阅读说明：本技术 带有位置锁止功能的双向直线作动器及作动方法 (Bidirectional linear actuator with position locking function and actuating method ) 是由 宋思扬 徐明龙 邵恕宝 冯勃 于 2019-10-21 设计创作，主要内容包括：一种带有位置锁止功能的双向直线作动器及作动方法,该作动器由作动器外壳,向上驱动元件,向下驱动元件,输出轴,作动器上顶盖组成,由于作动器输出轴与作动器壳体轨道始终处于过盈配合的摩擦约束状态,因此具备位置锁止能力；作动器完成向上、向下的直线作动输出时分别由向上驱动元件和向下驱动元件控制。作动器不包含额外的钳位锁定驱动元件,且可以依据直线驱动控制精度与行程需求选择电磁、逆压电、逆挠曲电、磁致伸缩、热致伸缩等不同驱动原理的驱动元件。该作动器具有具有位置锁定稳定,结构简单,兼容性强的特点。(A two-way linear actuator with position locking function and actuating method, the actuator is made up of actuator outer casing, upward driving element, downward driving element, output shaft, actuator upper top cap, because actuator output shaft and actuator shell orbit are in the friction constraint state of interference fit all the time, therefore possess the position locking ability; the actuator is respectively controlled by the upward driving element and the downward driving element when finishing the linear actuation output of the upward and the downward. The actuator does not comprise an additional clamping locking driving element, and can select driving elements with different driving principles such as electromagnetism, inverse piezoelectricity, inverse flexo electricity, magnetostriction, thermotropic expansion and the like according to the linear driving control precision and the stroke requirement. The actuator has the characteristics of stable position locking, simple structure and strong compatibility.)

1. The utility model provides a two-way linear actuator with position locking function which characterized in that: the actuator comprises an actuator shell (1), wherein an actuator shell track (1-2) is arranged on the inner wall of the actuator shell (1), a lower actuator shell cavity (1-1) and an upper actuator shell cavity (1-3) are arranged in the actuator shell track (1-2), an upward driving element (2) arranged in the lower actuator shell cavity (1-1), a downward driving element (3) arranged in the upper actuator shell cavity (1-3), an output shaft (4) which is positioned in the downward driving element (3) and penetrates through the upper actuator shell cavity (1-3), an output shaft locking end (4-1) in interference fit with the actuator shell track (1-2), an upper actuator top cover (5) arranged at the top of the actuator shell (1) and used for limiting the upward movement of the downward driving element (3) of the actuator, and the output end (4-2) of the output shaft penetrates through the upper top cover (5) of the actuator.

2. The two-way linear actuator with position locking function according to claim 1, characterized in that: outputting the required linear displacement through an output shaft (4); after the installation is finished, the locking end (4-1) of the output shaft and the track (1-2) of the actuator shell are always in an interference fit state and are restrained by contact friction force; when the actuator power supply is completely disconnected with the controller, the output shaft output end (4-2) connected with the output shaft locking end (4-1) still has position locking and keeping due to the interference fit of the output shaft locking end (4-1) and the actuator shell track (1-2).

3. The two-way linear actuator with position locking function according to claim 1, characterized in that: after the installation is finished, a gap exists between the top of the upward driving element (2) and the bottom of the output shaft locking end (4-1), a gap exists between the top of the output shaft locking end (4-1) and the bottom of the downward driving element (3), and the sum of the two gaps is equal to the linear displacement stroke d of the actuator.

4. The two-way linear actuator with position locking function according to claim 1, characterized in that: the upward driving element (2) and the downward driving element (3) of the actuator adopt driving elements of electromagnetic, inverse piezoelectric, inverse flexoelectric, magnetostriction or thermotropic expansion driving principles, or adopt a voice coil actuator, a piezoelectric actuator or a linear driving device of which a linear motor is not provided with power-off position locking.

5. The method for actuating a two-way linear actuator with a position lock function according to any one of claims 1 to 4, wherein: the actuator can realize upward linear displacement, the maximum displacement stroke is d, when the output shaft (4) is driven upwards, the upward driving element (2) works, and the downward driving element (3) does not work; when the actuator locking end (4-1) is at the x position, the upward driving element (2) is driven to drive y upward, and when y is less than x, the output shaft (4) does not output displacement; when y is equal to x, the upward driving element (2) is just in contact with the output shaft locking end (4-1), and the output shaft (4) outputs no displacement; when y is larger than x, the upward driving element (2) is contacted with the output shaft locking end (4-1) and then continuously pushes the output shaft locking end (4-1), and under the pushing of the upward driving element (2), the output shaft locking end (4-1) overcomes the interference fit constraint of the actuator shell track (1-2) and generates relative sliding; thereby enabling the output shaft (4), the output shaft locking end (4-1) and the output end (4-2) of the output shaft to integrally output y-x displacement upwards; if the output shaft (4) of the actuator is at the lowest position initially, the maximum output stroke of the output shaft (4) is d of displacement, and if the output shaft (4) is at the highest position initially, the actuator cannot continuously output upward displacement;

