CN109831058B - Displacement actuator - Google Patents
Displacement actuator Download PDFInfo
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- CN109831058B CN109831058B CN201910082933.2A CN201910082933A CN109831058B CN 109831058 B CN109831058 B CN 109831058B CN 201910082933 A CN201910082933 A CN 201910082933A CN 109831058 B CN109831058 B CN 109831058B
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Abstract
The invention provides a displacement actuator, which comprises a linear bearing assembly, a ball screw assembly, a harmonic reducer assembly and a motor assembly, wherein the power input end of the harmonic reducer assembly is connected with the motor assembly, the power output end of the harmonic reducer assembly is connected with one end of the ball screw assembly, the ball screw assembly is used for converting rotation into translation, the other end of the ball screw assembly is connected with the linear bearing assembly, and the ball screw assembly drives the linear bearing assembly to translate and stretch; the rotating shafts of the ball screw assembly, the harmonic reducer assembly and the motor assembly are coaxial; the axis of the linear bearing assembly is coaxial with the rotating shaft. Compared with the prior art, the invention has the beneficial effects that: the connection and the coaxiality transmission of the linear bearing assembly, the ball screw assembly, the harmonic reducer assembly and the motor assembly can eliminate the coaxiality installation error between the driving device and the guide device, and the displacement control with high precision, high linearity and large stroke is realized.
Description
Technical Field
The invention relates to the technical field of precision instruments, in particular to a displacement actuator.
Background
The displacement actuator is a product which integrates a motor and a lead screw, and can realize the function of converting the rotary motion of the motor into linear motion. In addition, the displacement actuator can accurately control the rotation of the motor through the encoder, so that the position of the output end is accurately controlled.
The common piezoelectric displacement actuator has the characteristics of good stability, high response speed, high positioning accuracy, driving force and the like, but has the defects that:
1. the driving stroke is small;
2. hysteresis is easy to occur;
3. the generated reverse backlash influences the control precision, and the reverse backlash refers to a gap error caused by the rotation backlash in the conversion process of the displacement actuator from forward translation to reverse translation;
4. outputting the nonlinearity;
5. the coaxiality error of the driving shaft and the transmission shaft is large, and the like.
With the gradual development of the technology, a displacement actuator with large stroke, high precision and no reverse backlash is still not provided in the prior art.
Disclosure of Invention
In view of this, in order to solve the problem of poor precision of the displacement actuator in the prior art, the present invention provides a displacement actuator, which includes a linear bearing assembly, a ball screw assembly, a harmonic reducer assembly and a motor assembly, wherein a power input end of the harmonic reducer assembly is connected to the motor assembly, a power output end of the harmonic reducer assembly is connected to one end of the ball screw assembly, the ball screw assembly is used for converting rotation into translation, the other end of the ball screw assembly is connected to the linear bearing assembly, and the ball screw assembly drives the linear bearing assembly to extend and retract in translation; the rotating shafts of the ball screw assembly, the harmonic reducer assembly and the motor assembly are coaxial; the axial lead of the linear bearing assembly is coaxial with the rotating shaft.
Preferably, the ball screw assembly includes a screw mounting seat, a ball screw and a ball screw nut, the ball screw nut supports the screw mounting seat, the screw mounting seat is used for driving the linear bearing assembly, the ball screw penetrates through the ball screw nut, and the ball screw is in transmission connection with the harmonic reducer assembly.
Preferably, the displacement actuator further comprises a pre-tightening elastic piece, and the pre-tightening elastic piece is in compression connection with the lead screw mounting seat.
Preferably, the pre-tightening elastic piece is a spring, and the first spring abuts against the lead screw mounting seat; the other end of the spring abuts against a linear bearing seat on the linear bearing assembly, and the pretightening force of the spring is applied to the lead screw mounting seat.
Preferably, the harmonic reducer assembly comprises a harmonic reducer connecting seat, a harmonic reducer base and a central cylinder; one end of the harmonic reducer connecting seat is connected with the ball screw assembly, and the other end of the harmonic reducer connecting seat is connected with the harmonic reducer; the harmonic reducer is also connected with the harmonic reducer base; the central cylinder is connected with the harmonic reducer.
