WO2010139098A1 - Stroke-controllable actuating device - Google Patents

Stroke-controllable actuating device Download PDF

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Publication number
WO2010139098A1
WO2010139098A1 PCT/CN2009/001125 CN2009001125W WO2010139098A1 WO 2010139098 A1 WO2010139098 A1 WO 2010139098A1 CN 2009001125 W CN2009001125 W CN 2009001125W WO 2010139098 A1 WO2010139098 A1 WO 2010139098A1
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WO
WIPO (PCT)
Prior art keywords
limiting
stroke
permanent magnet
hall element
controllable actuator
Prior art date
Application number
PCT/CN2009/001125
Other languages
French (fr)
Chinese (zh)
Inventor
曾卫东
孙力
Original Assignee
潘亚敏
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Publication date
Application filed by 潘亚敏 filed Critical 潘亚敏
Publication of WO2010139098A1 publication Critical patent/WO2010139098A1/en

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Classifications

    • 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
    • H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21—Devices for sensing speed or position, or actuated thereby
    • H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
    • H02P8/34—Monitoring operation

Definitions

  • the invention relates to a stroke controllable actuator. Background technique
  • the pilot hydraulic control system uses a control handle to control a small electromagnetic hydraulic valve, and a hydraulic valve that passes a small electromagnetic valve to push the large hydraulic valve of the main control oil.
  • the pilot hydraulic control system has a complicated structure; the pilot hydraulic solenoid valve has a small oil passage and the oil pipe is easy to block; the system hydraulic oil is prone to leakage; due to the large number of oil pipes, the installation is complicated, the installation position is limited; and the price is relatively expensive.
  • Another common type of hydraulic valve is controlled by a mechanical linkage or a steel cord with a steel cord and a flexible outer casing that directly drives the main circuit hydraulic valve.
  • control method is simple in structure and inexpensive.
  • the control handle is not flexible in operation, the working intensity is large, and the control handle feels poor; the valve core is exposed to the air when it is pulled out, and the valve core and the oil seal are easily damaged after being contaminated; the push-pull stroke of the steel wire needs to be adjusted frequently to achieve accurate running; Because the limit device is simple and easy to cause the off-range, it poses a greater threat to the driving safety of the vehicle. Summary of the invention
  • the object of the present invention is to provide an execution device with simple structure and precise and reliable control of stroke and position, which solves the technical problems of complicated structure of the existing stroke control mechanism and poor anti-interference ability of the position control mechanism, and solves the existing problems at the same time.
  • the hydraulic valve control device has a complicated structure, the solenoid valve tubing is easy to block, the installation position is limited, the push-pull stroke needs to be adjusted frequently, the gear is easy to be dislodged, the operation is inconvenient, the valve core and the oil seal are easily damaged, and the labor intensity is large.
  • the technical solution of the present invention is:
  • a stroke controllable execution device which is characterized in that it comprises a power control mechanism, a position feedback mechanism and an actuator;
  • the power control mechanism comprises a stepping motor and a stepper motor control system;
  • the position feedback mechanism comprises a position sensor group;
  • the position sensor group includes at least one Hall element and at least one permanent magnet;
  • the actuator includes a rotation assembly and a translation assembly;
  • the rotation assembly includes a bearing chamber, a lead screw, and two chambers disposed in the bearing chamber a pressure bearing;
  • the right end of the lead screw is provided with an external thread, and the left end thereof is connected with the motor shaft of the stepping motor, and a limiting shaft table perpendicular to the axial direction of the screw shaft is disposed on a circumferential side of the screw;
  • the limiting shaft table The two pressure bearings are respectively disposed on the left and right sides of the limiting shaft table;
  • the translation assembly includes a limiting seat, a translational pull rod disposed in the limiting seat, and can be
  • the above-mentioned stroke-controllable actuator further includes a sealing mechanism including a sealing cover and a sealing sleeve, the sealing cover being disposed on the right side of the limiting seat and sealing the central through hole of the limiting seat, the sealing cover The right end surface is provided with an opening through which the actuator can pass, the left end of the sealing sleeve is connected to the opening and the opening is sealed; the sealing sleeve is disposed between the sealing cover and the body to be actuated and is sealed by the actuator and the actuator The body is axially compressed.
  • the right end face of the above translational pull rod is located on the left side of the right end face of the limit seat.
  • the positional relationship between the above permanent magnet and the Hall element is as follows: The direction of the magnetic field of each permanent magnet is parallel to the direction of the Hall piece of each Hall element, and the magnetic pole surface of the permanent magnet close to the Hall element and the Hall element Maintain a reasonable working air gap.