the actuator can realize downward linear displacement, and the maximum displacement stroke is d; when the output shaft (4) is driven downwards, the downward driving element (3) works, and the upward driving element (2) does not work; when the actuator output shaft (4) is at the x position, the downward driving element (3) is driven to drive y downward, and when y is less than d-x, the output shaft (4) outputs no displacement; when y is equal to d-x, the downward driving element (3) is just in contact with the output shaft locking end (4-1), and the output shaft (4) outputs no displacement; when y is larger than d-x, the downward driving element (3) is contacted with the output shaft locking end (4-1) and then continuously pushes the output shaft locking end (4-1), and under the pushing of the downward driving element (3), the output shaft locking end (4-1) overcomes the interference fit constraint of the actuator shell track (1-2) and generates relative sliding; so that the output shaft (4), the output shaft locking end (4-1) and the output shaft output end (4-2) integrally output the displacement of y- (d-x) downwards; if the output shaft (4) of the actuator is at the highest position initially, the maximum output stroke of the output shaft (4) can be displacement of d, and if the output shaft (4) is at the lowest position initially, upward displacement cannot be continuously output.

Technical Field

The invention relates to an actuating device, in particular to a bidirectional linear actuator with a position locking function and an actuating method thereof, wherein the actuator can output bidirectional linear displacement, can keep position locking after an actuator controller is disconnected, and has certain locking force.

Background

High-performance intelligent materials and drivers support the development and construction of important industries such as national defense, aerospace, and machine manufacturing, and various actuating devices are derived, such as a linear motor driven by electromagnetic force, a voice coil actuator (CN201510088131 linear motor, CN201711258186 normal stress electromagnetic driving fast deflection mirror actuating mechanism and actuating method), a piezoelectric actuator driven by material inverse piezoelectric effect (CN201410239747 is a semi-rhombus piezoelectric displacement amplifying mechanism), a flexoelectric actuator driven by material inverse flexoelectric effect (CN201511016218 extremely-small displacement actuator based on the flexoelectric principle), an actuator made by the principles such as material magnetostriction and thermotropic expansion (CN201610464048 active thermal compensation giant magnetostrictive actuator), and the like. However, the actuation principle of the actuator does not have the power-off holding capability, and when the power supply is disconnected from the controller, the displacement output part of the actuator is in an unconstrained free state or is restored to the initial test position under the action of the spring in the actuator. To achieve position locking after power failure, some invention patents incorporate a clamp control structure in the actuator. For example: CN201210426218 is a large displacement magnetic actuator for performing position control by using electromagnetic force, CN201410719688 is a linear large displacement piezoelectric actuator with power-off clamping function and a method thereof, and CN201510061523 is a large stroke linear stepping actuator with an asymmetric door-shaped structure and a method thereof. The additional clamping control structures of these patents increase the volume and weight of the actuator, and an additional control unit is needed to control the clamping of the actuator, further increasing the complexity of the actuator.

Disclosure of Invention

In order to meet the above-described need, an object of the present invention is to provide an actuator device capable of bidirectional linear displacement output and having a position lock holding capability even after power supply is turned off, and an operating method thereof.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

a bidirectional linear actuator with a position locking function comprises an actuator shell 1, an actuator shell track 1-2 is arranged on the inner wall of the actuator shell 1, a lower cavity 1-1 of the actuator shell and an upper cavity 1-3 of the actuator shell are arranged in the actuator shell track 1-2, an upward driving element 2 arranged in the lower cavity (1-1) of the actuator shell, a downward driving element 3 arranged in the upper cavity 1-3 of the actuator shell, an output shaft 4 positioned in the downward driving element 3 and penetrating through the upper cavity 1-3 of the actuator shell, an output shaft locking end 4-1 in interference fit with the actuator shell track 1-2 is arranged at the top of the actuator shell 1, an actuator top cover 5 for limiting upward movement of the actuator downward driving element 3 passes through the output shaft output end 4-2 of the actuator top cover 5.

The bidirectional linear actuator with the position locking function outputs required linear displacement through the output shaft 4; after the installation is finished, the locking end 4-1 of the output shaft and the track 1-2 of the actuator shell are always in an interference fit state and are restrained by contact friction force; when the actuator power supply is completely disconnected from the controller, the output end 4-2 of the output shaft connected with the output shaft locking end 4-1 still has the locking and keeping of the position due to the interference fit of the output shaft locking end 4-1 and the actuator shell track 1-2.