Preferably, the harmonic reducer comprises a rigid wheel and a flexible wheel; the rigid wheel is concentrically connected with the harmonic reducer base through a spigot, and the flexible wheel is connected with the harmonic reducer connecting seat.
Preferably, the motor assembly comprises a linear motor and a flexible coupling, one end of the flexible coupling is connected to an output shaft of the linear motor, and the other end of the flexible coupling is connected with the harmonic reducer assembly.
Preferably, the linear bearing assembly includes a linear bearing rod and a linear bearing seat, the linear bearing seat limits the motion of the linear bearing rod to be telescopic up and down, and the linear bearing rod is connected with the ball screw assembly.
Preferably, the displacement actuator further comprises a ball head support assembly, the ball head support assembly comprises a support pad and a ball head rod, one end of a ball head on the ball head rod is matched with a ball socket on the support pad, and the other end of the ball head rod is connected with the linear bearing rod.
Compared with the prior art, the invention has the beneficial effects that:
the coaxiality installation error between the driving device and the guiding device can be eliminated by means of the connection and the coaxiality transmission of the linear bearing assembly, the ball screw assembly, the harmonic speed reducer assembly and the motor assembly, and the displacement control with high precision, high linearity and large stroke is realized.
Drawings
Fig. 1 is a schematic view of an assembly structure of a displacement actuator according to an embodiment of the present invention;
FIG. 2 is a cross-sectional view of a ball head support assembly according to an embodiment of the present invention;
FIG. 3 is a center sectional view of a linear bearing assembly provided in accordance with an embodiment of the present invention;
FIG. 4 is a central cross-sectional view of a ball screw assembly according to one embodiment of the present invention;
fig. 5 is a central sectional view of a motor assembly according to an embodiment of the present invention;
fig. 6 is a center sectional view of a harmonic reducer assembly according to an embodiment of the present invention.
Reference numerals:
1. a ball head support assembly; 2. a linear bearing assembly; 3. a ball screw assembly; 4. a harmonic reducer assembly; 5. a motor assembly; 6. an outer housing; 11. a support pad; 12. a ball-head rod; 21. a linear bearing rod; 22. a linear bearing seat; 23. a spring; 31. a lead screw mounting seat; 32. a ball screw; 33. a ball screw nut; 41. a harmonic reducer connecting seat; 42. a harmonic reducer; 43. angular contact ball bearings; 44. a harmonic reducer base; 45. a central cylinder; 51. a motor mounting seat; 52. a flexible coupling; 53. a linear motor.
Detailed Description
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description of the present invention, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
The embodiment of the invention provides a displacement actuator, which comprises a guide mechanism, a transmission device, a speed reducer and a rotation driving device, wherein the input end of the speed reducer is connected with the rotation driving device, the output end of the speed reducer is connected with one end of the transmission device, the transmission device is used for converting rotation into translation, the other end of the transmission device is connected with the guide mechanism, the guide mechanism is a linear guide mechanism, and the transmission device drives the guide mechanism to translate and stretch.
Preferably, the guiding mechanism is a linear bearing assembly 2, the transmission device is a ball screw assembly 3, the speed reducer is a harmonic speed reducer assembly 4, and the rotation driving device is a motor assembly 5.
Fig. 1 is a schematic view of an assembly structure of a displacement actuator according to an embodiment of the present invention. As shown in fig. 1, an embodiment of the present invention provides a displacement actuator, which includes a ball support assembly 1, a linear bearing assembly 2, a ball screw assembly 3, a harmonic reducer assembly 4, a motor assembly 5, and an outer housing 6, wherein the linear bearing assembly 2 is mounted at the lower part of the ball support assembly 1 and is used as a guide structure of the displacement actuator; the connecting plate is arranged at the lower part of the linear bearing assembly 2 and is used for being in transition connection with an external structure; the outer shell 6 is a fixed frame with an integral structure; the ball screw assembly 3 is matched and connected with the linear bearing assembly 2 and used for realizing the lifting and descending processes, and the ball screw assembly 3 is a transmission mechanism which converts rotation into translation and is a displacement actuating structure of the whole displacement actuator; the harmonic reducer assembly 4 is mounted to the bottom of the ball screw assembly, and the harmonic reducer assembly 4 is located below the outer housing 6. The harmonic reducer assembly 4 serves to decelerate the movement of a motor mounted at the bottom thereof to improve torque and lifting accuracy. The motor assembly 5 mounted to the bottommost part is responsible for providing power, and the motor assembly 5 is the power output structure of the entire displacement actuator. The outer housing 6 is located at the outer circumference of the linear bearing assembly 2, the ball screw assembly 3 and the harmonic reducer assembly 4, while the bottom of the outer housing 6 is connected to the motor assembly 5.
