw 5 is rotatably connected within the mounting housing 2. The nut slider 1 has a threaded through hole 181, and the lead screw 5 is sleeved in the threaded through hole 181 and threadedly driven by the threaded through hole 181. The nut slider 1 contacts and slides against the inner wall of the mounting housing 2. The push rod 3 is located above the lead screw 5, and one end of the push rod 3 extends out of the mounting housing 2 and is hinged to the door or body. The other end of the push rod 3 is hinged to the nut slider 1. When the lead screw 5 rotates under the action of the drive assembly, the nut slider 1 threadedly connected to the lead screw 5 moves along the length of the lead screw 5, causing the push rod 3 to extend out of the mounting housing 2, driving the door to rotate along the hinge point between the door and the body, thereby achieving the purpose of opening and closing the door.

[0119] During use, as the push rod 3 moves with the nut slider 1, the other end of the push rod 3 also rotates with the hinge point between it and the nut slider 1. This causes the nut slider 1 to have an additional radial force along the lead screw 5. Combined with the transmission gap between the nut slider 1 and the lead screw 5, this causes the nut slider 1 to move obliquely along the axial direction of the lead screw 5, resulting in a free travel of the push rod 3, which increases the free travel at the edge of the car door. Furthermore, when switching between car doors, the free travel of the push rod 3 causes a "clunking" noise from the car door. To solve this problem, the present invention also includes a buffer nut 13. As shown in Figures 12, 13, and 14, the buffer nut 13 and the nut slider 1 are fixed. The inner ring of the buffer nut 13 has a helix in the same direction as the threaded through hole 181. The buffer nut 13 is fitted onto the lead screw 5 and threadedly connected to the lead screw 5 with an interference fit. The center line of the buffer nut 13, the center line of the lead screw 5, and the center line of the threaded through hole 181 are collinear. The buffer nut 13 can be located at either end of the threaded through hole 181 or inside the threaded through hole 181. For ease of manufacturing, the buffer nut 13 is positioned at either end of the threaded through hole 181 and connected to it. Specifically, the nut slider 1 has a mounting groove 131 protruding outward along the threaded through hole 181, and the buffer nut 13 is embedded in the mounting groove 131. The buffer nut 13 and the mounting groove 131 can be fixed by an interference fit or by a key connection, ensuring a secure connection between the buffer nut 13 and the nut slider 1. As shown in Figure 13, in this embodiment, the buffer nut 13 is set at one end of the threaded through hole 181 near the push rod 3 (the left side in the figure) so that the mounting groove 131 of the nut slider 1 can extend into the gearbox (the housing in which the drive assembly is installed). If the buffer nut 13 is set on the right side of the threaded through hole 181 in the figure, the length of the product will increase, which is not conducive to miniaturization.

[0120] The buffer nut 13 added in this invention is fixed to the nut slider 1 and also has an interference fit with the lead screw 5. Furthermore, the thread of the inner ring of the buffer nut 13 is the same as the thread of the threaded through hole 181. This means that during the rotation of the lead screw 5, the threaded through hole 181 will move and provide sufficient driving force to force the buffer nut 13 to move along with the nut slider 1. While ensuring that the movement of the nut slider 1 is not affected, the problem of transmission clearance between the lead screw 5 and the threaded through hole 181 can also be eliminated. This ensures that the center lines of the buffer nut 13, the lead screw 5, and the threaded through hole 181 remain collinear during operation, ensuring that the lead screw 5 and nut will not be misaligned during the opening and closing of the door, making the door opening and closing smoother. Therefore, it reduces the idle travel when opening and closing the door, reduces the amount of door shaking, and eliminates the "clunking" noise generated when opening and closing the door.

[0121] To reduce wear, avoid affecting the transmission of the nut slider 1, and reduce transmission noise, the buffer nut 13 of this invention is made of an elastic material. The elastic material can be existing materials such as rubber, silicone rubber, polyurethane elastomers, and polyester elastomers. In this embodiment, the buffer nut 13 is made of rubber, which has a certain degree of elasticity. While tightly covering the lead screw 5, it can also move with the nut slider 1 under external compressive force (the transmission force between the rotation of the lead screw 5 and the threaded through hole 181), ensuring that the nut slider 1 can reciprocate on the lead screw 5.

