CN116054526B - Actuator with linear and rotary motion - Google Patents

Actuator with linear and rotary motion Download PDF

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Publication number
CN116054526B
CN116054526B CN202310164612.3A CN202310164612A CN116054526B CN 116054526 B CN116054526 B CN 116054526B CN 202310164612 A CN202310164612 A CN 202310164612A CN 116054526 B CN116054526 B CN 116054526B
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China
Prior art keywords
rotor
linear
actuator
air
motor
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CN202310164612.3A
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Chinese (zh)
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CN116054526A (en
Inventor
廖炜荣
黄安杰
谭俊源
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Foshan Zengguang Intelligent Technology Co ltd
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Foshan Zengguang Intelligent Technology Co ltd
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Priority to CN202310164612.3A priority Critical patent/CN116054526B/en
Publication of CN116054526A publication Critical patent/CN116054526A/en
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Publication of CN116054526B publication Critical patent/CN116054526B/en
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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16J—PISTONS; CYLINDERS; SEALINGS
    • F16J15/00—Sealings
    • F16J15/16—Sealings between relatively-moving surfaces
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/12—Stationary parts of the magnetic circuit
    • H02K1/20—Stationary parts of the magnetic circuit with channels or ducts for flow of cooling medium
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22—Rotating parts of the magnetic circuit
    • H02K1/32—Rotating parts of the magnetic circuit with channels or ducts for flow of cooling medium
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21—Devices for sensing speed or position, or actuated thereby
    • H02K11/22—Optical devices
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/30—Structural association with control circuits or drive circuits
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • H02K5/20—Casings or enclosures characterised by the shape, form or construction thereof with channels or ducts for flow of cooling medium
    • H02K5/207—Casings or enclosures characterised by the shape, form or construction thereof with channels or ducts for flow of cooling medium with openings in the casing specially adapted for ambient air
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/12—Improving ICE efficiencies

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electromagnetism (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Mechanical Engineering (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

The invention relates to the field of actuators, in particular to an actuator with linear and rotary motions, which comprises a machine shell, wherein a tubular linear motor, a rotary motor, a measurement feedback device, a linear motion mechanism, a circuit board and an air channel are arranged in the machine shell; the mover of the tubular linear motor is used as a ZR shaft, and meanwhile, the mover of the tubular linear motor is used as an air passage, so that the volume of the actuator is greatly reduced.

Description

Actuator with linear and rotary motion
Technical Field
The present invention relates to the field of actuators, and in particular to actuators having linear and rotational motion.
Background
The existing actuators with linear and rotary motions generally adopt a motor to drive a screw rod to complete linear motion or utilize a servo motor or a stepping motor to drive a rotary spline screw rod to complete linear and rotary motions.
But with the structure, the product has larger volume and low linear motion efficiency, and the precision of linear motion and rotary motion can only be controlled by a motor, so that closed-loop driving can not be realized.
Moreover, if the tubular linear motor is adopted to complete linear motion, the driving mode has the phenomenon of smaller thrust and instability when the working stroke exceeds 200 mm.
Disclosure of Invention
The invention aims to provide an actuator with linear and rotary motion, which has large stroke, large thrust, high precision and small volume.
The purpose of the invention is realized in the following way:
the utility model provides an actuator with straight line, rotary motion, includes the casing, and the casing embeds tubular linear motor, rotating electrical machines, measurement feedback device, rectilinear motion mechanism, circuit board and air flue, tubular linear motor includes stator and hollow tubular active cell, the stator is opened there is a coast passageway and air flue, the port department of coast passageway is provided with the sealing washer respectively, the active cell lateral wall is opened there is the first gas pocket that communicates cavity wherein, and the active cell lower extreme is opened there is the second gas pocket that communicates cavity wherein, the active cell passes the sealing washer and stretches into in the coast passageway, encloses into the air cavity between sealing washer, active cell and the coast passageway, an air cavity intercommunication air flue port;
the shell is provided with an air port, the air passage is arranged in the inner cavity of the shell, one port of the air passage is connected with the air port, and the other port of the air passage is connected with the other port of the air passage pipeline;
the upper end of the rotor is connected with an output shaft of a rotating motor, the lower end of the rotor extends out of the casing, the rotating motor drives the rotor to rotate, and in the rotating process, the first air hole is always communicated with the air cavity;
the rotating motor is arranged on a moving block of the linear movement mechanism, and the linear movement mechanism limits the movement directions of the rotating motor and the rotor;
the measuring feedback device comprises a detecting head and a scale, the scale is arranged on the moving block or the shell, the detecting head is arranged on the shell or the moving block and is in contact with the scale, and the tubular linear motor, the rotating motor and the measuring feedback device are respectively and electrically connected with the circuit board.
