WO2022267669A1 - 具有自锁功能的驱动器及线性致动器 - Google Patents

具有自锁功能的驱动器及线性致动器 Download PDF

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Publication number
WO2022267669A1
WO2022267669A1 PCT/CN2022/088648 CN2022088648W WO2022267669A1 WO 2022267669 A1 WO2022267669 A1 WO 2022267669A1 CN 2022088648 W CN2022088648 W CN 2022088648W WO 2022267669 A1 WO2022267669 A1 WO 2022267669A1
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WO
WIPO (PCT)
Prior art keywords
self
friction
drive shaft
ring
driver
Prior art date
Application number
PCT/CN2022/088648
Other languages
English (en)
French (fr)
Inventor
岑余杰
唐诗轶
Original Assignee
浙江捷昌线性驱动科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 浙江捷昌线性驱动科技股份有限公司 filed Critical 浙江捷昌线性驱动科技股份有限公司
Priority to US18/271,268 priority Critical patent/US20240068550A1/en
Priority to EP22827169.8A priority patent/EP4257846A4/en
Publication of WO2022267669A1 publication Critical patent/WO2022267669A1/zh

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Classifications

    • 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
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/2015—Means specially adapted for stopping actuators in the end position; Position sensing means
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • H02K7/1163—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion
    • H02K7/1166—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion comprising worm and worm-wheel
    • 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
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/04—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members
    • F16H1/12—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes
    • F16H1/16—Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with non-parallel axes comprising worm and worm-wheel
    • 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
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
    • F16H25/2285—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with rings engaging the screw shaft with the inner perimeter, e.g. using inner rings of a ball bearing
    • F16H25/229—Eccentric rings with their axis arranged substantially parallel to the screw shaft axis
    • 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
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/24—Elements essential to such mechanisms, e.g. screws, nuts
    • F16H25/2454—Brakes; Rotational locks
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/08—Structural association with bearings
    • H02K7/081—Structural association with bearings specially adapted for worm gear drives
    • 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
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/2031—Actuator casings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2205/00—Specific aspects not provided for in the other groups of this subclass relating to casings, enclosures, supports
    • H02K2205/03—Machines characterised by thrust bearings

Definitions

  • the invention relates to the field of drivers, in particular to a driver and a linear actuator with a self-locking function.
  • the principle of torsion spring self-locking is similar.
  • the material of the torsion spring seat is POM100P.
  • the friction coefficient will be reduced after the torsion spring seat runs for a period of time, resulting in a decline in self-locking performance.
  • the technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and propose a driver with a self-locking function, which has stable self-locking performance.
  • the driver with self-locking function includes a casing and a drive shaft for outputting power, the end of the casing is provided with an end cover, and the end cover is provided with a self-locking mechanism for applying a self-locking force to the drive shaft,
  • the self-locking mechanism includes a friction seat set on the drive shaft and rotates synchronously with the drive shaft, a friction ring installed in the end cover and kept fixed with the end cover, the friction seat and the friction ring are in interference fit , to realize the two-way self-locking of the drive shaft.
  • the friction ring includes an inner ring and an outer ring, the friction ring is sleeved on the outer periphery of the friction seat through the inner ring, and the outer ring is clamped with the inner wall of the end cover to limit the friction ring circular rotation.
  • one of the outer ring and the inner wall of the end cover is provided with a clamping slot, and the other is provided with a clamping block matching the clamping slot.
  • the friction ring also includes a positioning flange connected to the outer ring, a bearing is provided outside the drive shaft, a positioning step is provided on the inner wall of the end cover, and the positioning flange is limited It is located between the bearing and the positioning step.
  • the inner ring is provided with a notch, the two ends of the notch are provided with connecting parts extending to the outer ring, and the two connecting parts define an oil groove for filling lubricating oil.
  • the friction seat is fixed on the drive shaft through a pin shaft.
  • the pin shaft radially penetrates the drive shaft, and the side of the friction seat is provided with a mounting groove, and the pin shaft is installed in the mounting groove with an interference fit.
  • an avoidance end is provided at the end of the friction seat away from the installation groove, and the avoidance end is tapered to avoid the end cover.
  • the drive shaft is respectively provided with grooves on both sides of the self-locking mechanism, and the grooves are fitted with snap springs for axially positioning the self-locking mechanism.
  • a linear actuator including the above-mentioned driver with self-locking function.
  • the invention discloses a driver.
  • the driver is usually applied to equipment.
  • the drive shaft outputs torque to drive the device.
  • the self-locking mechanism provided in the driver can generate a self-locking force acting on the drive shaft, which can avoid damage caused by external force.
  • the resulting drive shaft reverses and remains stable;
  • the relative rotation between the friction seat and the friction ring can generate friction force, which is the self-locking force of the self-locking mechanism.
  • the friction ring is fixedly installed on the end cover, and the connection between the end cover and the shell is generally fixed by screws. This enables the friction ring to remain fixed to the end cover so that it will not be driven by the friction seat to rotate, and the friction seat can maintain synchronous rotation with the drive shaft.
  • the friction ring includes an inner ring and an outer ring, the friction ring is fitted on the outer periphery of the friction seat through the inner ring, and the outer ring is engaged with the inner wall of the end cover to limit the circumferential rotation of the friction ring .
  • the clamping method makes the cooperation between the friction ring and the end cover relatively simple, and does not need to pass through
  • the way of interference fit will not cause damage to the friction ring or the end cover during the assembly process; the friction ring is set outside the friction seat, and the reaction force of the friction seat to the friction ring is in the radial direction of the friction ring, not in the In the axial direction, it will not affect the fit of the friction ring and the end cover.