Fig. 2 is a central sectional view of a ball head support assembly according to an embodiment of the present invention. As shown in fig. 2, wherein the ball head support assembly 1 is the final end of the linear displacement. The central rotating shaft of the whole displacement actuator is defined as a Z axis, and the ball head support assembly 1 can perform jacking and descending high-precision linear motion along the Z axis direction. In addition, assuming that the forward direction of the Z axis is vertically upward, the X axis and the Y axis are disposed on a horizontal plane, and the X axis and the Y axis are perpendicular to the Z axis, respectively, and the X axis and the Y axis are also perpendicular to each other.
The ball head support assembly 1 includes a support pad 11 at the top end of the overall displacement actuator and a ball head stem 12 that mates with the support pad 11. Be equipped with the ball socket on the supporting pad 11, the ball socket uses with the cooperation of the bulb on the bulb pole 12, and the bulb can insert the ball socket, and supporting pad 11 and bulb pole 12 are dead through the complete restriction of ball socket cooperation with the translation degree of freedom of bulb pole 12, can restrict bulb and supporting pad 11 like this and take place along the displacement of X axle and Y axle direction. But at the same time the support pad 11 and the ball shank 12 release the freedom of rotation of the ball shank 12 completely by means of a ball-and-socket fit. In this way, the translational degrees of freedom of the ball support assembly 1 in the three coordinate systems are fixed, while the rotational degrees of freedom of the three coordinate systems are also released by the ball support assembly 1.
The ball head supporting component 1 has the advantages that: therefore, the ball head rod 12 can freely rotate around the central point of the ball under the condition that the position of the supporting pad 11 which finally implements displacement motion is not fixed, and the final displacement adaptability is also ensured. The ball head supporting component 1 can realize self alignment, and prevents inclination errors caused by misalignment of a mounting plane and a central symmetry axis of the linear bearing component 2 during installation.
FIG. 3 is a center sectional view of a linear bearing assembly according to one embodiment of the present invention. As shown in fig. 3, the linear bearing assembly 2 is a guide mechanism of the displacement actuator. The linear bearing assembly 2 comprises a linear bearing rod 21 and a linear bearing seat 22. A linear bearing rod 21 can be used to complete the connection with the ball bearing assembly 1. The linear bearing housing 22 is disposed outside the linear bearing rod 21 and matches the linear bearing rod 21. The linear bearing rod 21 can slide freely in the Z-axis direction.
The displacement actuator further comprises a pre-tightening elastic part, preferably a spring 23, and the spring 23 is arranged outside the linear bearing seat 22. The spring 23 can be used to eliminate reverse backlash.
The linear bearing rod 21 is matched with the linear bearing seat 22 for use together, the linear bearing seat 22 utilizes the internal steel balls to completely limit the rotational freedom degree of the linear bearing rod 21, and the linear bearing seat 22 also utilizes the internal steel balls to completely limit the translational freedom degrees of the linear bearing rod 21 in the X-axis and Y-axis directions. The linear bearing rod 21 can freely move up and down along the Z-axis direction in the linear bearing seat 22, the radial runout error of the linear bearing rod 21 is less than 0.02mm, the spring 23 is installed outside the linear bearing seat 22, and the upper end of the spring is pressed against the upper flanging bottom of the linear bearing seat 22.
The linear bearing assembly 2 is arranged at the lower part of the ball head supporting assembly 1, and the connection of the ball head rod 12 and the linear bearing rod 21 is realized through threaded connection. The linear bearing assembly 2 limits the translation error of the ball support assembly 1 along the directions of the X axis and the Y axis in the lifting process by means of the matching between the linear bearing rod 21 and the linear bearing seat 22, and ensures that the ball support assembly 1 only moves in the Z direction.