After the bidirectional linear actuator with the position locking function is installed, a gap exists between the top of the upward driving element 2 and the bottom of the output shaft locking end 4-1, a gap exists between the top of the output shaft locking end 4-1 and the bottom of the downward driving element 3, and the sum of the two gaps is equal to the linear displacement stroke d of the actuator.

In the bidirectional linear actuator with the position locking function, the upward driving element 2 and the downward driving element 3 of the actuator adopt driving elements of electromagnetic, inverse piezoelectric, inverse flexoelectric, magnetostrictive or thermotropic telescopic driving principles, or adopt a linear driving device of which a voice coil actuator, a piezoelectric actuator or a linear motor is not provided with power-off position locking.

According to the actuating method of the bidirectional linear actuator with the position locking function, the actuator can realize upward linear displacement, the maximum displacement stroke is d, when the output shaft 4 is driven upwards, the upward driving element 2 works, and the downward driving element 3 does not work; when the actuator locking end 4-1 is at the x position, the upward driving element 2 is driven to drive y upward, and when y is less than x, the output shaft 4 does not output displacement; when y is equal to x, the upward driving element 2 is just in contact with the output shaft locking end 4-1, and the output shaft 4 outputs no displacement; when y is larger than x, the upward driving element 2 is contacted with the output shaft locking end 4-1 and then continuously pushes the output shaft locking end 4-1, and under the pushing of the upward driving element 2, the output shaft locking end 4-1 overcomes the interference fit constraint of the actuator shell track 1-2 and generates relative sliding; thereby integrally outputting the displacement of y-x upwards by the output shaft 4, the output shaft locking end 4-1 and the output shaft output end 4-2; if the output shaft 4 of the actuator is at the lowest position initially, the maximum output stroke of the output shaft 4 is d of displacement, and if the output shaft 4 is at the highest position initially, upward displacement cannot be continuously output;

the actuator can realize downward linear displacement, and the maximum displacement stroke is d; when the output shaft 4 is driven downwards, the downward driving element 3 works, and the upward driving element 2 does not work; when the actuator output shaft 4 is at the x position, the downward driving element 3 is driven to drive y downward, and when y is less than d-x, the output shaft 4 outputs no displacement; when y is equal to d-x, the downward driving element 3 is just in contact with the output shaft locking end 4-1, and the output shaft 4 outputs no displacement; when y is larger than d-x, the downward driving element 3 is contacted with the output shaft locking end 4-1 and then continuously pushes the output shaft locking end 4-1, and under the pushing of the downward driving element 3, the output shaft locking end 4-1 overcomes the interference fit constraint of the actuator shell track 1-2 and generates relative sliding; thereby integrally outputting the displacement of y-d-x downwards by the output shaft 4, the output shaft locking end 4-1 and the output shaft output end 4-2; if the output shaft 4 of the actuator is at the highest position initially, the maximum output stroke of the output shaft 4 is d of displacement, and if the output shaft 4 is at the lowest position initially, upward displacement cannot be continuously output.

Unlike the other patents, the actuator device with position locking function of the present invention does not need to add other driving elements for position locking and does not have a control process of position locking. The actuator can adopt elements with different principles such as piezoelectric ceramics, linear motors, bending electric drivers, magnetostriction, thermal expansion and the like as driving elements, and realizes position locking with locking force under the condition that a controller is disconnected from a power supply.

Compared with the prior art, the invention has the following advantages:

1. the output shaft of the actuator is always restrained by the friction force of interference fit, and the output shaft of the actuator has position locking capacity after the power supply is disconnected. The actuator achieves position locking without the need for additional drive element control.

2. The actuator is driven by two driving elements which are driven upwards and downwards, and symmetrical bidirectional linear driving capability can be achieved by selecting the same driving element.

3. The actuator driving element is not limited to piezoelectric materials, and a large-stroke driving mechanism such as a linear motor can be adopted, so that the stroke and the precision of the actuator have strong adaptability, and the linear displacement locking requirements of different stroke requirements can be met.

4. Compared with an actuator structure with a clamping control structure, the actuator does not have disturbance to an output shaft in a clamping actuating process, and the linearity of output displacement is better.

Drawings

FIG. 1 is a cross-sectional view of an actuator device according to the invention.

FIG. 2 is a schematic view of an actuator according to the present invention.

FIG. 3 is a schematic view of the upward drive of an actuator according to the present invention.