  • one of the outer ring and the inner wall of the end cap is provided with a card slot, and the other is provided with a card block matching the card slot.
  • the friction ring also includes a positioning flange connected to the outer ring, a bearing is provided outside the drive shaft, and a positioning step is provided on the inner wall of the end cover, and the positioning flange is limited by the between the bearing and the positioning step.
  • the bearing is set on the drive shaft, its inner ring can rotate synchronously with the drive shaft.
  • the friction ring is installed in the end cover, install the end cover on the shell.
  • the positioning flange is located on the positioning step and the outer ring of the bearing In between, the position of the positioning flange in the axial direction is limited, thereby limiting the displacement of the friction ring in the axial direction, and avoiding the structural dispersion of the self-locking mechanism during use.
  • the inner ring is provided with a notch
  • the two ends of the notch are provided with connecting parts extending to the outer ring
  • the two connecting parts define an oil groove for filling lubricating oil.
  • the friction seat is fixed on the drive shaft through a pin shaft.
  • the rotation of the friction seat relative to the drive shaft can be limited by the pin shaft, so that the friction seat can keep synchronous rotation with the drive shaft, and the friction seat can be fixed by the pin shaft, so that the friction seat does not need to be installed on the drive shaft with interference fit, so that The drive shaft will not be damaged during the installation process, and the drive shaft will not rely on the friction between the friction seat to maintain the synchronous rotation of the friction seat, and will not cause damage to the drive shaft during operation.
  • the pin shaft radially penetrates the drive shaft, and the side of the friction seat is provided with an installation groove, and the pin shaft is installed in the installation groove with an interference fit.
  • the end of the friction seat away from the installation groove is provided with an escape end, and the avoidance end is tapered to avoid the end cover. Since the friction seat needs to cooperate with the pin shaft, and the pin shaft is the part used to drive the friction seat during the rotation of the drive shaft, so the pin shaft cannot be deformed, and the pin shaft has a certain diameter, so the friction seat also has a A certain thickness, if the friction seat is too thick, it will contact the end cover and affect the installation of the end cover and wear the inner surface of the end cover. By setting the avoidance end on the friction seat, the thickness of the friction seat will not be reduced, and it will also avoid end cap.
  • the drive shaft is provided with grooves on both sides of the self-locking mechanism, and the grooves are fitted with snap rings for axially positioning the self-locking mechanism.
  • the snap ring After the snap ring is installed in the groove, it protrudes from the surface of the drive shaft, so that the self-locking mechanism can be positioned, and the performance of the self-locking mechanism can be affected by dispersion of the friction seat and the friction ring.
  • the invention also discloses a linear actuator, which includes the above-mentioned driver.
  • the linear actuator controls the movement of the object in the linear direction through the column.
  • the power of the column is provided by the driver.
  • a self-locking mechanism is arranged in the driver, which can prevent the column from moving in a straight line. Retraction occurs under the action of external force, and the rotation of the drive shaft can be stopped quickly, which improves the telescopic accuracy of the column.
  • FIG. 1 is a schematic structural diagram of a driver in an embodiment of the present invention
  • Fig. 2 is the explosion diagram A of the driver in the embodiment of the present invention.
  • Fig. 3 is the enlarged schematic diagram of place A in Fig. 2;
  • Fig. 4 is the explosion diagram B of the driver in the embodiment of the present invention.
  • Fig. 5 is the enlarged schematic diagram of place B in Fig. 2;
  • Fig. 6 is a cross-sectional view of the driver in the embodiment of the present invention.
  • Housing 100 drive shaft 110, end cover 120, block 130, bearing 140, positioning step 150, pin shaft 160, through hole 170, groove 180;
  • Friction ring 300 oil groove 310 , inner ring 320 , outer ring 330 , notch 340 , connecting portion 350 , locking groove 360 , and positioning flange 370 .
  • first and second are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as “first” and “second” may explicitly or implicitly include one or more of these features.
  • plural means two or more, unless otherwise clearly defined.
  • a first feature being “on” or “under” a second feature may include direct contact between the first and second features, and may also include the first and second features Not in direct contact but through another characteristic contact between them.
  • “above”, “above” and “above” the first feature on the second feature include that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature.
  • "Below”, “under” and “under” the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.
  • the embodiment of the present invention discloses a driver with a self-locking function, including a housing 100 and a drive shaft 110 for outputting power, the end of the housing 100 is provided with an end cover 120, and the end cover 120 is provided with a A self-locking mechanism that applies a self-locking force to the drive shaft 110.
  • the self-locking mechanism includes a friction seat 200 that is sleeved on the drive shaft 110 and rotates synchronously with the drive shaft 110, and a friction seat that is installed in the end cover 120 and remains fixed with the end cover 120.
  • the ring 300 , the friction seat 200 and the friction ring 300 are in interference fit to realize bidirectional self-locking of the drive shaft 110 .
  • the invention discloses a driver.
  • the driver is usually applied to equipment.
  • the drive shaft 110 outputs torque to drive the device.
  • the self-locking mechanism provided in the driver can generate a self-locking force acting on the drive shaft 110, which can avoid The drive shaft 110 reversed due to the action can be kept stable;
  • the relative rotation between the friction seat 200 and the friction ring 300 can generate friction force, which is the self-locking force of the self-locking mechanism.