Fig. 4 is a central sectional view of a ball screw assembly according to an embodiment of the present invention. As shown in fig. 4, the ball screw assembly 3 is disposed at the lower portion of the linear bearing assembly 2, and the ball screw assembly 3 is used for realizing the lifting and descending processes, that is, the ball screw assembly 3 can drive the linear bearing assembly 2 to perform lifting and descending.
The ball screw assembly 3 includes a screw mount 31, a ball screw nut 33, and a ball screw 32. The lead screw mount 31 is attached to the bottom of the linear bearing rod 21. A ball screw nut 33 is provided at the bottom of the screw mount 31. The ball screw 32 is provided inside the ball screw nut 33. Originally, the ball screw nut 33 can freely rotate on the outer circle of the ball screw 32, but because the ball screw nut 33 is connected with the linear bearing assembly 2, the rotation cannot be realized, and then the rotation is changed into the up-and-down free movement along the Z-axis direction, and the ball screw assembly 3 realizes the function of converting the rotary motion into the linear motion.
The ball screw has reverse backlash, which can be eliminated by means of the preload applied by the spring 23. The ball screw assembly 3 is specifically assembled by first mounting the ball screw nut 33 to the outside of the ball screw 32 and then inserting the screw mount 31 into the ball screw 32 from above.
The ball screw assembly 3 is mounted on the lower portion of the linear bearing assembly 2, and the screw mount 31 and the linear bearing rod 21 are preferably fixed together by screws. The ball screw assembly 3 is used to perform a high-precision linear operation of the displacement actuator.
The operation principle of the ball screw assembly 3 is to control the rotation of the ball screw 32 to drive the ball screw nut 33 to move. The threads in the ball screw 32 push the balls in the ball screw nut 33 to circulate. Further, since the degree of freedom of rotation of the ball screw nut 33 is limited, the ball screw nut 33 is moved in translation in the Z-axis direction.
The ball screw nut 33 has a certain clearance along the thread fit of the ball screw 32, and when the rotation direction is changed, a certain delay is generated, which is generally called reverse backlash, that is, the ball screw 32 is reversed, but the ball screw nut 33 has no displacement in response, and only the reverse of the thread clearance occurs. In order to eliminate the reverse backlash, an elastic preload is designed in the linear bearing assembly 2, the elastic preload is preferably a spring 23, and the spring 23 is provided with the beneficial effects that: the spring 23 is pressed and extended to a certain length by position control, the pretightening force of the spring is applied to the screw mounting seat 31, the force is transmitted to the ball screw nut 33 connected to the screw mounting seat 31, and the nut is ensured to be in a state that the lower clearance is zero by means of the pressing and extending of the ball screw nut 33, so that the reverse backlash is eliminated.
Fig. 6 is a center sectional view of a harmonic reducer assembly according to an embodiment of the present invention. As shown in fig. 6, the harmonic reducer assembly 4 is mounted to a lower portion of the ball screw assembly 3, and the harmonic reducer assembly 4 is used to perform a rotational speed reduction function when the harmonic reducer assembly 4 is capable of converting a rotational input of a relatively high angular velocity into a rotational output of a relatively low angular velocity. In the first embodiment, the power input end of the harmonic reducer assembly 4 is connected with the motor assembly 5. The harmonic reducer assembly 4 can convert the angular velocity of the linear motor 53 into the rotational angular velocity of the ball screw 32. The harmonic reducer assembly 4 includes a harmonic reducer connection seat 41, a harmonic reducer 42, an angular contact ball bearing 43, a harmonic reducer mount 44, and a center cylinder 45. Harmonic reducer ware connecting seat 41 sets up in the bottom of ball 32, and harmonic reducer ware connecting seat 41 and ball 32 accomplish to be connected, and harmonic reducer ware subassembly 4 upwards transmits the rotation of motor for ball 32. The harmonic reducer 42 is disposed between the harmonic reducer connecting seat 41 and the harmonic reducer base 44, and it can be further understood that the harmonic reducer 42 is disposed at the bottom of the harmonic reducer connecting seat 41, and the harmonic reducer base 44 is disposed at the bottom of the harmonic reducer 42. The angular ball bearing 43 is disposed at the center of the harmonic reducer mount 44. The center cylinder 45 is inserted into the interior of the harmonic reducer 42. The central cylinder 45 also penetrates through the harmonic reducer base 44, and the central cylinder 45 is also connected with the motor assembly 5.