When the rotor is lifted and rotated, the first air hole is always positioned in the air cavity, so that the air cavity can be always communicated with the inner cavity of the rotor, the lower port of the second air hole of the rotor can be used for air intake or air exhaust, release force or adsorption force is generated, the rotor has the effects of rotating and ventilating while lifting and ventilating, the rotor is lifted and lowered by utilizing the tubular linear motor, the actuator has the characteristics of large stroke up to 200mm, large thrust and high precision closed-loop control, and the application range of the actuator is wider.
The mover of the tubular linear motor is used as a ZR shaft, and meanwhile, the mover of the tubular linear motor is used as an air passage, so that the volume of the actuator is greatly reduced.
The aim of the invention can also be achieved by adopting the following technical measures:
further, the linear motion mechanism comprises a guide rail and a sliding block, the guide rail is vertically arranged in the casing, the sliding block is arranged on the guide rail in a sliding mode and slides along the length direction of the guide rail, the rotating motor is connected with the sliding block, and the rotating motor synchronously slides along with the sliding block.
Further, the device also comprises a mounting seat and an elastic piece, wherein the mounting seat is arranged in the shell and connected with the sliding block, the rotating motor is arranged in the inner cavity of the mounting seat, the output shaft of the rotating motor extends out of the mounting seat, one end of the elastic piece is connected with the shell, the other end of the elastic piece is connected with the mounting seat, and the elastic piece forms a resetting mechanism of the sliding block. The elastic piece forms a reset mechanism of the sliding block, and when the mover needs to extend out of the casing, the tubular linear motor needs to overcome the elastic force of the elastic piece, so that the mover is forced to move downwards. When the mover needs to retract into the casing, the tubular linear motor and the elastic piece drive the mover to retract into the casing rapidly under the combined action of the linear motor and the elastic piece, so that the mover can retract rapidly, the elasticity of the elastic piece keeps pushing the sliding block to move upwards all the time, the sliding block is prevented from falling down due to the action of gravity, the mover slides downwards, and the lifting precision of the mover is greatly improved.
Further, the sliding block is further provided with an upper buffering rubber cushion, an upper limiting block used for limiting the sliding distance of the sliding block is arranged in the inner cavity of the casing, the upper buffering rubber cushion is arranged at the bottom of the upper limiting block, and when the sliding block slides in place, the sliding block abuts against the upper buffering rubber cushion.
When the sliding block slides up in place, namely the rotor slides up in place, the upper buffering rubber cushion is propped against the upper limiting block to play a role in buffering, abnormal sound is avoided from being generated when the sliding block and the upper limiting block are hard to collide, noise in the operation process of the actuator is reduced, the phenomenon that the sliding block directly collides with the casing in the ascending process of the sliding block is avoided, and the upper buffering rubber cushion effectively buffers the impact force in the ascending process of the sliding block, so that the service life of the actuator is greatly prolonged.
Further, the sliding block is further provided with a lower buffering rubber cushion, a lower limiting block used for limiting the sliding distance of the sliding block is arranged in the inner cavity of the casing, the lower buffering rubber cushion is arranged at the bottom of the sliding block, and when the sliding block slides down in place, the lower buffering rubber cushion abuts against the lower limiting block.
When the sliding block slides down in place, namely the rotor slides down in place, the lower buffering rubber cushion is propped against the lower limiting block to play a role in buffering, abnormal sound is avoided from being generated when the sliding block and the lower limiting block are hard to collide, noise in the operation process of the actuator is reduced, the sliding block is prevented from directly colliding with the shell in the descending process, and the lower buffering rubber cushion effectively buffers the impact force in the descending process of the sliding block, so that the service life of the actuator is greatly prolonged.