  • the friction ring 300 is fixedly installed on the end cover 120, and the connection between the end cover 120 and the housing 100 is generally The fixed connection is carried out by screws, so that the friction ring 300 can keep fixed with the end cover 120 so as not to be rotated by the friction seat 200, and the friction seat 200 can keep synchronous rotation with the drive shaft 110, when the drive shaft 110 starts to rotate , there will be friction between the friction seat 200 and the friction ring 300.
  • the drive shaft 110 rotates normally, the power generated by the driver is enough to overcome the friction force.
  • the friction force can make the drive shaft 110 quickly stop, when the drive shaft 110 is stationary, the static friction between the friction seat 200 and the friction ring 300 can make the drive shaft 110 rotate without external force, and has stable self-locking performance, and the forward rotation of the drive shaft 110 and In reverse, the magnitude of the friction force will not change, that is, the drive shaft 110 can be bidirectionally self-locked.
  • the material of the friction ring 300 is PEEK
  • the material of the friction seat 200 is PPS or PEEK.
  • the friction ring 300 and the friction seat 200 have good high temperature resistance, and will not make their own friction coefficient drop when the temperature rises, so that they can maintain Stable self-locking performance.
  • the friction ring 300 is set on the friction seat 200.
  • the friction seat 200 is driven to rotate relative to the friction ring 300.
  • the drive shaft 110 has a relatively high speed.
  • the friction ring 300 and the friction seat 200 will wear to different degrees, which will reduce the friction coefficient of the two, thereby reducing the self-locking force.
  • the friction ring 300 is provided with an oil groove 310, which can store Lubricating oil can adhere to the outer periphery of the friction seat 200 during the rotation of the friction seat 200 and enter between the friction seat 200 and the friction ring 300, thereby reducing wear, prolonging the life of the self-locking mechanism, and reducing heat generation.
  • the friction ring 300 includes an inner ring 320 and an outer ring 330 , the friction ring 300 is fitted on the outer periphery of the friction seat 200 through the inner ring 320 , and the outer ring 330 is engaged with the inner wall of the end cover 120 to limit the circumferential rotation of the friction ring 300 .
  • the clamping method makes the cooperation between the friction ring 300 and the end cover 120 relatively simple , and there is no need for an interference fit, which will not cause damage to the friction ring 300 or the end cover 120 during the assembly process; the friction ring 300 is set outside the friction seat 200, and the reaction force of the friction seat 200 to the friction ring 300 is The radial direction of the friction ring 300 is not in the axial direction, so the cooperation between the friction ring 300 and the end cover 120 will not be affected.
  • the above-mentioned oil groove 310 is defined by the inner ring 320, and the inner ring 320 is provided with a notch 340, and the two ends of the notch 340 are provided with connecting parts 350 extending to the outer ring 330, and the two connecting parts 350 and the outer ring 330 form a
  • the oil groove 310, the outer circumference of the friction seat 200 is offset against the inner ring 320, that is, connected to the oil groove 310, so that the lubricating oil can be conveniently contacted with the outer circumference of the friction seat 200, and when the friction seat 200 is installed in the inner ring 320, the gap 340 is also A certain deformation may occur under the extrusion of the friction seat 200 , thereby enlarging the width of the notch 340 and facilitating the installation of the friction seat 200 .
  • the number of gaps 340 can also be set to be multiple, one is to increase the storage capacity of lubricating oil, and the other is to reduce the influence of the reaction force on the inner
  • the friction ring 300 is clamped in the end cover 120 through the outer ring 330.
  • Fig. 3 and Fig. 6 in another embodiment of the present invention, it is specifically described How does the friction ring 300 cooperate with the end cover 120 .
  • the outer ring 330 is provided with a card slot 360 that is sunken toward the center of the circle, and the inner wall of the end cover 120 is provided with a card block 130 protruding toward the center of the circle.
  • friction can be limited
  • the rotation of the ring 300 and the size of the locking groove 360 can be slightly larger than the locking block 130. Even if the friction ring 300 has a certain angle change in the circumferential direction, it is not enough to affect the use, and the design requirements for the mold can be relaxed.
  • the locking block 130 may also be provided on the outer ring 330
  • the locking slot 360 may be provided on the inner wall of the end cover 120 .
  • the friction ring 300 also includes a positioning flange 370 connected with the outer ring 330, the positioning flange 370 is an annular convex edge, which has the same diameter and inner diameter as the outer ring 330 of the friction ring 300.
  • the drive shaft 110 is provided with a bearing 140.
  • the bearing 140 is sleeved on the drive shaft 110.
  • the outer ring is in contact with the inner wall of the housing 100.
  • the inner wall of the end cover 120 is provided with a positioning step 150.
  • the end cover 120 is installed on the casing 100.
  • the positioning flange 370 is located on the positioning step 150 Between the outer ring of the bearing 140 and the position of the positioning flange 370 in the axial direction is limited, thereby limiting the displacement of the friction ring 300 in the axial direction.
  • the positioning flange 370 can be clamped by the positioning step 150 and the outer ring of the bearing 140, or a certain gap can be left. Although there will be a certain displacement groove 180 in the axial direction, the displacement distance is not enough to affect the self-locking mechanism of stability.
  • the installation structure of the friction seat 200 on the drive shaft 110 is specifically illustrated.
  • the friction seat 200 is set on the drive shaft 110 and fixed by the pin shaft 160.
