阅读说明：本技术 一体化通用型直线作动器及其制造工艺 (Integrated universal linear actuator and manufacturing process thereof ) 是由 吴泊成 龚梦帆 赵洁明 秦保庆 宫巨涛 邓为东 赵学军 于 2021-07-13 设计创作，主要内容包括：本发明提供了一体化通用型直线作动器及其制造工艺,该直线作动器包括中空型电动机、传动-动作模块、位移传感器、机-电联动锁紧装置、驱动控制系统,所述中空型电机与传动-动作模块通过丝杠螺母副连接,使中空型电机的旋转运动直接转化为传动-动作模块的直线往复运动,所述位移传感器与传动-动作模块通过机-电联动锁紧装置连接,并向驱动控制系统输出传动-动作模块的位置反馈信号,所述驱动控制系统与中空型电机电连接,向中空型电机发送驱动指令信号,控制中空型电机运转,并接收位移传感器输出的位置反馈信号,用于判断当前传动-动作模块发生的位移,调控中空型电机和传动-动作模块的联动运动,使直线作动器输出连续直线往复运动。(The invention provides an integrated universal linear actuator and a manufacturing process thereof, the linear actuator comprises a hollow motor, a transmission-action module, a displacement sensor, an electromechanical linkage locking device and a drive control system, wherein the hollow motor is connected with the transmission-action module through a lead screw nut pair, so that the rotary motion of the hollow motor is directly converted into the linear reciprocating motion of the transmission-action module, the displacement sensor is connected with the transmission-action module through the electromechanical linkage locking device and outputs a position feedback signal of the transmission-action module to the drive control system, the drive control system is electrically connected with the hollow motor, sends a drive instruction signal to the hollow motor, controls the hollow motor to operate, receives the position feedback signal output by the displacement sensor and is used for judging the displacement of the current transmission-action module, and the linkage motion of the hollow motor and the transmission-action module is regulated and controlled, so that the linear actuator outputs continuous linear reciprocating motion.)

1. The integrated universal linear actuator is characterized by comprising a hollow motor (1), a transmission-action module (2), a displacement sensor (3), an electromechanical linkage locking device (4) and a drive control system (5);

the hollow motor (1) is connected with the transmission-action module (2) through a screw-nut pair, so that the rotary motion of the hollow motor (1) is directly converted into the linear reciprocating motion of the transmission-action module (2), the displacement sensor (3) is connected with the transmission-action module (2) through an electromechanical linkage locking device (4), and outputs a position feedback signal of the transmission-action module (2) to the drive control system (5), the drive control system (5) is electrically connected with the hollow motor (1), sends a drive instruction signal to the hollow motor (1), controls the operation of the hollow motor (1), receives the position feedback signal output by the displacement sensor (3) and is used for judging the displacement generated by the current transmission-action module (2) and regulating and controlling the linkage motion of the hollow motor (1) and the transmission-action module (2), so that the linear actuator outputs continuous linear reciprocating motion.

2. The integrated universal linear actuator according to claim 1, wherein the hollow motor (1) comprises a motor stator (11), a motor rotor winding (12) and a hollow motor rotor shaft (13), and the motor rotor winding (12) and the hollow motor rotor shaft (13) are constituent structural members of the motor rotor; one end of the hollow motor rotor shaft (13) is provided with a through hole (14), a plurality of first connecting pin holes (15) are uniformly distributed along the radial circumference of the through hole (14), and the other end of the hollow motor rotor shaft (13) is provided with a groove (16) for implementing manual adjustment of the motor rotor.

3. The integrated universal linear actuator according to claim 1, wherein the transmission-action module (2) comprises a screw rod push rod (21), a screw nut (22), a transmission-action module housing (23), a sliding bearing (24), a limit pin (25); the transmission-action module shell (23) is fixedly connected with the shell of the hollow motor (1) and used for bearing a lead screw push rod (21), a lead screw nut (22), a sliding bearing (24) and a limiting pin (25), a cavity structure for accommodating the lead screw push rod (21) is arranged inside the transmission-action module shell (23), at least two symmetrically distributed slideways are axially processed on the inner wall of the cavity structure close to one side of the hollow motor (1) and used for being matched with the limiting pin (25) fixed on the lead screw push rod (21).