[0122] In existing technologies, the slider is made entirely of metal to ensure sufficient rigidity and strength, allowing for long-term use. A plastic liner is also provided within the slider's threaded hole, threaded to the lead screw 5, to reduce transmission noise and ensure the stability of the slider and lead screw 5's relative movement. However, the slider's outer wall needs to slide against the inner wall of the driver's mounting housing 2. Since the mounting housing 2's through-slot is made of metal, if the slider is also made of metal, the rigid contact between the two results in significant frictional noise. To address this issue, in another embodiment of the invention, the nut slider 1 (equivalent to the slider in existing technologies) employs a double-layer structure, including a built-in metal frame 11 and an outer plastic layer 12. A mounting through-hole 35 is provided on the metal frame 11, and a plastic nut 18 is fixed within the mounting through-hole 35. The inner hole of the plastic nut 18 is a threaded through-hole 181. As shown in Figures 13, 14, 15, 16, and 17, the nut slider 1 of the present invention comprises a three-layer structure from the inside out. The plastic nut 18 is the first layer, which is fixed to the threaded through hole 181 by interference fit or key connection. Alternatively, it can be fixed together with the plastic layer 12 by secondary injection molding and the threaded through hole 181. The plastic nut 18 is threadedly connected to the lead screw 5, reducing transmission noise and improving wear resistance, allowing the entire nut slider 1 to slide stably on the lead screw 5. The metal skeleton 11 is the second layer, ensuring sufficient rigidity and strength for the entire nut slider 1. The metal skeleton 11 can be die-cast from aluminum alloy or zinc alloy. The outermost plastic layer 12 slides in contact with the inner wall of the mounting housing 2, and the plastic layer 12 is obtained by secondary injection molding with an outer coating. Therefore, the overall structure of the nut slider 1 is actually determined by the metal skeleton 11. This metal skeleton 11 has better strength and rigidity than the general method of using a middle metal core (cylindrical core). The outer plastic layer 12 ensures that the contact parts between the nut slider 1 and the inner wall of the mounting housing 2 are made of plastic. The sliding friction of the plastic material has the effect of vibration reduction and noise reduction, making the nut slider 1 of the present invention less noisy when moving within the mounting housing 2.

[0123] To reduce the distance between the centerline of the push rod 3 and the centerline of the lead screw 5 and improve working efficiency, the push rod 3 of this invention is embedded in the nut slider 1 and hinged to it. To ensure a more stable connection between the push rod 3 and the nut slider 1, the push rod 3 is connected to the metal frame 11. The metal frame 11 has a mounting groove 14. The connecting end of the push rod 3 is located in the mounting groove 14 and is hinged to the mounting groove 14 by a pin screw 4. The centerline of the pin screw 4 is perpendicular to the centerline of the threaded through hole 181. The length direction of the push rod 3 is parallel to the length direction of the lead screw 5, and the push rod 3 rotates along the pin screw 4 while moving with the rotation of the lead screw 5. As shown in Figures 16 and 17, the mounting groove 14 can be a rectangular groove structure or a rectangular through cavity structure. The mounting groove 14 facilitates the embedding of the end of the push rod 3 in the mounting groove 14. The two side walls of the mounting groove 14 limit the swing angle of the push rod 3, and the pin screw 4 and the metal frame 11 have sufficient connection strength, making the connection between the push rod 3 and the nut slider 1 more stable. In this embodiment, the mounting groove 14 adopts a rectangular through-cavity structure, with the direction of the rectangular through-cavity consistent with the length direction of the lead screw 5. The end of the sliding joint 31 of the push rod 3 is embedded in the mounting groove 14. The above structure can minimize the distance between the center line of the push rod 3 and the center line of the lead screw 5, with a design limit of less than 20mm. The push rod 3 (sliding joint 31) is securely fixed on the nut slider 1 and can rotate around the pin screw 4, making the internal space of the driver more compact, reducing the space ratio of the driver, and making it more conducive to the installation and layout of the driver on different models of car doors.

[0124] To avoid the pin screw 4 protruding from the nut slider 1 and contacting the inner wall of the mounting housing 2, which could cause rigid sliding noise, and to facilitate the installation of the pin screw 4, in another embodiment of the present invention, the nut slider 1 has a connecting hole 141 that communicates with the mounting groove 14. One end of the pin screw 4 is fixed to the side wall of the mounting groove 14, and the other end of the pin screw 4 is located inside the mounting groove 14 or inside the connecting hole 141. As shown in Figures 16 and 17, since the plastic layer 12 covers the outside of the metal frame 11, the corresponding connecting hole 141 on the metal frame 11 is not covered by the plastic layer 12. Therefore, during installation, the pin screw 4 is inserted from the connecting hole 141 into the through hole of the mounting groove 14 and the sliding joint 31 of the push rod 3, and then tightened with the threaded hole of the metal frame 11 to complete the assembly of the push rod 3 and the nut slider 1. Since the pin screw 4 can limit the vertical movement of the push rod 3, the movement of the push rod 3 is more stable.