  • the pin shaft 160 can be driven to rotate synchronously, thereby driving the rotation of the friction seat 200, and the friction seat 200 is fixed by the pin shaft 160 , the pin shaft 160 has the function of positioning and fixing the friction seat 200, and there is no need to install the friction seat 200 on the drive shaft 110 with an interference fit, so the drive shaft 110 will not be damaged during the process of installing the friction seat 200 on the drive shaft 110, And the driving shaft 110 will not rely on the friction force between the friction seat 200 to maintain the synchronous rotation of the friction seat 200 , and will not cause damage to the driving shaft 110 during operation.
  • the existing motor self-locking structure usually installs a collar on the motor shaft with an interference fit, and limits the circumferential rotation of the collar.
  • a braking force is generated between the collar and the motor shaft.
  • the self-locking mechanism when the self-locking mechanism is assembled, it will not cause damage to the parts in the driver, and there is no relative friction between the drive shaft 110 and the friction seat 200, so the drive shaft 110 will not be worn.
  • the drive shaft 110 is provided with a radially through hole 170, the pin shaft 160 is arranged in the through hole 170, and the side of the friction seat 200 is provided with a mounting groove 210, and the pin shaft 160 is installed in the mounting groove 210 with an interference fit.
  • install the pin shaft 160 first, then align the installation groove 210 with the pin shaft 160 to complete the cooperation between the friction seat 200 and the pin shaft 160, and the assembly is more convenient.
  • the interference fit of 200 can keep the friction seat 200 on the drive shaft 110 and limit the axial displacement of the friction seat 200 on the drive shaft 110 , thereby ensuring the stability of the self-locking mechanism.
  • the friction seat 200 needs to cooperate with the pin shaft 160, and the pin shaft 160 is a part used to drive the friction seat 200 during the rotation of the drive shaft 110, so the pin shaft 160 cannot be deformed, and the pin shaft 160 has a certain diameter, so the friction seat 200 also has a certain thickness to accommodate the pin shaft 160. If the friction seat 200 is too thick, it will contact the end cover 120 and affect the installation of the end cover 120 and wear the inner surface of the end cover 120.
  • the friction seat 200 is far away from the installation groove 210
  • An avoidance end 220 is provided at one end, and the avoidance end 220 is tapered, which can avoid the cover 120 of the end 220, so that the self-locking mechanism will not be affected by the end cover 120, and the thickness of the friction seat 200 will not be reduced.