4. The integrated universal linear actuator according to claim 3, wherein the length of the slideway is not greater than the maximum stroke of movement of the lead screw push rod (21).

5. The integrated universal linear actuator according to claim 3, wherein the screw rod push rod (21) and the screw nut (22) are screwed to form a screw nut pair, the screw nut (22) is installed in the through hole (14) of the hollow motor rotor shaft (13), second connecting pin holes (26) are uniformly distributed on the radial circumference of the screw nut, the second connecting pin holes (26) are aligned with the first connecting pin holes (15) on the hollow motor rotor shaft (13) and are fixedly connected through a pin shaft (27), and the integrated connection of the hollow motor (1) and the transmission-action module (2) of the linear actuator is implemented;

the sliding bearing (24) is arranged at one end of a cavity structure of the transmission-action module shell (23) and is used for supporting and lubricating the lead screw push rod (21); the limiting pin (25) is radially fixed on the lead screw push rod (21), is arranged in a slide way in the transmission-action module shell (23), is matched with the slide way in the transmission-action module shell (23), converts the rotary motion of the lead screw nut (22) into the linear motion of the lead screw push rod (21), and limits the motion stroke of the lead screw push rod (21).

6. The integrated universal linear actuator according to claim 3, wherein the displacement sensor (3) is a linear displacement sensor having a center tap (31) and a sensor body (32), and the center tap (31) extends out of the sensor body (32) for different lengths to output different feedback voltages.

7. The integrated universal linear actuator according to claim 6, wherein one end of the electromechanical linkage locking device (4) is connected with the lead screw push rod (21), and the other end is connected with the center tap (31), so that the lead screw push rod (21) and the center tap (31) move synchronously.

8. The integrated universal linear actuator according to claim 7, wherein the electro-mechanical linkage locking device (4) comprises a radial lock nut (41), an electro-mechanical linkage rod (43) and a first fastening member (44); one end of the mechanical-electric linkage rod (43) is of a rod-shaped structure, penetrates through a through hole at the tail end of the lead screw push rod (21) and is fastened through a first fastening piece (44), the other end of the mechanical-electric linkage rod is of an annular structure, an axial through hole is formed in the middle of the mechanical-electric linkage rod and is sleeved on the periphery of the center tap (31), a radial locking nut (41) is installed between the axial through hole and the center tap (31), the radial locking nut (41) is in threaded fit with the center tap (31), the outer contour of the mechanical-electric linkage rod is matched with the axial through hole, and the mechanical-electric linkage rod (43) is fixedly connected with the center tap (31) of the displacement sensor through a connecting piece which radially penetrates through the annular structure of the mechanical-electric linkage rod (43) and the radial locking nut (41); preferably, a snap spring (42) is mounted on the outer side of the radial locking nut (41) to limit the axial movement of the radial locking nut (41).

9. The integrated universal linear actuator according to claim 1, wherein the drive control system (5) comprises a system drive control board (51) and a software display system (52), the system drive control board (51) is in the form of a PCB circuit board, a voltage acquisition module for acquiring position feedback signals and a power supply module for supplying power to the displacement sensor (3) are arranged on the control board (51), and the software display system (52) is used for displaying the feedback voltages and displaying the operation condition of the linear actuator in real time.

10. A process for manufacturing an integrated universal linear actuator, comprising the steps of:

step 1), manufacturing a hollow motor (1), wherein the machining size of a through hole (14) of the hollow motor (1) is not smaller than the outer diameter of a screw nut (22), and the machining position of a first connecting pin hole (15) corresponds to the position of a second connecting pin hole (26);

step 2), manufacturing a screw rod push rod (21) and a screw nut (22);

step 3), embedding a screw nut (22) into a through hole (14) of a hollow motor rotor shaft (13), and ensuring that the first connecting pin hole (15) corresponds to the second connecting pin hole (26);

step 4), inserting the pin shafts (27) into the first connecting pin hole 15 and the second connecting pin hole (26) together in a penetrating manner, so that the screw nut (22) is fixedly connected with the hollow motor rotor shaft (13);

step 5), mechanically and fixedly connecting the pin shaft (27) with the screw nut (22);

step 6), screwing the screw rod push rod (21) into the screw rod nut (22);

step 7), installing the transmission-action module shell (23), the sliding bearing (24) and the limiting pin (25) in place and fixing;