[0125] During long-term use, the pin screw 4 may partially disengage from the metal frame 11 due to external influences, causing the stable connection between the push rod 3 and the nut slider 1 to fail. To solve this problem, the present invention also provides some embodiments, as shown in Figures 20 and 23. The pin screw 4 is also equipped with a retaining ring 401 for use. After the pin screw 4, push rod 3 (sliding joint 31), and metal frame 11 are assembled, the retaining ring 401 is inserted into and locked in the nut position of the pin screw 4 along the through groove direction of the mounting groove 14. The size (minimum width) of the retaining ring 401 is larger than the size (maximum width) of the connecting hole 141, ensuring that the pin screw 4 will not disengage from the metal frame 11 along the axial direction of the pin screw 4. The use of the retaining ring 401 ensures the connection stability between the pin screw 4 and the metal frame 11, increases the service life of the equipment, and reduces the number of maintenance operations.

[0126] The mounting housing 2 needs to be fixed to the car door. Therefore, bolt holes 101 are provided on the outer side of the mounting housing 2. To ensure the stability of the connection between the mounting housing 2 and the car door, the outer wall thickness corresponding to the bolt holes 101 must be consistent, meaning that the outer wall position corresponding to the bolt holes 101 will protrude towards the inner wall of the mounting housing 2. In another embodiment of the invention, to make the overall structure of the driver more compact, the plastic layer 12 is provided with a chamfered surface 15 that matches the bolt holes 101 on the outside of the mounting housing 2. The chamfered surface 15 has an outward-facing arc-shaped recessed area 151. As shown in Figures 15 and 16, two relatively inclined chamfered surfaces 15 are provided at the upper corner of the plastic layer 12, and an outward-facing arc-shaped recessed area 151 is provided in the middle of the chamfered surface 15. The arc-shaped recessed area 151 matches the protruding position of the bolt holes 101 towards the inner wall of the mounting housing 2. This structure can further reduce the design size of the mounting housing 2 and further ensure the compactness of the overall structure of the driver.

[0127] In the prior art, the nut slider 1 slides within the mounting housing 2. A sliding groove or an outwardly protruding sliding block is provided on the nut slider 1, and a matching sliding block or sliding groove is provided on the inner wall of the mounting housing 2 to ensure that the nut slider 1 can slide and be limited on the lead screw 5. However, in the prior art, the sliding block or sliding groove is located between the lead screw 5 and the push rod 3 or above the push rod 3. This arrangement is not conducive to the stable movement of the sliding block. Therefore, in another embodiment of the present invention, two inwardly recessed sliding grooves 17 and an outwardly protruding auxiliary slider 16 are provided on the nut slider 1. The length direction of the sliding grooves 17 is along the length direction of the lead screw 5. As shown in Figure 14, the two sliding grooves 17 are located between the lead screw 5 and the push rod 3, and the auxiliary slider 16 is located below the lead screw 5. This layout provides limiting support force in the upper and lower directions of the lead screw 5, ensuring that the nut slider 1 slides smoothly along the lead screw 5, resulting in better stability.

[0128] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. An automatic door opening and closing actuator, comprising a mounting housing (2) and a push rod (3), one end of the push rod (3) extending out of a channel opened in the mounting housing (2), and the other end of the push rod (3) being reciprocally slidably disposed within the mounting housing (2), characterized in that: It also includes a sealing tube (34), which is sleeved on the outside of the push rod (3). One end of the sealing tube (34) is provided with a covering ring (33) of elastic material covering the push rod (3), and the other end of the sealing tube (34) is sealed and fixed to the inner wall of the channel or the end of the channel. The inner wall of the covering ring (33) is provided with a first protruding ring (332) and at least one second protruding ring (331) is provided on each side of the first protruding ring (332) on the inner wall of the covering ring (33). Any adjacent first protruding ring (332) and second protruding ring (331) or any two adjacent second protruding rings (331) form an oil groove (333) for storing grease. The first protruding ring (332) and the second protruding ring (331) are both interference fit with the push rod (3), and the annular center line of the first protruding ring (332) and the center line of the push rod (3) at the contact position between the first protruding ring (332) and the push rod (3) are collinear.

2. The automatic door opening and closing actuator according to claim 1, characterized in that: The push rod (3) extends along the curve and has an irregular rod structure.

3. The automatic door opening and closing actuator according to claim 2, characterized in that: The cross-section of the push rod (3) along its length is circular.

4. The automatic door opening and closing actuator according to claim 2, characterized in that: The cross-section of the push rod (3) along its length includes any one of a rectangle, a lantern shape, or an isosceles trapezoid.

5. An automatic door opening and closing actuator according to any one of claims 1-4, characterized in that: There are two second protruding rings (331), which are respectively located on both sides of the first protruding ring (332), and the inner walls of the two second protruding rings (331) are inclined outward relative to each other along the first protruding ring (332).