  • grooves 180 are respectively arranged on both sides of the self-locking mechanism on the drive shaft 110, and the grooves 180 are clamped with snap rings for axially positioning the self-locking mechanism, and the jumpers protrude after being installed in the grooves 180
  • the friction seat 200 can be limited so as to prevent the friction seat 200 from disengaging from the pin shaft 160 , so as to ensure that the friction seat 200 and the friction ring 300 remain in cooperation.
  • the present invention also discloses a linear actuator, wherein the linear actuator is provided with the driver with the self-locking function disclosed above.
  • the linear actuator controls the movement of the object in the linear direction through the column.
  • the power of the column is provided by the driver.
  • a self-locking mechanism is installed in the driver to avoid the retraction of the column under the action of external force, and the rotation of the drive shaft can be very fast.
  • the ground stop improves the telescopic accuracy of the column.
  • the expansion and contraction speed of the conventional telescopic column is 35mm/s, and the lead of the internal screw is 10+10. Since the lead of the screw is small, the method of core + torsion spring + screw is conventionally used to realize self-locking. If you increase the lifting speed of the conventional telescopic column to 80mm/s-150mm/s, or increase the load of the conventional telescopic column to 4 times the static self-locking, if you still use the core + torsion spring + screw rod for self-locking, Due to the acceleration of the lifting speed, the speed of the motor will increase and the noise will increase. If the lead of the screw is changed to 20+20, the load test of the whole table will drop due to the decrease of the self-locking force of the screw.
  • the linear actuator adopts the driver of the present application, and when the overall load of the lifting device is loaded, the lead of the screw rod is increased or the torsion spring is canceled, and the whole table load can be lifted and self-locked.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Snaps, Bayonet Connections, Set Pins, And Snap Rings (AREA)
  • Chairs For Special Purposes, Such As Reclining Chairs (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

一种具有自锁功能的驱动器及线性致动器，属于驱动器领域，具有稳定的自锁性能，该驱动器包括外壳（100）和用于输出动力的驱动轴（110），所述外壳（100）端部设有端盖（120），所述端盖（100）内设有用于向所述驱动轴（110）施加自锁力的自锁机构，所述自锁机构包括套装在驱动轴（110）上并随驱动轴（110）同步转动的摩擦座（200）、安装在所述端盖（120）内且与端盖（120）保持固定的摩擦环（300），所述摩擦座（200）与所述摩擦环（300）过盈配合，以实现对所述驱动轴的双向自锁。

Description

具有自锁功能的驱动器及线性致动器 【技术领域】
本发明涉及驱动器领域，尤其涉及具有自锁功能的驱动器及线性致动器。
【背景技术】
常用电动升降立柱，通过机芯自锁以及丝杆传动自锁、扭簧自锁原理。机芯自锁通过蜗杆和蜗轮的传动的导程角小于当量摩擦角。常用的蜗杆材料40Cr和蜗轮材料POM100P，形成一定摩擦系数，大概在0.1-0.15左右。但是在电动升降桌中，由于负载加大，最终导致蜗轮受力面加大。蜗轮受力负荷变大，从而导致机芯蜗轮在一段时间负载后，蜗轮的摩擦力减少，导致自锁性能下降。扭簧自锁也是类似原理，扭簧座的材料用的是POM100P,在和金属扭簧受力时，扭簧座在运行一段时间后，会降低摩擦系数，从而导致自锁性能下降。