  • the above-mentioned limit seat includes a wear bushing disposed between the center through hole and the translational pull rod.
  • the above wear-resistant bushing is made of a graphite nylon material.
  • the above limitation seat further includes a front cover plate and a rear cover plate for sealing the limit groove.
  • the above-described stroke controllable execution device also includes a positioning platform.
  • the front cover and the rear cover are fixed to the positioning platform.
  • the limiting block is a square or semi-spherical spherical bump; the pressure bearing is a roller pressure bearing or a graphite pressure bearing.
  • the invention adopts a Hall element and a permanent magnet as a position feedback mechanism to perform stroke, position detection and signal feedback, and has the advantages of high repeatability, simple structure, high reliability and long service life.
  • the invention adopts a stepping motor for stroke control, and has the advantages of flexible operation, high precision of stroke control, controllable speed and position, small volume and large starting torque.
  • the invention adopts the ball screw pair or the sliding screw pair to perform motion conversion, and has the advantages of high conversion efficiency and long service life.
  • the invention has a limit seat as a main structure, and a power control mechanism, a position feedback mechanism and an actuator are mounted thereon, and has a compact structure, a small volume, a large pushing force, an impact resistance, and no axial operation when the motor is working. Radial force, not limited by the installation position, and a wide range of advantages in use.
  • the invention is provided with a wear-resistant bushing made of graphite nylon material between the central through hole and the translational pull rod, which prolongs the service life of the actuator.
  • the permanent magnet of the present invention adopts a unique positional relationship between the permanent magnet and the Hall element, and the magnetic field output voltage is not cut only when the Hall piece moves to the extension line of the center line of the permanent magnet pole. Therefore, when the output voltage of the Hall element is zero, it indicates that the Hall plate coincides with the center line of the magnetic pole.
  • the positioning accuracy of the present invention is only related to the detection sensitivity of the output voltage of the Hall element. It is especially important that the positioning consistency of the system of the present invention is very good regardless of the detection sensitivity of the output voltage.
  • the present invention employs a variety of dustproof measures, and can be used in an environment where dust is too large to allow light to pass through but magnetic lines of force can penetrate.
  • the Hall element and the permanent magnet have no special requirements on the working environment, and the dust accumulation does not affect the work and accuracy thereof.
  • the present invention is provided with a front cover plate and a rear cover plate on the limit groove of the limit seat for Preventing the dust from entering the gap between the limiting slot and the limiting block, and also preventing the evaporation of the lubricating oil therebetween; finally, the right end surface of the translational pulling rod of the invention is located on the left side of the right end surface of the limiting seat, and the actuator and the translation can be The joint part of the tie rod and the actuator
  • the utility model is disposed in the limiting seat to form a dustproof sealing structure; the invention can also place the joint part of the actuator and the translational pull rod and the actuator itself in one or two relatively sealed sealing covers, and the pin will be executed After the joint of the mechanism and the translational pull rod is connected, the exposed portion of the original actuator and the exposed portion of the translational lever of the present invention are sealed by a relative space capable of meeting the displacement amount.
  • the invention adopts a stepping motor as a power device, which can ensure that the output mechanism and the valve are output displacement and speed according to the setting, and the reliability is ⁇ , and can be applied to occasions with special requirements (such as a shifting device with shifting speed requirement). ), especially for electric control of various hydraulic valves.
  • Figure 1 is a schematic view of the structure of the present invention
  • Figure 2 is a right side view of Figure 1;
  • Figure 3 is a plan view of Figure 1;
  • Figure 4 is a schematic view showing the positional relationship of the wear-resistant bushing, the translational pull rod and the limit seat of Figure 1;
  • Figure 5 is a schematic structural view of a wear bushing
  • Figure 6 is a left side view of Figure 5;
  • Figure 7 to Figure 10 are the relationship between the distance of different Hall elements and the induced signal.
  • Figure 11 is a schematic view showing the operation principle of the present invention using a plurality of Hall elements and a permanent magnet for multiple positioning;
  • a specific stroke controllable actuator comprises power Control mechanism, position feedback mechanism and actuator.
  • the power control mechanism includes a stepping motor 6 and a stepping motor control system 5;
  • the position feedback mechanism includes a position sensor group 9 ;
  • the position sensor group 9 includes four Hall elements 10 and a permanent magnet 18;
  • the actuator includes a rotating assembly and a translating assembly .