FIG. 4 is a schematic view of the actuator of the present invention driven downward.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

As shown in figures 1 and 2, the invention is a bidirectional linear actuator with a position locking function, which comprises an actuator casing 1, an actuator casing track 1-2 arranged on the inner wall of the actuator casing 1, an actuator casing lower cavity 1-1 and an actuator casing upper cavity 1-3 arranged in the actuator casing track 1-2, an upward driving element 2 arranged in the actuator casing lower cavity 1-1, a downward driving element 3 arranged in the actuator casing upper cavity 1-3, an output shaft 4 arranged in the downward driving element 3 and penetrating through the actuator casing upper cavity 1-3, an output shaft locking end 4-1 in interference fit with the actuator casing track 1-2, an actuator upper top cover 5 arranged on the top of the actuator casing 1 and used for limiting the upward movement of the actuator downward driving element 3, and passes through the output end 4-2 of the output shaft of the upper top cover 5 of the actuator.

The bidirectional linear actuator with the position locking function outputs required linear displacement through the output end 4-2 of the output shaft. After the installation is finished, the locking end 4-1 of the output shaft and the track 1-2 of the actuator shell are always in an interference fit state and are restrained by contact friction force. When the actuator power supply is completely disconnected from the controller, the output end 4-2 of the output shaft connected with the output shaft locking end 4-1 still has the locking and keeping of the position due to the interference fit of the output shaft locking end 4-1 and the actuator shell track 1-2.

The output linear displacement stroke of the bidirectional linear actuator with the position locking function is d, after installation is completed, the output shaft 4 is located at the position x in the total output linear displacement stroke d, a gap of x exists between the upward driving element 2 and the output shaft locking end 4-1, and a gap of d-x exists between the downward driving element 3 and the output shaft locking end 4-1. When the upward driving element 2 and the downward driving element 3 do not work, the upward driving element 2 and the downward driving element 3 are in the state of shortest length, when the power is on, the upward driving element 2 and the downward driving element 3 extend, and after the power is off, the shortest state is recovered, and the power-off locking capability is not provided.

In the actuating method of the bidirectional linear actuator with the position locking function, as shown in fig. 3, the actuator can realize upward linear displacement, the maximum displacement stroke is d, when the output shaft 4 drives upwards, the upward driving element 2 works, and the downward driving element 3 does not work. When the actuator locking end 4-1 is at the x position, the upward driving element 2 is driven to drive y upward, and when y is less than x, the output shaft 4 does not output displacement; when y is equal to x, the upward driving element 2 is just in contact with the output shaft locking end 4-1, and the output shaft 4 outputs no displacement; when y is larger than x, the upward driving element 2 is contacted with the output shaft locking end 4-1 and then continuously pushes the output shaft locking end 4-1, and under the pushing of the upward driving element 2, the output shaft locking end 4-1 overcomes the interference fit constraint of the actuator shell track 1-2 and generates relative sliding. Thereby enabling the output shaft 4, the output shaft locking end 4-1 and the output shaft output end 4-2 to integrally output y-x displacement upwards. If the output shaft 4 of the actuator is at the lowest position initially, the maximum output stroke of the output shaft 4 is d of displacement, and if the output shaft is at the highest position initially, the output shaft cannot continuously output upward displacement.

In the actuating method of the bidirectional linear actuator with the position locking function, as shown in fig. 4, the actuator can realize downward linear displacement, and the maximum displacement stroke is d. When the output shaft 4 is driven downward, the downward driving member 3 is operated, and the upward driving member 2 is not operated. When the actuator output shaft 4 is at the x position, the downward driving element 3 is driven to drive y downward, and when y is less than d-x, the output shaft 4 outputs no displacement; when y is equal to d-x, the downward driving element 3 is just in contact with the output shaft locking end 4-1, and the output shaft 4 outputs no displacement; when y is larger than d-x, the downward driving element 3 is contacted with the output shaft locking end 4-1 and then continuously pushes the output shaft locking end 4-1, and under the pushing of the downward driving element 3, the output shaft locking end 4-1 overcomes the interference fit constraint of the actuator shell track 1-2 and generates relative sliding. Thereby the output shaft 4, the output shaft locking end 4-1 and the output shaft output end 4-2 integrally output the displacement of y- (d-x) downwards. If the output shaft 4 of the actuator is at the highest position initially, the maximum output stroke of the output shaft 4 is d of displacement, and if the output shaft is at the lowest position initially, the output shaft cannot continuously output upward displacement.

The two-way linear actuator with the position locking function can adopt linear driving materials or mechanisms with different driving principles for the upward output element 2 and the downward output element 3, and the linear driving materials or mechanisms comprise intelligent materials such as piezoelectricity, flexoelectricity, ferroelectricity, electrostriction, dielectric elastomer, magnetic-to-telescopic property, thermotropic telescopic property and the like, and linear driving devices without power-off position locking, such as a voice coil actuator, a piezoelectric actuator, a linear motor and the like.