step 8), manually adjusting the length of the lead screw push rod (21) extending out of the transmission-action module (2) until the lead screw push rod (21) runs to a mechanical zero position;

step 9), the central tap (31) of the displacement sensor (3) is drawn to be gradually screwed into the radial locking nut (41) of the electromechanical linkage locking device (4) until the software display system (52) displays an electric zero position;

step 10), the mechanical-electric linkage rod (43) and the center tap (31) are locked by inserting a connecting piece which radially penetrates through the annular structure of the mechanical-electric linkage rod (43) and the locking nut (41),

the mechanical-electric linkage rod (43) and the lead screw push rod (21) are locked by screwing the first fastener (44), so that the lead screw push rod (21) of the transmission-action module (2) and the center tap (31) of the displacement sensor (3) are synchronously linked, and the synchronous linkage of the mechanical zero position and the electric zero position is realized.

Technical Field

The invention belongs to the technical field of design and manufacture of electric executive components, and particularly relates to an integrated universal linear actuator and a manufacturing process thereof.

Background

The linear actuator is an electromechanical integrated device which converts electric energy into mechanical energy and can output linear reciprocating motion, and is important industrial equipment widely applied to the fields of national defense and military industry, aerospace, transportation, industrial and agricultural production and the like. Compared with the traditional pneumatic servo mechanism and hydraulic servo mechanism, the electric linear actuator has the outstanding advantages of high power density, fast dynamic response, high motion precision, compactness, lightness, convenient operation and the like, and gradually becomes a mature and mainstream servo motion executing mechanism.

The linear actuator is used as an actuating mechanism for realizing accurate linear reciprocating motion, mainly converts the rotary motion of a motor into the linear motion of a screw rod and a push rod through a transmission system, and is generally formed by combining a motor, a reduction gear and a screw nut pair. At present, a linear actuator mainly has two structural forms of a speed reduction type and a direct drive type. The speed-reducing linear actuator generally transmits the rotary motion output by the motor through a gear pair at first, and then converts the rotary motion into linear reciprocating motion through a screw nut pair, so that the size and the weight of the whole machine are large, and the dynamic response is low; the direct-drive linear actuator generally transmits the rotary motion of a motor to a screw rod through a key, a spline or a pin, and then converts the rotary motion into linear reciprocating motion through a screw rod nut pair, so that the clearance and accumulated error of the mechanism are increased, and the integral rigidity is poor. In addition, when the linear actuator works under a large-load, rapid dynamic and long-time state, alternating stress and mechanical abrasion are easily generated, and finally the failure problems such as operation locking and the like are caused.

Therefore, it is necessary to provide an integrated universal mechanism with high integration level to solve the problems of the conventional deceleration type linear actuator and the direct drive type linear actuator.

Disclosure of Invention

In order to overcome the defects in the prior art, the inventor of the invention carries out intensive research and provides an integrated general linear actuator and a manufacturing process thereof so as to realize the output accurate linear reciprocating motion of the linear actuator and enable the research and development process to have feasibility. The device structural style has the commonality, and the integration is integrated, and development technology advantage such as simple can bear great thrust, the motion is nimble, the response is rapid, reliable stable, use is simple and convenient, has solved the size and the weight that deceleration type linear actuator exists and has slightly big, the problem that dynamic response is low to and the direct drive type linear actuator exists the mechanism clearance and the accumulative total error is great, the relatively poor problem of whole rigidity, can the wide application in the straight line action function demand of linear actuator product.

The technical scheme provided by the invention is as follows:

the integrated universal linear actuator comprises a hollow motor, a transmission-action module, a displacement sensor, an electromechanical linkage locking device and a drive control system;

the cavity type motor passes through screw nut pair with transmission-action module and is connected, makes the rotary motion of cavity type motor directly turn into the straight line reciprocating motion of transmission-action module, displacement sensor passes through the electromechanical linkage locking device with transmission-action module and connects to the position feedback signal of transmission-action module is exported to drive control system, drive control system is connected with cavity type motor electricity, sends drive command signal to cavity type motor, controls cavity type motor operation, and receives the position feedback signal of displacement sensor output, is used for judging the displacement that current transmission-action module takes place, regulates and control cavity type motor and the linkage motion of transmission-action module, makes the continuous straight line reciprocating motion of linear actuator output.