Further, the motor rotor comprises a coupler, the coupler is arranged on an output shaft of the rotating motor, and the upper end of the rotor is connected with the coupler. The rotary motor and the rotor are connected through the coupler, the rotary motor can directly drive the rotor to rotate, the transmission efficiency is higher, and the coupler is small in size, so that the equipment size is effectively reduced.
Further, the rotor comprises a bearing, wherein an upper mounting groove is formed in the position, located at the upper port of the sliding channel, of the stator, a sealing ring and the bearing are arranged in the upper mounting groove, a lower mounting groove is formed in the position, located at the lower port of the sliding channel, of the stator, the sealing ring and the bearing are arranged in the lower mounting groove, the upper end of the rotor sequentially penetrates through the sealing ring and the bearing to extend outwards, and the lower end of the rotor sequentially extends out of the sealing ring and the bearing to extend outwards. The bearing is arranged in the tubular linear motor and sleeved on the rotor, so that the rotating effect of the rotor is improved, the rotor is prevented from shifting, and the rotor rotating function is realized.
Further, the sealing ring is a rotary sealing ring. Because the rotary sealing ring is adopted, air leakage of the air cavity is avoided, and the practicability of the air passage structure of the actuator is improved.
Further, the electric motor is characterized by further comprising a flat cable, wherein the flat cable is arranged in the casing, one end of the flat cable is connected with the circuit board, the other end of the flat cable is connected with the rotating motor, the casing is provided with a communication port for connecting the upper-level controller, and the communication port is electrically connected with the circuit board.
Further, the measurement feedback device is a magnetic grating, the detection head is a magnetic head, the scale is a magnetic scale, the magnetic scale is arranged on the moving block or the shell, the magnetic head is arranged on the shell or the moving block and is in contact with the magnetic scale, and the tubular linear motor, the rotary motor and the magnetic grating are respectively and electrically connected with the circuit board.
The magnetic grating has the advantages of high precision, simplicity in copying, convenience in installation and adjustment and the like, and has higher stability when used in a working environment with more greasy dirt and dust, the magnetic scale is arranged on the moving block, the magnetic head is contacted with the magnetic scale, and when the moving block is lifted, the magnetic head reads signals of the magnetic scale and feeds the signals back to the circuit board, so that the lifting position of the rotor is obtained, and the high-precision control of the lifting position of the rotor is realized.
Further, the measurement feedback device is a grating, the detection head is a grating head, the scale is a grating scale, the grating scale is arranged on the moving block or the shell, the grating head is arranged on the shell or the moving block and is in contact with the grating scale, and the tubular linear motor, the rotary motor and the grating are respectively electrically connected with the circuit board.
The beneficial effects of the invention are as follows:
according to the invention, when the rotor is lifted and rotated, the first air hole is always positioned in the air cavity, so that the air cavity can be always connected with the inner cavity of the rotor, the lower port of the second air hole of the rotor can be used for air inlet or air exhaust, thus release force or adsorption force is generated, the rotor has the effects of rotating, lifting and ventilating simultaneously, the rotor is lifted and lowered by utilizing the tubular linear motor, the actuator has the characteristics of large stroke up to 200mm, large thrust and high-precision closed-loop control, and the application range of the actuator is wider.
According to the invention, the mover of the tubular linear motor is used as the ZR shaft, and meanwhile, the mover of the tubular linear motor is used as the air path, so that the volume of the actuator is greatly reduced.
The magnetic grating has the advantages of high precision, simplicity in copying, convenience in installation and adjustment and the like, and has higher stability when used in a working environment with more greasy dirt and dust, the magnetic scale is arranged on the moving block, the magnetic head is contacted with the magnetic scale, and when the moving block is lifted, the magnetic head reads signals of the magnetic scale and feeds the signals back to the circuit board, so that the lifting position of the rotor is obtained, and the high-precision control of the lifting position of the rotor is realized.
Drawings
Fig. 1 is a schematic view of an actuator having a linear, rotational motion.
Fig. 2 is a schematic view of an actuator with linear, rotational motion (with a portion of the housing removed).
Fig. 3 is a cross-sectional view of an actuator having a linear, rotational motion.
Fig. 4 is a schematic diagram of the flow of gas through an actuator with linear, rotational motion.