  • the rotating assembly comprises a bearing chamber 20, a lead screw 11, two pressure bearings 19 disposed within the bearing chamber 20, and the pressure bearing 19 can be selected as a roller pressure bearing or a graphite pressure bearing, preferably a roller pressure bearing.
  • the right end of the lead screw 11 is provided with an external thread, and the left end thereof is connected with the motor shaft 21 of the stepping motor 6, and a limiting shaft table 8 perpendicular to the axial direction of the lead screw 11 is disposed on the circumferential side surface thereof, and the limiting shaft table 8 is a cylinder coaxial with the lead screw 11 has a diameter larger than the diameter of the lead screw 11 and approximates the outer diameter of the pressure bearing 19; the limiting shaft table 8 is disposed in the middle of the bearing chamber 20, and the two roller pressure bearings are respectively disposed at The left and right sides of the limiting shaft 8 are used for limiting the axial displacement of the lead screw 11; the translation assembly includes a limiting seat 2 designed in a square shape, a translational pull rod 12 disposed in the limiting seat 2, and the lead screw 11
  • the external thread at the right end is combined into a ball screw pair or a nut 17 of the sliding screw pair; the ball screw pair can be preferred because of its low resistance and long service life.
  • the right end of the translating rod 12 is provided with a connector that can be connected to the actuator 3, such as a flat head that can be connected by a pin 15.
  • the left end surface of the translating rod 12 is provided with a blind hole 16, and the nut 17 is embedded in the blind hole 16, the translation rod
  • the circumferential side surface of 12 has two convexly constrained blocks 23 symmetrically arranged in the horizontal direction, and the limiting block 23 is a square convex block or a semi-spherical spherical convex block.
  • the limiting seat 2 is provided with a central through hole 14 for the left and right movement of the translational lever 12 and two limiting slots 24 for the two limiting blocks 23 to slide left and right.
  • the translating rod 12 passes through the central through hole 14.
  • the stepping motor 6 is fixed to the left side surface of the bearing chamber 20, and the bearing chamber 20 is fixed to the left side surface of the limiting seat 2.
  • the permanent magnet 18 is fixed directly above the side of the translating rod 12 through an aluminum tray, and a rectangular slot penetrating through the central through hole 14 is disposed at a position directly above the limiting seat 2, and four Hall elements 10 are fixed therein, and then The Hall element 10 is covered by a cover plate, and the position of the four Hall elements 10 is the in-position position required for the translational pull rod 12; the output signal of the Hall element 10 is sent to the stepping motor control system 5 through the lead wires 7.
  • the positional relationship between the permanent magnet 18 and the Hall element 10 is as follows: The direction of the magnetic field of the permanent magnet 18 is parallel to the direction in which the Hall piece is located, and the magnetic pole face of the permanent magnet 18 close to the Hall element 10 and the Hall element 10 are properly maintained. Working air gap.
  • a wear resistant bushing 13 made of graphite nylon material may be disposed between the center through hole 14 and the translational pull rod 12.
  • the front cover 1 and the rear cover 4 for sealing the limiting groove 24 may be added to the front and rear sides of the limiting seat 2.
  • the limit seat 2 can also be fixed to the front cover 1 and the rear cover 4 On the positioning platform 22. Because the actuator 3 also needs long-term translation, if the friction fit surface also needs dustproof treatment, the right end surface of the translation rod 12 can be designed on the left side of the right end surface of the limit seat 2, that is, the limit seat 2 is used.
  • the central through hole 14 will be sealed and dustproof by the actuator 3 and its friction fit surface.
  • the sealing mechanism can also be sealed and dustproof.
  • the sealing mechanism includes a sealing cover 27 and a sealing sleeve 26.
  • the sealing cover 27 is disposed on the right side of the limiting seat 2 and seals the central through hole of the limiting seat 2, and the right end surface of the sealing cover 27
  • An opening 28 is provided through which the actuator can pass, the left end of the sealing sleeve 26 is connected to the opening 28 and the opening 28 is sealed; the sealing sleeve 26 is disposed between the sealing cover 27 and the body to be actuated 25 and is sealed by the cover 27 and The actuator body 25 is axially compressed.
  • Fig. 11 The working principle of the position feedback mechanism in the present invention is shown in Fig. 11: when the permanent magnet 18 and the translational pull rod 12 move from the far side to the Hall piece along the moving direction of the translational rod 12, the magnetic lines of the initial permanent magnet 18 pass through the Hall sheet.
  • the density is small, a certain Hall voltage is generated in the Hall element, and as the distance between the Hall element and the permanent magnet 18 is close, the Hall voltage is also larger and larger, and when the direction of the Hall piece is parallel to the direction of the magnetic field, No magnetic lines pass through the Hall plate, and the Hall element has no output voltage at this time.