In a second aspect, a manufacturing process of an integrated universal linear actuator is used for manufacturing the integrated universal linear actuator, and includes the following steps:

step 1), manufacturing a hollow motor, wherein the machining size of a through hole of the hollow motor is not smaller than the outer diameter of a screw nut, and the machining position of a first connecting pin hole corresponds to the position of a second connecting pin hole;

step 2), manufacturing a screw rod push rod and a screw nut;

step 3), embedding a screw nut into a through hole of a hollow motor rotor shaft, and ensuring that the first connecting pin hole corresponds to the second connecting pin hole in position;

step 4), inserting the pin shafts into the first connecting pin hole and the second connecting pin hole together in a penetrating manner, so that the screw nut is fixedly connected with the hollow motor rotor shaft;

step 5), mechanically and fixedly connecting the pin shaft with the screw nut;

step 6), screwing a screw rod push rod into a screw rod nut;

step 7), installing the transmission-action module shell, the sliding bearing and the limiting pin in place and fixing;

step 8), manually adjusting the length of the lead screw push rod extending out of the transmission-action module until the lead screw push rod runs to a mechanical zero position;

step 9), the central tap of the displacement sensor is drawn to be gradually screwed into a radial locking nut of the electromechanical linkage locking device until the software display system displays an electric zero position;

step 10), the electromechanical linkage rod and the center tap are locked by inserting a connecting piece which radially penetrates through the annular structure of the electromechanical linkage rod and the locking nut,

the mechanical-electric linkage rod and the lead screw push rod are locked by screwing the first fastener, so that the lead screw push rod of the transmission-action module is synchronously linked with a center tap of the displacement sensor, and the synchronous linkage of the mechanical zero position and the electric zero position is realized.

The integrated universal linear actuator and the manufacturing process thereof provided by the invention have the following beneficial effects:

(1) according to the invention, the motor rotor and the screw-nut pair are skillfully integrated together through the integrated connecting structure with higher integration level, so that the volume and the weight of the traditional linear actuator are optimized, the space utilization rate is improved, and the problems of transmission clearance, accumulated error, poor rigidity, easiness in clamping stagnation and failure and the like which possibly occur in a non-integrated connecting structure can be solved. Under the conditions that the maximum outer diameter is not more than 70mm, the length is not more than 100mm, and the weight of the whole device is less than 2.0kg, larger thrust can be output. The integrated structure is convenient to disassemble and assemble, the structure is light, and the functional requirements of installation in a limited space and linear motion output are well met.

(2) The invention has strong structural universality, and can select lead screw nut pairs with different forms and different specifications according to requirements. When the device adopts a sliding lead screw and nut pair, the push rod outputting linear motion can well realize the self-locking function, so that the linear actuator can only act under the driving of the motor and is not influenced by the reverse of external acting force, and the stable bearing characteristic with invariable thrust can be realized; when the device adopts a rolling screw nut pair, the volume of the hollow motor under the condition of outputting the same linear thrust can be smaller, the transmission efficiency is higher, the positioning precision is more accurate, and the servo maneuvering characteristic of quick response can be realized; when the device selects the planetary roller screw nut pair, the bearing capacity of the linear actuator is higher, the transmission ratio range is wider, the running state is more stable, the linear reciprocating stroke is larger, and although the cost is higher, the special working service occasion required by transmission is realized.

(3) The invention keeps the synchronous linkage of the mechanical zero position and the electric zero position through the electromechanical linkage locking device, thereby greatly improving the linear motion precision. Meanwhile, a high-precision driving control system is introduced in the assembling stage, so that the precise position control function of the linear actuator can be realized.

(4) The invention can improve the axial rigidity and the mechanical wear resistance of the whole linear actuator by specially manufacturing the partial structures of the sliding bearing, the limit pin, the first connecting pin hole, the second connecting pin hole, the pin shaft and the like, and has the advantages of stable and reliable device, capability of bearing larger impact, relatively longer service life, good service capability and quality reliability.

(5) The invention provides a simple and reliable development process route, so that the linear actuator of the integrated universal mechanism can be manufactured according to the requirement, the process details can be automatically adjusted according to the functional requirement and the production condition, and the universal mechanism has good universality.