【发明内容】
本发明所要解决的技术问题在于克服现有技术的不足而提出具有自锁功能的驱动器，具有稳定的自锁性能。
为解决上述技术问题，本发明采用如下技术方案：
具有自锁功能的驱动器，包括外壳和用于输出动力的驱动轴，所述外壳端部设有端盖，所述端盖内设有用于向所述驱动轴施加自锁力的自锁机构，所述自锁机构包括套装在驱动轴上并随驱动轴同步转动的摩擦座、安装在所述端盖内且与端盖保持固定的摩擦环，所述摩擦座与所述摩擦环过盈配合，以实现对所述驱动轴的双向自锁。
在上述方案的基础上，所述摩擦环包括内圈和外圈，所述摩擦环通过内圈套装在所述摩擦座的外周，所述外圈与所述端盖内壁卡接以限制摩擦环的周向转动。
在上述方案的基础上，所述外圈和所述端盖内壁其中之一设有卡槽，另一个设有与所述卡槽匹配的卡块。
在上述方案的基础上，所述摩擦环还包括与所述外圈相连的定位凸边，所述驱动轴外设有轴承，所述端盖内壁设有定位台阶，所述定位凸边被限位在所述轴承和所述定位台阶之间。
在上述方案的基础上，所述内圈上设有缺口，所述缺口的两端设有延伸至所述外圈的连接部，且两个连接部限定出用于填充润滑油的油槽。
在上述方案的基础上，所述摩擦座通过销轴固定在所述驱动轴上。
在上述方案的基础上，所述销轴径向贯穿所述驱动轴，所述摩擦座侧部设有安装槽，所述销轴过盈配合地安装在所述安装槽内。
在上述方案的基础上，所述摩擦座远离所述安装槽的一端设有避让端，所述避让端呈渐缩状以避让所述端盖。
在上述方案的基础上，所述驱动轴上位于所述自锁机构的两侧分别设有凹槽，所述凹槽处卡装用于轴向定位自锁机构的卡簧。
线性致动器，包括上述的具有自锁功能的驱动器。
本发明的有益效果：
本发明公开了一种驱动器，驱动器通常应用于设备上，通过驱动轴输出转矩以驱动设备，驱动器内设置的自锁机构能够产生作用在驱动轴上的自锁力，可以避免因外力作用而导致的驱动轴反转，能够保持稳定；
摩擦座和摩擦环之间的相对转动，能够产生摩擦力，摩擦力即为自锁机构的自锁力，摩擦环固定安装在端盖上，端盖与外壳的连接一般通过螺钉进行固定连接，使得摩擦环能够保持与端盖的固定从而不会被摩擦座带动转动，摩擦座则是能够保持与驱动轴的同步转动，当驱动轴开始转动时，摩擦座和摩擦环 之间便会产生摩擦力，驱动轴正常转动时，驱动器产生的动力足以克服摩擦力，当驱动轴需要停止时，摩擦力可以使驱动轴很快地停止，当驱动轴静止，摩擦座和摩擦环之间的静摩擦力能够使驱动轴不受外力作用而出现转动的情况，具有稳定的自锁性能，并且驱动轴的正转和反转，摩擦力的大小不会出现变化，即能够对驱动轴进行双向自锁。
进一步的，所述摩擦环包括内圈和外圈，所述摩擦环通过内圈套装在所述摩擦座的外周，所述外圈与所述端盖内壁卡接以限制摩擦环的周向转动。摩擦环的外圈与端盖卡接后，其周向转动便得到了限制，从而可以保证自锁力的产生，并且卡接的方式使得摩擦环与端盖的配合较为简单，也不需要通过过盈配合的方式，不会在装配过程中对摩擦环或是端盖造成损伤；摩擦环套装在摩擦座外，摩擦座对摩擦环的反作用力在摩擦环的径向方向上，而不是在轴向方向上，因此不会影响到摩擦环与端盖的配合。
进一步的，所述外圈和所述端盖内壁其中之一设有卡槽，另一个设有与所述卡槽匹配的卡块。卡块卡入卡槽后，便可以限制摩擦环的转动，并且卡槽的大小可以略大于卡块，即使摩擦环在周向具有一定的角度变化，也不足以影响使用，对于模具的设计要求可以放宽。
进一步的，所述摩擦环还包括与所述外圈相连的定位凸边，所述驱动轴外设有轴承，所述端盖内壁设有定位台阶，所述定位凸边被限位在所述轴承和所述定位台阶之间。轴承套装在驱动轴上后，其内环能够随驱动轴同步转动，摩擦环安装在端盖内后，将端盖安装到外壳上，完成安装后，定位凸边位于定位台阶和轴承的外环之间，使得定位凸边在轴向上的位置得到了限定，从而限制了摩擦环在轴向方向的位移，避免自锁机构在使用过程中出现结构分散的情况。
进一步的，所述内圈上设有缺口，所述缺口的两端设有延伸至所述外圈的连接部，且两个连接部限定出用于填充润滑油的油槽。当摩擦座安装到内圈内时，缺口处也可以在摩擦座的挤压作用下出现一定的形变，从而扩大缺口的宽度，方便摩擦座的安装；在油槽内可以填充润滑油，润滑油能够在摩擦座转动 过程中进入到摩擦座和内圈之间，减少摩擦座和摩擦环的磨损，降低发热量。
进一步的，所述摩擦座通过销轴固定在所述驱动轴上。通过销轴可以限制摩擦座相对驱动轴的转动，使摩擦座可以保持与驱动轴的同步转动，并且通过销轴来固定摩擦座，不需要使摩擦座过盈配合安装在驱动轴上，这样一来不会在安装过程中损伤驱动轴，而驱动轴也不会依靠与摩擦座之间的摩擦力维持摩擦座的同步转动，在运行过程中不会对驱动轴造成损伤。
进一步的，所述销轴径向贯穿所述驱动轴，所述摩擦座侧部设有安装槽，所述销轴过盈配合地安装在所述安装槽内。在驱动轴上安装摩擦座时，先安装销轴，再将安装槽对准销轴后使摩擦座与销轴完成配合，装配较为方便，通过销轴与摩擦座的过盈配合，能够将摩擦座保持在驱动轴并限制摩擦座在驱动轴上的轴向位移，从而保证了自锁机构的稳定。
进一步的，所述摩擦座远离所述安装槽的一端设有避让端，所述避让端呈渐缩状以避让所述端盖。由于摩擦座需要配合销轴，而销轴是驱动轴转动过程中用于驱动摩擦座的部件，因此销轴不能出现形变，销轴有着一定规格的直径，因此摩擦座为了容纳销轴其也具有一定的厚度，若是摩擦座太过厚实则会与端盖接触而影响端盖的安装、磨损端盖的内表面，通过在摩擦座上设置避让端，不会缩减摩擦座的厚度，同时也避让了端盖。
进一步的，所述驱动轴上位于所述自锁机构的两侧分别设有凹槽，所述凹槽处卡装用于轴向定位自锁机构的卡簧。卡簧安装在凹槽内后凸出于驱动轴的表面，从而可以对自锁机构进行定位，避免摩擦座和摩擦环分散而影响自锁机构性能。
本发明还公开了线性致动器，包括了上述中的驱动器，线性致动器通过立柱控制物体在直线方向的移动，立柱的动力由驱动器提供，驱动器内设置了自锁机构，可以避免立柱在外力作用下出现回缩的情况，并且驱动轴的转动可以很快地停止，提高了立柱的伸缩精度。
本发明的这些特点和优点将会在下面的具体实施方式、附图中详细的揭露。
【附图说明】
下面结合附图对本发明做进一步的说明：
图1为本发明实施例中驱动器的结构示意图；
图2为本发明实施例中驱动器的爆炸图A；
图3为图2中A处的放大示意图；
图4为本发明实施例中驱动器的爆炸图B；
图5为图2中B处的放大示意图；
图6为本发明实施例中驱动器的剖视图。
附图标记：
外壳100、驱动轴110、端盖120、卡块130、轴承140、定位台阶150、销轴160、通孔170、凹槽180；