Fig. 5 is an exploded view of an actuator with linear, rotational motion.
Detailed Description
The invention is further described below with reference to the accompanying drawings and examples:
the embodiment, referring to fig. 1 to 5, an actuator with linear and rotary motion, comprises a casing 1, wherein a tubular linear motor 2, a rotary motor 3, a measurement feedback device, a linear motion mechanism 5, a circuit board 600 and an air channel 100 are arranged in the casing 1, the tubular linear motor 2 comprises a stator 21 and a hollow tubular rotor 22, the stator 21 is provided with a sliding channel 211 and an air pipeline 212, sealing rings 200 are respectively arranged at ports of the sliding channel 211, a first air hole 221 communicated with a cavity 23 is arranged on the side wall of the rotor 22, a second air hole 222 communicated with the cavity 23 is arranged at the lower end of the rotor 22, the rotor 22 penetrates through the sealing rings 200 and stretches into the sliding channel 211, an air cavity 300 is defined among the sealing rings 200, the rotor 22 and the sliding channel 211, and the air cavity 300 is connected with one port of the air pipeline 212;
the shell 1 is provided with an air port 11, the air channel 100 is arranged in the inner cavity of the shell 1, one port of the air channel 100 is communicated with the air port 11, and the other port of the air channel 100 is communicated with the other port of the ventilation pipeline 212;
the upper end of the rotor 22 is connected with an output shaft of the rotary motor 3, the lower end of the rotor 22 extends out of the machine shell 1, the rotary motor 3 drives the rotor 22 to rotate, and in the rotating process, the first air hole 221 is always communicated with the air cavity 300;
the rotating motor 3 is arranged on a moving block of the linear motion mechanism 5, and the linear motion mechanism 5 limits the moving directions of the rotating motor 3 and the rotor 22;
in this embodiment, the measurement feedback device is a magnetic grating 4, the magnetic grating 4 includes a magnetic head 41 and a magnetic scale 42, the magnetic scale 42 is disposed on the moving block or the housing 1, the magnetic head 41 is disposed on the housing 1 or the moving block and contacts with the magnetic scale 42, and the tubular linear motor 2, the rotary motor 3 and the magnetic grating 4 are electrically connected with the circuit board 600, respectively.
Further, the linear motion mechanism 5 includes a guide rail 51 and a slider 52, the guide rail 51 is vertically disposed in the casing 1, the slider 52 is slidably seated on the guide rail 51 and slides along the length direction of the guide rail 51, the rotating electrical machine 3 is connected to the slider 52, and the rotating electrical machine 3 slides synchronously with the slider.
Further, the electric motor further comprises a mounting seat 6 and an elastic piece 7, wherein the mounting seat 6 is arranged in the shell 1 and is connected with the sliding block 52, the rotating motor 3 is arranged in the inner cavity of the mounting seat 6, an output shaft of the rotating motor 3 extends out of the mounting seat 6, one end of the elastic piece 7 is connected with the shell 1, the other end of the elastic piece 7 is connected with the mounting seat 6, the elastic piece 7 forms a resetting mechanism of the sliding block 52, and the circuit board 600 is arranged on the mounting seat 6.
Further, the sliding device further comprises an upper buffer rubber pad 400, an upper limiting block 12 for limiting the sliding distance of the sliding block 52 is arranged in the inner cavity of the casing 1, the upper buffer rubber pad 400 is arranged at the bottom of the upper limiting block 12, and when the sliding block 52 slides in place, the sliding block 52 abuts against the upper buffer rubber pad 400.
Further, the sliding device further comprises a lower buffer rubber cushion 500, a lower limiting block 13 for limiting the sliding distance of the sliding block 52 is arranged in the inner cavity of the casing 1, the lower buffer rubber cushion 500 is arranged at the bottom of the sliding block 52, and when the sliding block 52 slides down in place, the lower buffer rubber cushion 500 abuts against the lower limiting block 13.
Further, the motor rotor comprises a coupling 8, wherein the coupling 8 is arranged on an output shaft of the rotating motor 3, and the upper end of the rotor 22 is connected with the coupling 8.