Drawings

FIGS. 1A and 1B are schematic views showing the overall structure of the apparatus of the present invention;

fig. 2 is a schematic structural view of a hollow type motor according to the present invention;

FIG. 3 is a schematic diagram of the transmission-action module of the present invention;

FIG. 4 is a schematic structural diagram of a displacement sensor according to the present invention;

FIG. 5 is a schematic structural view of the electro-mechanical linkage locking device of the present invention;

fig. 6 is a schematic diagram of a drive control system of the present invention.

Description of the reference numerals

1-hollow type motor; 11-a motor stator; 12-a motor rotor winding; 13-hollow motor rotor shaft; 14-a through hole; 15-first connection pin hole; 16-a groove; 2-transmission-action module; 21-lead screw push rod; 22-lead screw nut; 23-transmission-action module housing; 24-a slide bearing; 25-a limit pin; 26-a second connecting pin hole; 27-a pin shaft; 3-a displacement sensor; 31-center tap; 32-a sensor body; 4-an electromechanical linkage locking device; 41-radial lock nut; 42-a clamp spring; 43-a mechano-electric linkage; 44-a first fastener; 5-a drive control system; 51-system drive control board; 52-software display system.

Detailed Description

The features and advantages of the present invention will become more apparent and appreciated from the following detailed description of the invention.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

The invention provides an integrated universal linear actuator, which is structurally composed as shown in figures 1-6. The linear actuator comprises a hollow motor 1, a transmission-action module 2, a displacement sensor 3, an electromechanical linkage locking device 4 and a drive control system 5;

the hollow motor 1 is connected with the transmission-action module 2 through a screw-nut pair, so that the rotary motion of the hollow motor 1 is directly converted into the linear reciprocating motion of the transmission-action module 2, the displacement sensor 3 is connected with the transmission-action module 2 through an electromechanical linkage locking device 4 and outputs a position feedback signal of the transmission-action module 2 to the drive control system 5, the drive control system 5 is electrically connected with the hollow motor 1 and sends a drive instruction signal to the hollow motor 1 to control the operation of the hollow motor 1 and receive the position feedback signal output by the displacement sensor 3 for judging the displacement (namely the extending length of the screw push rod 21) of the current transmission-action module 2 and accurately regulating and controlling the linkage motion of the hollow motor 1 and the transmission-action module 2, so that the linear actuator outputs continuous linear reciprocating motion.

As shown in fig. 2, the hollow motor 1 mainly includes a motor stator 11, a motor rotor winding 12 and a hollow motor rotor shaft 13, and the motor rotor winding 12 and the hollow motor rotor shaft 13 are constituent structural members of a motor rotor; one end of the hollow motor rotor shaft 13 is provided with a through hole 14 with a set diameter, a plurality of first connecting pin holes 15 are uniformly distributed along the radial circumference of the through hole 14, and the other end of the hollow motor rotor shaft 13 is provided with a groove 16 in a shape like a Chinese character ' yi ' or a cross ' for implementing manual adjustment of the motor rotor.

As shown in fig. 3, the transmission-action module 2 includes a lead screw push rod 21, a lead screw nut 22, a transmission-action module housing 23, a slide bearing 24, and a limit pin 25; the transmission-action module shell 23 is fixedly connected with the shell of the hollow motor 1 as a main bearing structure, is used for bearing the lead screw push rod 21, the lead screw nut 22, the sliding bearing 24 and the limit pin 25, and supports an integrated structure of the linear actuator, a cavity structure is arranged in the transmission-action module shell 23 and is used for accommodating the lead screw push rod 21, at least two symmetrically distributed slide ways are axially processed on the inner wall of the cavity structure close to one side of the hollow motor 1 and are used for being matched with the limit pin 25 fixed on the lead screw push rod 21 and guiding the movement of the lead screw push rod 21; preferably, the length of the slideway is not greater than the maximum movement stroke of the screw rod push rod 21, and the actual movement stroke of the screw rod push rod 21 is determined by the length of the slideway.