  • FIG. 7 is a schematic diagram showing the relationship between the distance and the sensing signal when the bidirectional switching type Hall element is used
  • FIG. 8 is a schematic diagram showing the relationship between the distance and the sensing signal when the unidirectional switching type Hall element is used
  • Figure 10 is a schematic diagram showing the relationship between the distance and the induced signal when the bidirectional linear Hall element is used.
  • the stepping motor 6 drives the lead screw 11 to rotate
  • the limiting shaft table 8 is used for limiting the left and right tilting of the lead screw 11, and the cooperation of the lead screw 11 and the nut 17 converts the rotary motion into the translational movement of the translational pull rod 12.
  • the limiting boss is limited by the limiting slot 24, so that the translational lever 12 can not be rotated and can only be translated to the left and right, and the translational lever 12 is driven to be translated by the actuator 3 to complete the translational action.
  • the Hall element feeds back the position signal and sends it to the stepper motor control system 5 to control the stepper motor 6 to perform the set operation and complete the stroke control.
  • the invention is specifically applied when the hydraulic control is wide, and the control signal received by the stepping motor control system comes from the control handle or the combined control switch. If there are multiple control handles or combination control switches, or there are multiple hydraulic control valves, one control handle or combination control switch can be used to control multiple actuators, or multiple control handles or combination control switches can control multiple side-by-side executions. mechanism.
  • the Hall element signal in the sensor group can be directly transmitted to the stepper motor control system; the circuit processing or software processing can be performed first, and then the processed analog signal or digital signal is transmitted to the stepping motor control system.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

A stroke-controllable actuating device includes a motion control mechanism, a position feedback mechanism and an actuating mechanism. The motion control mechanism comprises a stepping motor (6) and a control system (5) for the stepping motor. The position feedback mechanism comprises hall elements (10) and a permanent magnet (18). The actuating mechanism comprises a rotating assembly and a translating assembly. A screw pair of the translating assembly converts the movement. The stroke and the position are detected by the position feedback mechanism, and a detected signal is input to the control system (5) for the stepping motor.

Description

一种行程可控的执行装置 技术领域  Stroke controllable actuator
本发明涉及一种行程可控的执行装置。 背景技术  The invention relates to a stroke controllable actuator. Background technique
现有的平移执行机构如数控机床、 机械手、 阔门控制器等， 为了保证控 制***的顺利执行动作， 其结构都很复杂， 虽然带来了高精度的控制效果， 但是复杂结构带来了成本的提高和可靠性的降低。 另外， 为了保证行程的可 控和高精度， 必须采用诸如光电传感器等位置传感器进行定位和计数， 但是 该类传感器容易受到外界信号或电源信号的干扰， 产生误动作或错误计数。  Existing translational actuators such as CNC machine tools, robots, wide-door controllers, etc., in order to ensure the smooth execution of the control system, its structure is very complicated, although it brings high-precision control effects, but the complex structure brings costs. Improvement and reliability reduction. In addition, in order to ensure the controllability and high precision of the stroke, position sensors such as photoelectric sensors must be used for positioning and counting, but such sensors are susceptible to interference from external signals or power signals, resulting in malfunction or false counting.