6. An automatic door opening and closing actuator according to any one of claims 2-4, characterized in that: The sealing tube (34) includes a built-in support frame (310) and an outer elastic layer (320), and the covering ring (33) and the elastic layer (320) are connected to form an integral structure.

7. The automatic door opening and closing actuator according to claim 6, characterized in that: The support frame (310) has a through cavity structure. A covering ring (33) is set at one end of the support frame (310). The other end of the support frame (310) is provided with an outwardly vertically extending annular plate (312). A positioning plate (351) is fixed on the annular plate (312) and extends parallel to it. The positioning plate (351) has an installation through hole (35) that is consistent with the through cavity direction of the support frame (310). An elastic layer (320) is provided to cover the support frame (310), the annular plate (312) and the positioning plate (351).

8. The automatic door opening and closing actuator according to claim 7, characterized in that: The elastic layer (320) covers both sides of the annular plate (312) and the positioning plate (351), and the elastic layer (320) covering the annular plate (312) and the positioning plate (351) has two outwardly extending annular sealing rings on both sides of the annular plate (312) and the positioning plate (351).

9. The automatic door opening and closing actuator according to claim 6, characterized in that: The outer wall of the support frame (310) is provided with multiple connecting grooves (311), and the elastic layer (320) covers the multiple connecting grooves (311) and the support frame (310) and fits and fixes them together.

10. An automatic door opening and closing actuator according to claim 1, 2, 3, 4, 7, 8 or 9, characterized in that: It also includes a drive assembly, a lead screw (5) and a nut slider (1). The drive assembly is set inside the mounting housing (2) and is used to drive the lead screw (5) to rotate. The lead screw (5) is rotated inside the mounting housing (2). The nut slider (1) is sleeved on the lead screw (5) and the lead screw (5) is threadedly connected. The push rod (3) is located at one end inside the mounting housing (2) and is hinged to the nut slider (1).

11. The automatic door opening and closing actuator according to claim 10, characterized in that: A threaded through hole (181) is provided on the nut slider (1). The screw (5) is sleeved in the threaded through hole (181) and driven by the threaded through hole (181). A buffer nut (13) of elastic material is fixed on the nut slider (1). The inner ring of the buffer nut (13) has a helix in the same direction as the threaded through hole (181). The buffer nut (13) is sleeved on the outside of the screw (5) and is threadedly connected to the screw (5) with an interference fit. The center line of the buffer nut (13), the center line of the screw (5) and the center line of the threaded through hole (181) are collinear.

12. The automatic door opening and closing actuator according to claim 11, characterized in that: The nut slider (1) includes a built-in metal frame (11) that is wrapped and fixed and an external plastic layer (12). A mounting through hole (35) is provided on the metal frame (11), and a plastic nut (18) is fixed in the mounting through hole (35). The inner hole of the plastic nut (18) is a threaded through hole (181).

13. The automatic door opening and closing actuator according to claim 12, characterized in that: The metal frame (11) has a mounting groove (14), the connecting end of the push rod (3) is located in the mounting groove (14) and is hinged to the mounting groove (14) by the pin screw (4), and the center line of the pin screw (4) is perpendicular to the center line of the threaded through hole (181). The length direction of the push rod (3) is parallel to the length direction of the lead screw (5), and the push rod (3) moves with the rotation of the lead screw (5) while rotating along the pin screw (4).

14. The automatic door opening and closing actuator according to claim 13, characterized in that: The nut slider (1) has a connecting hole (141) that communicates with the mounting groove (14). One end of the pin screw (4) is fixed to the side wall of the mounting groove (14), and the other end of the pin screw (4) is located in the mounting groove (14) or in the connecting hole (141).

15. An automatic door opening and closing actuator according to any one of claims 12-14, characterized in that: The outer wall of the plastic layer (12) slides in contact with the inner wall of the mounting shell (2). The plastic layer (12) is provided with a chamfered surface (15) that matches the bolt holes (101) on the outside of the mounting shell (2). The chamfered surface (15) is provided with an arc-shaped recessed area (151) with the center facing outward.

16. An automatic door opening and closing actuator according to any one of claims 11-14, characterized in that: The nut slider (1) has an installation groove (131) that protrudes outward along the threaded through hole (181), and the buffer nut (13) is embedded and fixed in the installation groove (131).

17. An automatic door opening and closing actuator according to any one of claims 11-14, characterized in that: The nut slider (1) is provided with two inwardly recessed grooves (17) and an outwardly protruding auxiliary slider (16). The length direction of the grooves (17) is set along the length direction of the lead screw 5 (2).

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