摩擦座200、安装槽210、避让端220；
摩擦环300、油槽310、内圈320、外圈330、缺口340、连接部350、卡槽360、定位凸边370。
【具体实施方式】
下面结合本发明实施例的附图对本发明实施例的技术方案进行解释和说明，但下述实施例仅为本发明的优选实施例，并非全部。基于实施方式中的实施例，本领域技术人员在没有做出创造性劳动的前提下所获得其他实施例，都属于本发明的保护范围。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“顺时针”、“逆时针”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，除非另有说明，“多个”的含义是两个或两个以上，除非另有明确的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
参照图1至图6，本发明实施例公开了具有自锁功能的驱动器，包括外壳100和用于输出动力的驱动轴110，外壳100端部设有端盖120，端盖120内设有用于向驱动轴110施加自锁力的自锁机构，自锁机构包括套装在驱动轴110上并随驱动轴110同步转动的摩擦座200、安装在端盖120内且与端盖120保持 固定的摩擦环300，摩擦座200与摩擦环300过盈配合，以实现对驱动轴110的双向自锁。
本发明公开了一种驱动器，驱动器通常应用于设备上，通过驱动轴110输出转矩以驱动设备，驱动器内设置的自锁机构能够产生作用在驱动轴110上的自锁力，可以避免因外力作用而导致的驱动轴110反转，能够保持稳定；
摩擦座200和摩擦环300之间的相对转动，能够产生摩擦力，摩擦力即为自锁机构的自锁力，摩擦环300固定安装在端盖120上，端盖120与外壳100的连接一般通过螺钉进行固定连接，使得摩擦环300能够保持与端盖120的固定从而不会被摩擦座200带动转动，摩擦座200则是能够保持与驱动轴110的同步转动，当驱动轴110开始转动时，摩擦座200和摩擦环300之间便会产生摩擦力，驱动轴110正常转动时，驱动器产生的动力足以克服摩擦力，当驱动轴110需要停止时，摩擦力可以使驱动轴110很快地停止，当驱动轴110静止，摩擦座200和摩擦环300之间的静摩擦力能够使驱动轴110不受外力作用而出现转动的情况，具有稳定的自锁性能，并且驱动轴110的正转和反转，摩擦力的大小不会出现变化，即能够对驱动轴110进行双向自锁。摩擦环300的材质为PEEK，摩擦座200的材质为PPS或PEEK，摩擦环300和摩擦座200具有较好的耐高温性能，不会使自身的摩擦系数在温度升高时下降，从而可以保持稳定的自锁性能。
摩擦环300是套装在摩擦座200上的，驱动轴110转动时带动摩擦座200相对摩擦环300转动，二者之间存在滑动摩擦，并且也会产生热量，驱动轴110有着较高的转速，经过长时间的运转，摩擦环300和摩擦座200都会出现不同程度的磨损，会降低二者的摩擦系数，从而会使自锁力下降，摩擦环300上设有油槽310，油槽310内可以存储润滑油，能够在摩擦座200转动过程中附着在摩擦座200的外周，进入到摩擦座200和摩擦环300之间，从而可以减少磨损，延长自锁机构的寿命，且降低了发热量。
参照图3和图5，基于上述实施例，在本发明的另一个实施例中，具体说明 了摩擦环300的结构。
具体的，摩擦环300包括内圈320和外圈330，摩擦环300通过内圈320套装在摩擦座200的外周，其外圈330与端盖120内壁卡接以限制摩擦环300的周向转动。
摩擦环300的外圈330与端盖120卡接后，其周向转动便得到了限制，从而可以保证自锁力的产生，并且卡接的方式使得摩擦环300与端盖120的配合较为简单，也不需要通过过盈配合的方式，不会在装配过程中对摩擦环300或是端盖120造成损伤；摩擦环300套装在摩擦座200外，摩擦座200对摩擦环300的反作用力在摩擦环300的径向方向上，而不是在轴向方向上，因此不会影响到摩擦环300与端盖120的配合。
上述中的油槽310由内圈320限定形成，内圈320上设有缺口340，缺口340的两端设有延伸至外圈330的连接部350，两个连接部350和外圈330围成了油槽310，摩擦座200的外周与内圈320相抵，即与油槽310相连，从而可以方便润滑油与摩擦座200的外周接触，并且当摩擦座200安装到内圈320内时，缺口340处也可以在摩擦座200的挤压作用下出现一定的形变，从而扩大缺口340的宽度，方便摩擦座200的安装。缺口340的数量也可以设置为多个，一是可以增加润滑油的存储量，二是可以减少内圈320受到的反作用力的影响，避免内圈320开裂。
在本发明的一个实施例中，提到了摩擦环300是通过外圈330卡装在端盖120内，参照图3、图5和图6，在本发明的另一个实施例中，具体说明了摩擦环300是如何与端盖120完成配合的。
具体的，在外圈330上设有向圆心方向凹陷的卡槽360，端盖120的内壁上设有向圆心方向凸出的卡块130，卡块130卡入卡槽360后，便可以限制摩擦环300的转动，并且卡槽360的大小可以略大于卡块130，即使摩擦环300在周向具有一定的角度变化，也不足以影响使用，对于模具的设计要求可以放宽。当然，也可以在外圈330上设置卡块130，在端盖120内壁上设置卡槽360。
为了对摩擦环300进行轴向限位，避免摩擦环300脱离与卡块130的配合而会随着摩擦座200转动，摩擦环300还包括与外圈330相连的定位凸边370，定位凸边370为环形的凸边，与摩擦环300外圈330的直径、内径相同，驱动轴110外设有轴承140，轴承140套装在驱动轴110上，其外环与外壳100内壁相抵，内环能够随驱动轴110同步转动，端盖120内壁设有定位台阶150，摩擦环300安装在端盖120内后，将端盖120安装到外壳100上，完成安装后，定位凸边370位于定位台阶150和轴承140的外环之间，使得定位凸边370在轴向上的位置得到了限定，从而限制了摩擦环300在轴向方向的位移。定位凸边370可以被定位台阶150和轴承140的外环夹持，也可以是留有一定的间隙，虽然会在轴向上具有一定的位移凹槽180，但是位移距离不足以影响自锁机构的稳定。
参照图2，基于上述实施例，在本发明的另一个实施例中，具体说明了摩擦座200在驱动轴110上的安装结构。
摩擦座200套装在驱动轴110上，通过销轴160进行固定，当驱动轴110转动时，可以带动销轴160同步转动，从而带动了摩擦座200的转动，通过销轴160来固定摩擦座200，销轴160对摩擦座200具有定位和固定作用，不需要使摩擦座200过盈配合安装在驱动轴110上，因此在驱动轴110上安装摩擦座200的过程中不会损伤驱动轴110，而驱动轴110也不会依靠与摩擦座200之间的摩擦力维持摩擦座200的同步转动，在运行过程中不会对驱动轴110造成损伤。