另外， 目前最常见的液压阀的控制为先导液压控制***： 它是用控制手 柄来控制一个小的电磁液压阀门， 用通过小电磁阀门的液压油来推动主控油 路的大的液压阀门。 从而起到用控制手柄来控制大液压阀门的目的。 这种先 导液压控制***结构复杂； 先导液压电磁阀油路细小， 油管易堵塞； ***液 压油易出现泄漏； 因油管较多， 安装比较复杂， 安装位置受到限制； 并且价 格较贵。 另一种常见的液压阀的控制为机械连杆或用钢绳与一个可以弯曲的 外壳组成钢丝绳软轴， 直接驱动主回路液压阀。 这种控制方法结构简单， 价 格便宜。 但控制手柄操作起来不灵活， 工作强度大， 控制手柄手感差； 阀芯 拉出时暴露在空气中， 污染后阀芯与油封易损坏； 需经常调节钢丝的推拉行 程， 以达到准确挂档； 因限位装置简单、 易造成脱档， 对车辆的行驶安全造 成较大威胁。 发明内容  In addition, the most common hydraulic valve control is the pilot hydraulic control system: it uses a control handle to control a small electromagnetic hydraulic valve, and a hydraulic valve that passes a small electromagnetic valve to push the large hydraulic valve of the main control oil. Thus, the purpose of controlling the large hydraulic valve with the control handle is achieved. The pilot hydraulic control system has a complicated structure; the pilot hydraulic solenoid valve has a small oil passage and the oil pipe is easy to block; the system hydraulic oil is prone to leakage; due to the large number of oil pipes, the installation is complicated, the installation position is limited; and the price is relatively expensive. Another common type of hydraulic valve is controlled by a mechanical linkage or a steel cord with a steel cord and a flexible outer casing that directly drives the main circuit hydraulic valve. This control method is simple in structure and inexpensive. However, the control handle is not flexible in operation, the working intensity is large, and the control handle feels poor; the valve core is exposed to the air when it is pulled out, and the valve core and the oil seal are easily damaged after being contaminated; the push-pull stroke of the steel wire needs to be adjusted frequently to achieve accurate running; Because the limit device is simple and easy to cause the off-range, it poses a greater threat to the driving safety of the vehicle. Summary of the invention
本发明目的是提供一种结构简单、 能够精确可靠地控制行程与位置的执 行装置， 其解决了现有行程控制机构结构复杂、 位置控制机构抗干扰能力差 的技术问题， 同时解决了现有的液压阀控制装置结构复杂、 电磁阀油管易堵 塞、 安装位置受限、 需经常调节推拉行程、 易脱档、 操作不方便、 阀芯与油 封易损坏、 劳动强度大的技术问题。 本发明的技术解决方案是： The object of the present invention is to provide an execution device with simple structure and precise and reliable control of stroke and position, which solves the technical problems of complicated structure of the existing stroke control mechanism and poor anti-interference ability of the position control mechanism, and solves the existing problems at the same time. The hydraulic valve control device has a complicated structure, the solenoid valve tubing is easy to block, the installation position is limited, the push-pull stroke needs to be adjusted frequently, the gear is easy to be dislodged, the operation is inconvenient, the valve core and the oil seal are easily damaged, and the labor intensity is large. The technical solution of the present invention is:
一种行程可控的执行装置， 其特殊之处是， 其包括动力控制机构、 位置 反馈机构和执行机构； 所述动力控制机构包括步进电机及步进电机控制***; 所述位置反馈机构包括位置传感器组； 所述位置传感器组包括至少一个霍尔 元件和至少一个永久磁铁； 所述执行机构包括转动组件和平移组件； 所述转 动组件包括轴承室、 丝杠、 设置在轴承室内的两个压力轴承； 所述丝杠的右 端设置有外螺紋， 其左端与步进电机的电机轴连接， 其中部圆周侧面上设置 与丝杠轴心方向垂直的限位轴台； 所述限位轴台设置在轴承室内， 所述两个 压力轴承分别设置在限位轴台的左右两边； 所述平移组件包括限位座、 设置 在限位座内的平移拉杆、 可与丝杠组合成滚珠丝杠副或滑动丝杠副的螺母； 所述平移拉杆的右端设置有可与被执行机构连接的连接头， 所述平移拉杆的 左端面设置有盲孔， 所述螺母嵌于盲孔内， 所述平移拉杆的圆周侧面设置有 两个外凸的限位块； 所述限位座上设置有可供平移拉杆左右移动的中心通孔 以及可供两个限位块左右滑动的两个限位槽； 所述步进电机固定在轴承室的 左侧面， 所述轴承室固定在限位座的左侧面； 所述永久磁铁固定在平移拉杆 的圆周侧面上方， 所述霍尔元件固定在限位座上与永久磁铁相应的位置， 所 述霍尔元件的输出信号送入步进电机控制***。  A stroke controllable execution device, which is characterized in that it comprises a power control mechanism, a position feedback mechanism and an actuator; the power control mechanism comprises a stepping motor and a stepper motor control system; the position feedback mechanism comprises a position sensor group; the position sensor group includes at least one Hall element and at least one permanent magnet; the actuator includes a rotation assembly and a translation assembly; the rotation assembly includes a bearing chamber, a lead screw, and two chambers disposed in the bearing chamber a pressure bearing; the right end of the lead screw is provided with an external thread, and the left end thereof is connected with the motor shaft of the stepping motor, and a limiting shaft table perpendicular to the axial direction of the screw shaft is disposed on a circumferential side of the screw; the limiting shaft table The two pressure bearings are respectively disposed on the left and right sides of the limiting shaft table; the translation assembly includes a limiting seat, a translational pull rod disposed in the limiting seat, and can be combined with the lead screw to form a ball screw a nut of the secondary or sliding screw pair; the right end of the translational lever is provided with a connector connectable to the actuator, the flat The left end surface of the shifting rod is provided with a blind hole, the nut is embedded in the blind hole, and the circumferential side of the translational pull rod is provided with two convex limiting blocks; the limiting seat is provided with a movable sliding rod a moving central through hole and two limiting slots for sliding the two limiting blocks to the left and right; the stepping motor is fixed on a left side surface of the bearing chamber, and the bearing chamber is fixed on a left side surface of the limiting seat; The permanent magnet is fixed above the circumferential side of the translating rod, the Hall element is fixed at a position corresponding to the permanent magnet on the limiting seat, and the output signal of the Hall element is sent to the stepping motor control system.