Further, the motor rotor further comprises a bearing 9, an upper mounting groove 91 is formed in the position, located at the upper port of the sliding channel 211, of the stator 21, a sealing ring 200 and the bearing 9 are arranged in the upper mounting groove 91, a lower mounting groove 92 is formed in the position, located at the lower port of the sliding channel 211, of the stator 21, the sealing ring 200 and the bearing 9 are arranged in the lower mounting groove 92, the upper end of the rotor 22 sequentially penetrates through the sealing ring 200 and the bearing 9 to extend outwards, and the lower end of the rotor 22 sequentially extends out of the sealing ring 200 and the bearing 9 to extend outwards.
Further, the seal ring 200 is a rotary seal ring.
Further, the electric motor further comprises a flat cable 10, wherein the flat cable 10 is arranged in the machine shell 1, one end of the flat cable 10 is connected with the circuit board 600, and the other end of the flat cable 10 is connected with the rotating motor 3.
Further, the casing 1 is provided with a communication port 20 for interfacing with a superior controller, and the communication port 20 is electrically connected with the circuit board 600.
Working principle:
when in linear motion:
a linear motor is a transmission device that converts electrical energy directly into linear motion mechanical energy without any intermediate conversion mechanism. It can be seen as a rotary electric machine which is radially split and formed by generating a plane. The linear motors are classified according to types, and can be divided into three types of cylindrical type, U-shaped groove type and flat plate type, wherein the tubular linear motor 2 is one type of cylindrical motor, also called pen type linear motor, and is a small-power miniature push rod lifting (telescopic) motor.
The tubular linear motor 2 is assembled by a driving motor (motor), a gear box (reduction gear), a nut, a guide sleeve, a rotor 22, a stator 21, a pull head, a micro-motion control switch and the like.
The parameters of the tubular linear motor 2 used in different fields are different, and the tubular linear motor is usually developed by adopting customized technical parameters, such as a reduction gear transmission mode, a speed ratio, output torque, output rotating speed, and power, voltage and specification of the motor; parameters such as stroke, noise, precision and the like of the tubular linear motor 2 are custom developed.
In this embodiment, the tubular linear motor 2 works to drive the mover 22 to stretch out and draw back, so that the mover 22 stretches out or retracts into the casing 1, and since the rotary motor 3 is connected with the mover 22, the rotary motor 3 stretches up and down along with the mover 22, and the linear motion mechanism 5 limits the stretching range of the rotary motor 3, so as to limit the stretching range of the mover 22, and realize rapid lifting and lowering of the mover 22, so that the actuator obtains the advantages of high precision, large thrust and large stroke.
Moreover, the elastic member 7 constitutes a restoring mechanism of the slider 52, and when the mover 22 needs to be protruded outside the casing 1, the tubular linear motor 2 needs to overcome the elastic force of the elastic member 7, thereby forcing the mover 22 to move downward.
When the rotor 22 needs to retract into the casing 1, the tubular linear motor 2 and the elastic piece 7 drive the rotor 22 to retract into the casing 1 quickly, so that the rotor 22 stretches out and draws back quickly, the elasticity of the elastic piece 7 keeps pushing the sliding block 52 to move upwards all the time, the sliding block 52 is prevented from falling down due to the action of gravity, the rotor 22 slides downwards, and the lifting precision of the rotor 22 is greatly improved.
Furthermore, the magnetic grating 4 has the advantages of high precision, simple replication, convenient installation and adjustment, and the like, and has higher stability when being used in an operating environment with more greasy dirt and dust, the magnetic scale 42 is arranged on the mounting seat 6, and when the mounting seat 6 is lifted, the magnetic head 41 reads signals of the magnetic scale 42 and feeds the signals back to the circuit board 600, so that the lifting position of the rotor 22 is known, the lifting position control precision of the rotor 22 is improved, and the high precision and closed loop control are completed.
During the rotation movement:
the rotary motor 3 drives the rotor 22 to rotate, the bearing 9 is arranged in the tubular linear motor 2, the bearing 9 is sleeved on the rotor 22, the rotating effect of the rotor 22 is improved, the rotor 22 is prevented from shifting, and the rotating function of the rotor 22 is realized.