The screw rod push rod 21 and the screw nut 22 are screwed to form a screw nut pair, the screw nut 22 is installed in a through hole 14 of the hollow motor rotor shaft 13, second connecting pin holes 26 are uniformly distributed on the radial circumference of the screw nut 22, the second connecting pin holes 26 are aligned with the first connecting pin holes 15 on the hollow motor rotor shaft 13 and are fixedly connected through a pin shaft 27, and the fixed connection mode can adopt manufacturing processes such as interference, laser welding or riveting, and finally the integrated connection of the hollow motor 1 and the transmission-action module 2 of the linear actuator is realized; the sliding bearing 24 is mounted at one end of the cavity structure of the transmission-action module shell 23, forms interference fit with one end of the cavity structure, plays a role in supporting the lead screw push rod 21 and has a good lubricating function; the limit pins 25 are radially fixed on the screw rod push rod 21 (preferably, through holes for fixing the limit pins 25 are radially processed on the screw rod push rod 21), and are arranged in the slide way inside the transmission-action module shell 23, the limit pins 25 can only do axial linear motion in the slide way, so that the circumferential rotation of the screw rod push rod 21 is limited, finally, the rotary motion of the screw nut 22 is converted into the linear motion of the screw rod push rod 21, and meanwhile, when the limit pins 25 slide on the slide way inside the transmission-action module shell 23, because the length of the slide way is not greater than the maximum motion stroke of the screw rod push rod 21, the limit pins can play a limit protection role on the stroke of the screw rod push rod 21, so that the screw rod push rod 21 can not slip from the screw nut 22 due to the inertia of linear reciprocating motion.

Preferably, the screw rod-push rod 21 comprises a screw nut sub-segment and a smooth cylindrical segment, the screw nut sub-segment is used for matching with the screw nut 22, part of the screw nut sub-segment is positioned inside the hollow motor rotor shaft 13, and the smooth cylindrical segment is matched with the sliding bearing 24 and reciprocates inside the transmission-action module shell 23.

More preferably, the screw-nut pair formed by the screw rod 21 and the screw nut 22 may be any form such as a sliding screw-nut pair, a rolling screw-nut pair, or a planetary roller screw-nut pair, so that the linear actuator of the present invention has an extremely strong structural versatility.

As shown in fig. 3, the displacement sensor 3 is mounted on the transmission-action module 2. As shown in fig. 4, the displacement sensor 3 is a linear displacement sensor, and has a center tap 31 and a sensor body 32, and the center tap 31 extends out of the sensor body 32 for different lengths to output different feedback voltages.

As shown in fig. 5, one end of the electro-mechanical interlocking lock device 4 is connected to the lead screw rod 21, and the other end is connected to the center tap 31, so that the lead screw rod 21 and the center tap 31 move synchronously. Specifically, the electro-mechanical linkage locking device 4 comprises a radial lock nut 41, an electro-mechanical linkage rod 43 and a first fastener 44; one end of the mechanical-electrical linkage rod 43 is of a rod-shaped structure, penetrates through a through hole at the tail end of the screw rod push rod 21 and is fastened through a first fastener 44; the other end is of an annular structure, an axial through hole is formed in the middle of the annular structure and is sleeved on the periphery of the center tap 31, a radial locking nut 41 is installed between the axial through hole and the center tap 31, the radial locking nut 41 is in threaded fit with the center tap 31, the outer contour of the radial locking nut is matched with the axial through hole, and the mechanical-electrical linkage rod 43 is fixedly connected with the center tap 31 of the displacement sensor through a connecting piece which radially penetrates through the annular structure of the mechanical-electrical linkage rod 43 and the radial locking nut 41. The mechanical-electrical linkage locking device 4 ensures the synchronous linkage of the central tap 31 of the displacement sensor 3 and the screw push rod 21, so that the mechanical output zero position and the electrical output zero position are accurately unified. Preferably, a snap spring 42 is installed on the outer side of the radial lock nut 41 to further prevent the radial lock nut 41 from moving axially.

As shown in fig. 6, the driving control system 5 includes a system driving control board 51 and a software display system 52, the system driving control board 51 is implemented in a PCB circuit board form, a voltage acquisition module on the system driving control board 51 has two paths of AD acquisition, a power supply module has 5V and 3.3V outputs, and is used for supplying power to the displacement sensor 3, judging the current displacement position of the linear actuator (i.e. the extension length of the lead screw push rod 21) according to the indication number of the software display system 52, and displaying the running status of the linear actuator in real time;

the working process of the integrated universal linear actuator provided by the invention is as follows: the driving control system 5 firstly sends a driving instruction to the hollow motor 1, the rotor shaft 13 of the hollow motor drives the screw nut 22 in the transmission-action module 2 to synchronously rotate, so as to further push the linear motion of the screw push rod 21, the screw push rod 21 is synchronously linked with the center tap 31 of the displacement sensor 3 through the electromechanical linkage locking device 4, so that the displacement sensor 3 feeds back the linear displacement of the screw push rod 21 in real time, a corresponding position feedback signal (in the form of feedback voltage) is input into the driving control system 5, and finally a control feedback closed loop of the linear actuator is formed.