上述行程可控的执行装置还包括密封机构， 所述密封机构包括密封罩和 密封套， 所述密封罩设置在限位座右侧并将限位座的中心通孔密闭， 所述密 封罩的右端面设置有可供被执行机构通过的开口， 所述密封套的左端与开口 相连并将开口密闭； 所述密封套设置在密封罩和被执行机构本体之间并被密 封罩和被执行机构本体轴向压紧。  The above-mentioned stroke-controllable actuator further includes a sealing mechanism including a sealing cover and a sealing sleeve, the sealing cover being disposed on the right side of the limiting seat and sealing the central through hole of the limiting seat, the sealing cover The right end surface is provided with an opening through which the actuator can pass, the left end of the sealing sleeve is connected to the opening and the opening is sealed; the sealing sleeve is disposed between the sealing cover and the body to be actuated and is sealed by the actuator and the actuator The body is axially compressed.
上述平移拉杆的右端面位于限位座右端面的左侧。  The right end face of the above translational pull rod is located on the left side of the right end face of the limit seat.
上述永久磁铁与霍尔元件之间的位置关系如下： 各永久磁铁的磁场方向 与每个霍尔元件的霍尔片所在方向平行， 且永久磁铁的靠近霍尔元件的磁极 端面与霍尔元件保持合理的工作气隙。  The positional relationship between the above permanent magnet and the Hall element is as follows: The direction of the magnetic field of each permanent magnet is parallel to the direction of the Hall piece of each Hall element, and the magnetic pole surface of the permanent magnet close to the Hall element and the Hall element Maintain a reasonable working air gap.
上述限位座包括设置在中心通孔和平移拉杆间的耐磨衬套。  The above-mentioned limit seat includes a wear bushing disposed between the center through hole and the translational pull rod.
上述耐磨衬套釆用石墨尼龙材料制备。  The above wear-resistant bushing is made of a graphite nylon material.
上述限位座还包括用于密闭限位槽的前盖板和后盖板。 上述行程可控的执行装置还包括定位平台。 The above limitation seat further includes a front cover plate and a rear cover plate for sealing the limit groove. The above-described stroke controllable execution device also includes a positioning platform.
上述前盖板和后盖板固定在定位平台上。  The front cover and the rear cover are fixed to the positioning platform.
上述限位块为方形凸块或半圆球形凸块； 所述压力轴承为滚柱压力轴承 或石墨压力轴承。  The limiting block is a square or semi-spherical spherical bump; the pressure bearing is a roller pressure bearing or a graphite pressure bearing.
本发明具有的优点是：  The invention has the advantages of:
1、 本发明采用霍尔元件和永久磁铁作为位置反馈机构进行行程、 位置的 检测与信号反馈， 具有重复到位精度高、 结构简单、 可靠性高、 使用寿命长 的优点。  1. The invention adopts a Hall element and a permanent magnet as a position feedback mechanism to perform stroke, position detection and signal feedback, and has the advantages of high repeatability, simple structure, high reliability and long service life.
2、 本发明采用步进电机进行行程控制， 具有操作灵活可靠、 行程控制精 度高、 速度及位置可控、 体积小及启动力矩大的优点。  2. The invention adopts a stepping motor for stroke control, and has the advantages of flexible operation, high precision of stroke control, controllable speed and position, small volume and large starting torque.
3、本发明采用滚珠丝杠副或滑动丝杠副进行运动转换，具有转换效率高、 使用寿命长的优点。  3. The invention adopts the ball screw pair or the sliding screw pair to perform motion conversion, and has the advantages of high conversion efficiency and long service life.