When gas is supplied and exhausted:
during air supply, an external air source enters the inner cavity of the rotor 22 along the air port 11, the air passage 100, the air pipeline 212, the air cavity 300 and the first air hole 221, and finally the air is exhausted to the second air hole 222, so that the second air hole 222 generates release force.
During the exhausting process, the external air source exhausts along the second air hole 222, the inner cavity of the rotor 22, the first air hole 221, the air cavity 300, the air pipeline 212, the air channel 100 and the air port 11, so that the second air hole 222 generates adsorption force.
Because first air hole 221 is always located in air cavity 300 when mover 22 is lifted and rotated, air cavity 300 can always connect the inner cavity of mover 22, so that second air hole 222 of mover 22 (i.e. the lower port of mover 22) can intake or exhaust air, thereby generating releasing force or adsorbing force.
The mover 22 is provided with the effect of ventilation while rotating and ventilation while ascending and descending.
The actuator with linear and rotary motions can be fixed on a manipulator, a sliding table and other modules, including but not limited to the mechanical type, and can complete linear motions (0-40 Hz) at high frequency and rotate at high speed (0-5000 r/min).
The mover 22 of the tubular linear motor is used as a ZR shaft, and meanwhile, the mover 22 of the tubular linear motor is used as a gas path, so that the volume of the actuator is greatly reduced.

Claims (10)

1. An actuator with linear and rotary motion comprises a casing (1), wherein a tubular linear motor (2), a rotary motor (3), a measurement feedback device, a linear motion mechanism (5), a circuit board (600) and an air channel (100) are arranged in the casing (1), and the actuator is characterized in that:
the tubular linear motor (2) comprises a stator (21) and a rotor (22), a hollow cavity (23) is formed in an inner cavity of the rotor (22), a sliding channel (211) and an air pipeline (212) are formed in the stator (21), sealing rings (200) are respectively arranged at ports of the sliding channel (211), first air holes (221) communicated with the hollow cavity (23) are formed in the side walls of the rotor (22), second air holes (222) communicated with the hollow cavity (23) are formed in the lower ends of the rotor (22), the rotor (22) penetrates through the sealing rings (200) to extend into the sliding channel (211), an air cavity (300) is formed by surrounding among the sealing rings (200), the rotor (22) and the sliding channel (211), and one port of the air cavity (300) is communicated with the air pipeline (212);
the shell (1) is provided with an air port (11), the air passage (100) is arranged in the inner cavity of the shell (1), one port of the air passage (100) is communicated with the air port (11), and the other port of the air passage (100) is communicated with the other port of the ventilation pipeline (212);
the upper end of the rotor (22) is connected with an output shaft of a rotating motor (3), the lower end of the rotor (22) extends out of the machine shell (1), the rotating motor (3) drives the rotor (22) to rotate, and in the rotating process, a first air hole (221) is always communicated with the air cavity (300);
the rotating motor (3) is arranged on a moving block of the linear movement mechanism (5), and the linear movement mechanism (5) limits the movement directions of the rotating motor (3) and the rotor (22);
the measuring feedback device comprises a detecting head and a scale, the scale is arranged on the moving block or the shell (1), the detecting head is arranged on the shell (1) or the moving block and is in contact with the scale, and the tubular linear motor (2), the rotary motor (3) and the measuring feedback device are respectively and electrically connected with the circuit board (600).
2. The actuator with linear, rotational motion of claim 1, wherein: the linear motion mechanism (5) comprises a guide rail (51) and a sliding block (52), the guide rail (51) is vertically arranged in the casing (1), the sliding block (52) is arranged on the guide rail (51) in a sliding mode and slides along the length direction of the guide rail (51), the rotating motor (3) is connected with the sliding block (52), and the rotating motor (3) synchronously slides along the sliding block (52).
3. The actuator with linear, rotational motion of claim 2, wherein: still include mount pad (6) and elastic component (7), mount pad (6) are arranged in casing (1) internal connection slider (52), mount pad (6) inner chamber is arranged in rotating electrical machines (3), and the output shaft of rotating electrical machines (3) stretches out outside mount pad (6), casing (1) is connected to elastic component (7) one end, mount pad (6) are connected to elastic component (7) other end, and elastic component (7) constitute the canceling release mechanical system of slider (52).