现有的电机自锁结构，通常会在电机轴上过盈配合安装一个套环，并限制套环的周向转动，当电机轴转动时，套环和电机轴之间便会产生制动力，但是在套环安装的过程中，由于二者之间为过盈配合，因此安装时会对电机轴造成一定的损伤，产生毛刺，在电机轴和套环之间出现相对转动时会产生噪音，本申请的驱动器，其自锁机构在装配时，不会对驱动器内的零部件造成损伤，并且驱动轴110与摩擦座200之间也不存在相对摩擦，不会对驱动轴110产生磨损。
在驱动轴110设有一个径向贯穿的通孔170，销轴160设置在通孔170内，摩擦座200侧部设有安装槽210，销轴160过盈配合地安装在安装槽210内，在驱动轴110上安装摩擦座200时，先安装销轴160，再将安装槽210对准销轴160后使摩擦座200与销轴160完成配合，装配较为方便，通过销轴160与摩擦座200的过盈配合，能够将摩擦座200保持在驱动轴110并限制摩擦座200在驱动轴110上的轴向位移，从而保证了自锁机构的稳定。
由于摩擦座200需要配合销轴160，而销轴160是驱动轴110转动过程中用于驱动摩擦座200的部件，因此销轴160不能出现形变，销轴160有着一定规格的直径，因此摩擦座200为了容纳销轴160其也具有一定的厚度，若是摩擦座200太过厚实则会与端盖120接触而影响端盖120的安装、磨损端盖120的内表面，摩擦座200远离安装槽210的一端设有避让端220，避让端220呈渐缩状，能够避让端220盖120，使自锁机构不会受到端盖120的影响，并且不会缩减摩擦座200的厚度。
参照图2，在本发明的另一个实施例中，考虑到摩擦座200与摩擦环300、摩擦座200与销轴160的配合方式，仍然有一定的几率出现自锁机构机构不稳定而影响自锁机构性能的情况。
为此，在驱动轴110上位于自锁机构的两侧分别设有凹槽180，凹槽180处卡装用于轴向定位自锁机构的卡簧，卡簧安装在凹槽180内后凸出于驱动轴110的表面，从而可以对摩擦座200进行限位，以避免摩擦座200与销轴160脱离配合，从而也可以保证摩擦座200与摩擦环300保持配合。
本发明还公开了线性致动器，线性致动器内设有上述中公开的具有自锁功能的驱动器。线性致动器通过立柱控制物体在直线方向的移动，立柱的动力由驱动器提供，驱动器内设置了自锁机构，可以避免立柱在外力作用下出现回缩的情况，并且驱动轴的转动可以很快地停止，提高了立柱的伸缩精度。
常规的伸缩立柱的伸缩速度为35mm/s，内部的丝杆的导程为10+10，由于丝杆导程小，所以常规采用机芯+扭簧+丝杆的方式实现自锁。若是将而将常规 伸缩立柱升降速度提升至80mm/s-150mm/s、或者常规伸缩立柱负载加大到4倍静态自锁，如果还是采用机芯+扭簧+丝杆的方式进行自锁，由于提升速度加快，会引起电机转速加快，噪音加大。如果将丝杆导程改成20+20，由于丝杆自锁力下降，整桌负载测试就会有下降的现象。而线性致动器采用了本申请的驱动器，在升降装置整体负载的同时，丝杆导程加大或者取消扭簧的同时，可以提升整桌负载自锁。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，熟悉该本领域的技术人员应该明白本发明包括但不限于附图和上面具体实施方式中描述的内容。任何不偏离本发明的功能和结构原理的修改都将包括在权利要求书的范围中。

Claims (10)

  1. 具有自锁功能的驱动器，包括外壳(100)和用于输出动力的驱动轴(110)，其特征在于，所述外壳(100)端部设有端盖(120)，所述端盖(120)内设有用于向所述驱动轴(110)施加自锁力的自锁机构，所述自锁机构包括套装在驱动轴(110)上并随驱动轴(110)同步转动的摩擦座(200)、安装在所述端盖(120)内且与端盖(120)保持固定的摩擦环(300)，所述摩擦座(200)与所述摩擦环(300)过盈配合，以实现对所述驱动轴(110)的双向自锁。
  2. 根据权利要求1所述的具有自锁功能的驱动器，其特征在于，所述摩擦环(300)包括内圈(320)和外圈(330)，所述摩擦环(300)通过内圈(320)套装在所述摩擦座(200)的外周，所述外圈(330)与所述端盖(120)内壁卡接以限制摩擦环(300)的周向转动。
  3. 根据权利要求2所述的具有自锁功能的驱动器，其特征在于，所述外圈(330)和所述端盖(120)内壁其中之一设有卡槽(360)，另一个设有与所述卡槽(360)匹配的卡块(130)。
  4. 根据权利要求2所述的具有自锁功能的驱动器，其特征在于，所述摩擦环(300)还包括与所述外圈(330)相连的定位凸边(370)，所述驱动轴(110)外设有轴承(140)，所述端盖(120)内壁设有定位台阶(150)，所述定位凸边(370)被限位在所述轴承(140)和所述定位台阶(150)之间。
  5. 根据权利要求2所述的具有自锁功能的驱动器，其特征在于，所述内圈(320)上设有缺口(340)，所述缺口(340)的两端设有延伸至所述外圈(330)的连接部(350)，且两个连接部(350)限定出用于填充润滑油的油槽(310)。
  6. 根据权利要求1所述的具有自锁功能的驱动器，其特征在于，所述摩擦座(200)通过销轴(160)固定在所述驱动轴(110)上。
  7. 根据权利要求6所述的具有自锁功能的驱动器，其特征在于，所述销轴(160)径向贯穿所述驱动轴(110)，所述摩擦座(200)侧部设有安装槽(210)，所述 销轴(160)过盈配合地安装在所述安装槽(210)内。
  8. 根据权利要求7所述的具有自锁功能的驱动器，其特征在于，所述摩擦座(200)远离所述安装槽(210)的一端设有避让端(220)，所述避让端(220)呈渐缩状以避让所述端盖(120)。
  9. 根据权利要求1至8中任一项所述的具有自锁功能的驱动器，其特征在于，所述驱动轴(110)上位于所述自锁机构的两侧分别设有凹槽(180)，所述凹槽(180)处卡装用于轴向定位自锁机构的卡簧。
  10. 线性致动器，其特征在于，包括权利要求1至9中任一项所述的具有自锁功能的驱动器。
PCT/CN2022/088648 2021-06-24 2022-04-24 具有自锁功能的驱动器及线性致动器 WO2022267669A1 (zh)

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