The harmonic reducer 42 includes a rigid gear, a flexible gear, and an intermediate bearing. The rigid wheel is fixed on the harmonic reducer base 44, the two are concentrically mounted through the spigot, the flexible wheel is mounted on the harmonic reducer connecting seat 41, and the middle bearing between the rigid wheel and the flexible wheel is matched with the central cylinder 45. The high speed motion of the center cylinder 45 is converted into the low speed motion of the harmonic reducer connecting base 41 by the harmonic reducer 42.
The fixing process of the harmonic reducer assembly 4 is as follows: firstly, the angular contact ball bearing 43 is arranged in an inner hole of the harmonic reducer base 44, then the central cylinder 45 is arranged in the angular contact ball bearing 43, then the inner hole of the harmonic reducer 42 is arranged in the central cylinder 45, the flexible gear at the upper part of the harmonic reducer 42 is connected with the harmonic reducer connecting seat 41, then the harmonic reducer base 44 is arranged below the rigid gear at the bottom of the harmonic reducer 42, and therefore the fixation of the harmonic reducer 42 and the combination of the harmonic reducer assembly 4 are completed. The use of the harmonic reducer 42 has the beneficial effects that: the harmonic speed reducer 42 is compact in structure and can realize a large reduction ratio.
Fig. 5 is a central sectional view of a motor assembly according to an embodiment of the present invention. As shown in fig. 5, the driving means is a motor assembly 5, and the motor assembly 5 is preferably mounted at the lowermost part of the displacement actuator. The motor assembly 5 is responsible for providing power and is a driving mechanism of the whole displacement actuator. The motor assembly 5 includes a motor mount 51, a linear motor 53 and a flexible coupling 52. The motor mount 51 is connected to the harmonic reducer mount 44, preferably by screws. The linear motor 53 is disposed at the bottom of the motor mount 51. One end of the flexible coupling 52 is connected to the output shaft of the linear motor 53, and the other end of the flexible coupling 52 is connected to the central cylinder 45 in the harmonic speed reduction assembly, so that the motor assembly 5 can complete the power input to the harmonic speed reducer 4.
In order to realize high-precision displacement control, the technical scheme in the first embodiment of the invention considers the installation eccentricity error, namely the eccentricity error of the linear bearing assembly 2 and the harmonic reducer assembly 4. Eccentricity errors may introduce large friction and accuracy errors and therefore such drawbacks should be overcome. The coaxial control of the linear bearing assembly 2 and the harmonic reducer assembly 4 is achieved in the present invention by using a spigot transfer method, i.e., by a series of coaxial controls.
By means of mutual matching and coaxiality transmission of the structures of the linear bearing assembly 2, the ball screw assembly 3, the harmonic reducer assembly 4 and the motor assembly 5, coaxiality installation errors between the driving device and the guide device can be eliminated, and high-precision high-linearity large-stroke displacement control is achieved. In addition, reverse backlash can be eliminated by means of spring pre-tightening, and control precision is further improved. The invention has compact structure and higher applicability, and can easily realize micron-scale high-precision displacement motion.
Example two
The difference between the present embodiment and the first embodiment is:
the outer housing 6 may be eliminated in this embodiment, instead of attaching the linear bearing housing 22 to a fixed end, the linear bearing housing 22 being stationary relative to the harmonic reducer assembly 4. So that this displacement actuator can still be operated.