4. The actuator with linear, rotational motion of claim 2, wherein: the sliding mechanism is characterized by further comprising an upper buffer rubber pad (400), wherein an upper limiting block (12) for limiting the sliding distance of the sliding block (52) is arranged in the inner cavity of the shell (1), the upper buffer rubber pad (400) is arranged at the bottom of the upper limiting block (12), and when the sliding block (52) slides in place, the sliding block (52) is abutted against the upper buffer rubber pad (400).
5. The actuator with linear, rotational motion of claim 2, wherein: the sliding mechanism is characterized by further comprising a lower buffering rubber cushion (500), wherein a lower limiting block (13) for limiting the sliding distance of the sliding block (52) is arranged in the inner cavity of the shell (1), the lower buffering rubber cushion (500) is arranged at the bottom of the sliding block (52), and when the sliding block (52) slides downwards in place, the lower buffering rubber cushion (500) abuts against the lower limiting block (13).
6. The actuator with linear, rotational motion of claim 1, wherein: the motor rotor structure further comprises a coupler (8), wherein the coupler (8) is arranged on an output shaft of the rotating motor (3), and the upper end of the rotor (22) is connected with the coupler (8).
7. The actuator with linear, rotational motion of claim 1, wherein: still include bearing (9), stator (21) are located port department on sliding channel (211) and are provided with mounting groove (91), be provided with in last mounting groove (91) sealing washer (200) and bearing (9), stator (21) are located port department under sliding channel (211) and are provided with down mounting groove (92), be provided with in mounting groove (92) sealing washer (200) with bearing (9), rotor (22) upper end is passed sealing washer (200) and bearing (9) in proper order and is outwards stretched out, and rotor (22) lower extreme is stretched out sealing washer (200) and bearing (9) in proper order and is outwards stretched out.
8. The actuator with linear, rotational motion of claim 7, wherein: the sealing ring (200) is a rotary sealing ring.
9. The actuator with linear, rotational motion of claim 1, wherein: the novel electric power transmission device is characterized by further comprising a flat cable (10), wherein the flat cable (10) is arranged in the shell (1), one end of the flat cable (10) is connected with the circuit board (600), the other end of the flat cable (10) is connected with the rotating motor (3), the shell (1) is provided with a communication port (20) for connecting an upper-level controller, and the communication port (20) is electrically connected with the circuit board (600).
10. The actuator with linear, rotational motion of claim 1, wherein: the measuring feedback device is a magnetic grid (4), the detecting head is a magnetic head (41), the scale is a magnetic scale (42), the magnetic scale (42) is arranged on the moving block or the shell (1), the magnetic head (41) is arranged on the shell (1) or the moving block and is in contact with the magnetic scale (42), and the tubular linear motor (2), the rotating motor (3) and the magnetic grid (4) are respectively electrically connected with the circuit board (600).
CN202310164612.3A 2023-02-25 2023-02-25 Actuator with linear and rotary motion Active CN116054526B (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1489434A (en) * 2002-08-29 2004-04-14 ������������ʽ���� Element mounting device
JP2016041013A (en) * 2015-12-24 2016-03-24 Thk株式会社 Actuator with linear motion guide mechanism
JP2020065429A (en) * 2018-10-19 2020-04-23 Thk株式会社 Actuator

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09158949A (en) * 1995-12-11 1997-06-17 Nippon Seiko Kk Driving gear for linear bearing
CN213717820U (en) * 2020-12-01 2021-07-16 东莞市驰银传动科技有限公司 Linear motor driven linear module
CN113067449B (en) * 2021-03-30 2022-05-27 深圳精技工业科技有限公司 High-precision up-and-down rotating motion device
CN217692958U (en) * 2022-06-27 2022-10-28 佛山市增广智能科技有限公司 Actuator with linear and rotary motion
CN217643029U (en) * 2022-06-27 2022-10-21 佛山市增广智能科技有限公司 Air passage structure of actuator and actuator with linear and rotary motion

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1489434A (en) * 2002-08-29 2004-04-14 ������������ʽ���� Element mounting device
JP2016041013A (en) * 2015-12-24 2016-03-24 Thk株式会社 Actuator with linear motion guide mechanism
JP2020065429A (en) * 2018-10-19 2020-04-23 Thk株式会社 Actuator

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