According to a second aspect of the present invention, there is provided a process for manufacturing an integrated universal linear actuator, comprising the steps of:

step 1), finishing the manufacture of the hollow motor 1 according to the functional requirements of the linear actuator, focusing on the machining size of the through hole 14 and the machining position of the first connecting pin hole 15, wherein the machining size of the through hole 14 is not smaller than the outer diameter of the screw nut 22, and the machining position of the first connecting pin hole 15 corresponds to the position of the second connecting pin hole 26;

step 2), completing the preparation of a screw rod push rod 21 and a screw nut 22, and completing specific processes such as heat treatment according to the service requirement of the linear actuator;

step 3), embedding the lead screw nut 22 into the through hole 14 of the hollow motor rotor shaft 13, and ensuring the accurate correspondence of the positions of the first connecting pin hole 15 and the second connecting pin hole 26, wherein the lead screw nut 22 and the through hole 14 can be automatically adjusted according to the output requirement of the linear actuator;

and 4), inserting the pin shaft 27 into the first connecting pin hole 15 and the second connecting pin hole 26 together to fixedly connect the screw nut 22 with the hollow motor rotor shaft 13.

Step 5), mechanically and fixedly connecting the pin shaft 27 with the lead screw nut 22 by using a laser welding process and other modes, so as to ensure that larger torque can be transmitted between the lead screw nut 22 and the hollow motor rotor shaft 13, wherein the mechanical fixing method is not limited to laser welding and can be automatically adjusted according to requirements;

step 6), screwing the screw rod push rod 21 into the screw rod nut 22;

step 7), installing the transmission-action module shell 23, the sliding bearing 24 and the limiting pin 25 in place and fixing;

step 8), manually adjusting the length of the lead screw push rod 21 extending out of the transmission-action module 2 until the lead screw push rod 21 runs to a mechanical zero position;

step 9), the central tap 31 of the displacement sensor 3 is drawn to be gradually screwed into the radial locking nut 41 of the electromechanical linkage locking device 4 until the software display system 52 displays an electric zero position;

step 10), the mechanical-electric linkage rod 43 and the center tap 31 are locked by inserting a connecting piece which radially penetrates through the annular structure of the mechanical-electric linkage rod 43 and the locking nut 41, the mechanical-electric linkage rod 43 and the lead screw push rod 21 are locked by screwing the first fastener 44, the lead screw push rod 21 of the transmission-action module 2 and the center tap 31 of the displacement sensor 3 are synchronously linked, and the synchronous linkage of the mechanical zero position and the electric zero position is realized.

In this embodiment, the linear motion stroke of the linear actuator is adjustable according to selection/adjustment of the type of the hollow motor 1, the length of the screw-nut pair of the screw rod push rod 21, and the length of the slide way inside the transmission-action module housing 23, and linear reciprocating motion with a motion stroke of 0mm to 100mm or longer can be realized, for example.

In the embodiment, the screw rod push rod 21 and the center tap 31 of the displacement sensor 3 are synchronously linked through the electromechanical linkage locking device 4, so that the linear motion output position of the linear actuator is accurate, and the linear positioning motion of less than or equal to 0.1mm can be realized.

In the embodiment, the linear actuator has a compact, small and light overall structure, the maximum outer diameter of the linear actuator is not more than 70mm, the length of the linear actuator is not more than 100mm, and the weight of the overall device is less than 2.0kg through selection of various devices.

In this embodiment, through the selective cooperation of screw nut and through-hole, linear actuator can be widely applied to each straight line action function demand.

The invention has been described in detail with reference to specific embodiments and illustrative examples, but the description is not intended to be construed in a limiting sense. Those skilled in the art will appreciate that various equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its embodiments without departing from the spirit and scope of the present invention, which fall within the scope of the present invention. The scope of the invention is defined by the appended claims.

Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.