The above-mentioned embodiments are only specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications, substitutions and improvements within the technical scope of the present invention, and these modifications, substitutions and improvements should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1. A displacement actuator is characterized by comprising a linear bearing assembly (2), a ball screw assembly (3), a harmonic reducer assembly (4) and a motor assembly (5), wherein the power input end of the harmonic reducer assembly (4) is connected with the motor assembly (5), the power output end of the harmonic reducer assembly (4) is connected with one end of the ball screw assembly (3), the ball screw assembly (3) is used for converting rotation into translation, the other end of the ball screw assembly (3) is connected with the linear bearing assembly (2), and the ball screw assembly (3) drives the linear bearing assembly (2) to translate and stretch; the rotating shafts of the ball screw assembly (3), the harmonic reducer assembly (4) and the motor assembly (5) are coaxial; the axial lead of the linear bearing assembly (2) is coaxial with the rotating shaft;
the linear bearing assembly (2) comprises a linear bearing rod (21) and a linear bearing seat (22), the linear bearing seat (22) limits the motion of the linear bearing rod (21) to be up-down telescopic, and the linear bearing rod (21) is connected with the ball screw assembly (3);
the ball screw assembly (3) comprises a screw mounting seat (31), a ball screw (32) and a ball screw nut (33), the ball screw nut (33) supports the screw mounting seat (31), the screw mounting seat (31) is used for driving the linear bearing assembly (2), the ball screw (32) penetrates through the ball screw nut (33), and the ball screw (32) is in transmission connection with the harmonic reducer assembly (4);
the displacement actuator also comprises a pre-tightening elastic piece, and the pre-tightening elastic piece is tightly connected with the lead screw mounting seat (31);
the displacement actuator further comprises a ball head supporting assembly (1), the ball head supporting assembly (1) comprises a supporting pad (11) and a ball head rod (12), one end of a ball head on the ball head rod (12) is matched with a ball socket on the supporting pad (11), and the other end of the ball head rod (12) is connected with the linear bearing rod (21).
2. The displacement actuator according to claim 1, characterized in that the pre-tensioned elastic element is a spring (23), one end of the spring (23) abutting against the lead screw mounting seat (31); the other end of the spring (23) abuts against a linear bearing seat (22) on the linear bearing assembly (2), and the pretightening force of the spring (23) is applied to the screw rod mounting seat (31).
3. The displacement actuator according to claim 1, characterized in that the harmonic reducer assembly (4) comprises a harmonic reducer connection seat (41), a harmonic reducer (42), a harmonic reducer seat (43) and a central cylinder (45); one end of the harmonic reducer connecting seat (41) is connected with the ball screw assembly (3), and the other end of the harmonic reducer connecting seat is connected with the harmonic reducer (42); the harmonic reducer (42) is also connected with the harmonic reducer base (43); the central cylinder (45) is connected with the harmonic reducer (42).
4. The displacement actuator according to claim 3, wherein the harmonic reducer (42) comprises a rigid gear and a flexible gear; the rigid wheel is concentrically connected with the harmonic reducer base (43) through a spigot, and the flexible wheel is connected with the harmonic reducer connecting seat (41).
5. Displacement actuator according to claim 1, characterized in that the motor assembly (5) comprises a linear motor (53) and a flexible coupling (52), which flexible coupling (52) is connected at one end to the output shaft of the linear motor (53) and at the other end to the harmonic reducer assembly (4).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910082933.2A CN109831058B (en) | 2019-01-24 | 2019-01-24 | Displacement actuator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910082933.2A CN109831058B (en) | 2019-01-24 | 2019-01-24 | Displacement actuator |
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| CN109831058A CN109831058A (en) | 2019-05-31 |
| CN109831058B true CN109831058B (en) | 2020-08-21 |
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Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2340120Y (en) * | 1998-07-14 | 1999-09-22 | 厦门大学 | Nanometer-grade linear electric motor |
| CN1177134C (en) * | 2003-01-10 | 2004-11-24 | 周泰经 | Electric/mechanic operating mechanism of hydraulic turbine blades |
| CN203522426U (en) * | 2013-09-18 | 2014-04-02 | 上海大学 | Large stroke micro-displacement driver |
| JP2017082864A (en) * | 2015-10-27 | 2017-05-18 | 日本精工株式会社 | Rotation/linear motion conversion device, electric power steering device having the same and vehicle, and machine device |
| CN205489952U (en) * | 2016-03-18 | 2016-08-17 | 湖北世第影视科技有限公司 | An electric cylinder |
| CN205792004U (en) * | 2016-07-06 | 2016-12-07 | 麦格瑞科技（北京）有限公司 | A kind of servo electric jar |
| CN208226783U (en) * | 2018-04-16 | 2018-12-11 | 沈阳中之杰流体控制系统有限公司 | It can bear the big stroke heavy duty electric cylinder of lateral force |
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