4、 本发明以限位座为主体结构， 在其上安装有动力控制机构、 位置反馈 机构和执行机构， 具有结构紧凑、 体积较小、 推拉力大、 耐冲击、 电机工作 时无轴向与径向力、 不受安装位置的限制、 使用场合广泛的优点。  4. The invention has a limit seat as a main structure, and a power control mechanism, a position feedback mechanism and an actuator are mounted thereon, and has a compact structure, a small volume, a large pushing force, an impact resistance, and no axial operation when the motor is working. Radial force, not limited by the installation position, and a wide range of advantages in use.
5、 本发明在中心通孔和平移拉杆间设置有石墨尼龙材料制成的耐磨衬 套， 延长了执行机构的使用寿命。  5. The invention is provided with a wear-resistant bushing made of graphite nylon material between the central through hole and the translational pull rod, which prolongs the service life of the actuator.
6、 本发明永久磁铁与霍尔元件之间采用了独特的位置关系， 只有当霍尔 片运动到永久磁铁磁极的中心线的延伸线上时， 才没有切割磁力线输出电压。 所以， 当霍尔元件的输出电压为零时， 则表明霍尔片与磁极的中心线重合。 本发明的定位准确度只与霍尔元件的输出电压的检测灵敏度有关。 尤其重要 的是， 不管输出电压的检测灵敏度高低如何， 本发明***的定位一致性都非 常好。  6. The permanent magnet of the present invention adopts a unique positional relationship between the permanent magnet and the Hall element, and the magnetic field output voltage is not cut only when the Hall piece moves to the extension line of the center line of the permanent magnet pole. Therefore, when the output voltage of the Hall element is zero, it indicates that the Hall plate coincides with the center line of the magnetic pole. The positioning accuracy of the present invention is only related to the detection sensitivity of the output voltage of the Hall element. It is especially important that the positioning consistency of the system of the present invention is very good regardless of the detection sensitivity of the output voltage.
7、 本发明采用了多种防尘措施， 能够用于粉尘多使得光线不能够照射穿 透但磁力线能够穿透的环境。 首先， 霍尔元件和永久磁铁对工作环境没有特 殊要求， 粉尘的堆积不影响其工作和精度； 其次， 本发明在限位座的限位槽 上设置有前盖板和后盖板， 用于阻止粉尘进入限位槽和限位块之间的空隙， 同时也防止其间的润滑油的挥发； 最后， 本发明平移拉杆的右端面位于限位 座右端面的左侧， 可将被执行机构和平移拉杆的接头部位以及被执行机构本 身置于限位座内形成防尘密封结构； 本发明还可将被执行机构和平移拉杆的 接头部位以及被执行机构本身置于一个或两个相对密封的密封罩内， 用销钉 将被执行机构和平移拉杆的接头部连接后， 使得原被执行机构外露部分与本 实用新型的平移拉杆外露部分被一个能够满足位移量需要的相对空间密封。 7. The present invention employs a variety of dustproof measures, and can be used in an environment where dust is too large to allow light to pass through but magnetic lines of force can penetrate. First of all, the Hall element and the permanent magnet have no special requirements on the working environment, and the dust accumulation does not affect the work and accuracy thereof. Secondly, the present invention is provided with a front cover plate and a rear cover plate on the limit groove of the limit seat for Preventing the dust from entering the gap between the limiting slot and the limiting block, and also preventing the evaporation of the lubricating oil therebetween; finally, the right end surface of the translational pulling rod of the invention is located on the left side of the right end surface of the limiting seat, and the actuator and the translation can be The joint part of the tie rod and the actuator The utility model is disposed in the limiting seat to form a dustproof sealing structure; the invention can also place the joint part of the actuator and the translational pull rod and the actuator itself in one or two relatively sealed sealing covers, and the pin will be executed After the joint of the mechanism and the translational pull rod is connected, the exposed portion of the original actuator and the exposed portion of the translational lever of the present invention are sealed by a relative space capable of meeting the displacement amount.
8、本发明采用步进电机作为动力装置， 可保证被执行机构或阀门按照设 定输出位移和速度， 可靠性髙， 可应用在有特殊需求的场合 （比如有换挡速 度要求的换挡装置）， 尤其可应用于各种液压阀门的电动控制。 附图说明  8. The invention adopts a stepping motor as a power device, which can ensure that the output mechanism and the valve are output displacement and speed according to the setting, and the reliability is 髙, and can be applied to occasions with special requirements (such as a shifting device with shifting speed requirement). ), especially for electric control of various hydraulic valves. DRAWINGS
图 1是本发明的结构示意图；  Figure 1 is a schematic view of the structure of the present invention;
图 2是图 1的右视图；  Figure 2 is a right side view of Figure 1;
图 3是图 1的俯视图；  Figure 3 is a plan view of Figure 1;
图 4是图 1耐磨衬套、 平移拉杆和限位座的位置关系示意图；  Figure 4 is a schematic view showing the positional relationship of the wear-resistant bushing, the translational pull rod and the limit seat of Figure 1;
图 5是耐磨衬套的结构示意图；  Figure 5 is a schematic structural view of a wear bushing;
图 6是图 5的左视图；  Figure 6 is a left side view of Figure 5;
图 7至图 10是不同霍尔元件的距离与感应信号的关系示意图  Figure 7 to Figure 10 are the relationship between the distance of different Hall elements and the induced signal.
图 11是本发明采用多个霍尔元件和一个永久磁铁进行多次定位的工作原 理示意图；  Figure 11 is a schematic view showing the operation principle of the present invention using a plurality of Hall elements and a permanent magnet for multiple positioning;
其中： 1-前盖板， 2-限位座， 3-被执行机构， 4-后盖板， 5-步进电机控 制***， 6-步进电机， 7-引线， 8-限位轴台， 9-位置传感器组， 10-霍尔元件， 11-丝杆， 12-平移拉杆， 13-耐磨衬套， 14-中心通孔， 15-销钉， 16-盲孔， 17-螺母， 18-永久磁铁， 19-压力轴承， 20-轴承室， 21-电机轴， 22-定位平 台， 23-限位块， 24-限位槽， 25-被执行机构本体， 26-密封套， 27-密封罩， 28-开口， A-磁场方向， B-霍尔片所在方向， L-工作气隙， C-运动方向， X轴- 霍尔片与磁场中心轴的垂直距离， Y轴-霍尔元件的感应信号大小， 0' -磁场 中心轴。 具体实施方式  Among them: 1- front cover, 2-limit seat, 3-actuator, 4-rear cover, 5-step motor control system, 6-stepper motor, 7-lead, 8-position spindle , 9-position sensor group, 10-Hall element, 11-screw, 12-translation lever, 13-wear bushing, 14-center through hole, 15-pin, 16-blind, 17-nut, 18 - permanent magnet, 19-pressure bearing, 20-bearing chamber, 21-motor shaft, 22-positioning platform, 23-stop block, 24-stop groove, 25-actuator body, 26-seal sleeve, 27- Sealing hood, 28-opening, A-magnetic field direction, direction of B-hologram, L-working air gap, C-motion direction, X-axis - vertical distance between Hall plate and magnetic field axis, Y-axis The size of the sensing signal of the component, 0' - the center axis of the magnetic field. detailed description
参见图 1、 图 2和图 3， 本发明一种具体的行程可控的执行装置包括动力 控制机构、 位置反馈机构和执行机构。 动力控制机构包括步进电机 6及步进 电机控制*** 5; 位置反馈机构包括位置传感器组 9; 位置传感器组 9包括四 个霍尔元件 10和一个永久磁铁 18;执行机构包括转动组件和平移组件。转动 组件包括轴承室 20、 丝杠 11、 设置在轴承室 20内的两个压力轴承 19， 压力 轴承 19可选用为滚柱压力轴承或石墨压力轴承，优选滚柱压力轴承。丝杠 11 的右端设置有外螺紋， 其左端与步进电机 6的电机轴 21连接， 其中部圆周侧 面上设置与丝杠 11轴心方向垂直的限位轴台 8， 限位轴台 8是一个与丝杠 11 同轴的圆柱， 其直径比丝杠 11的直径大且与压力轴承 19的外径近似； 限位 轴台 8设置在轴承室 20中部， 两个滚柱压力轴承分别设置在限位轴台 8的左 右两边用于限制丝杠 11的轴向位移；平移组件包括设计成方块状的限位座 2、 设置在限位座 2内的平移拉杆 12、可与丝杠 11右端的外螺纹组合成滚珠丝杠 副或滑动丝杠副的螺母 17; 因阻力小、使用寿命长， 滚珠丝杠副可作为首选。 平移拉杆 12的右端设置有可与被执行机构 3连接的连接头， 如可用销钉 15 连接的扁平头，平移拉杆 12的左端面设置有盲孔 16，螺母 17嵌于盲孔 16内， 平移拉杆 12的圆周侧面有两个水平方向对称设置的外凸的限位块 23，限位块 23为方形凸块或半圆球形凸块。限位座 2上设置有可供平移拉杆 12左右移动 的中心通孔 14以及可供两个限位块 23左右滑动的两个限位槽 24。 平移拉杆 12穿过中心通孔 14。 步进电机 6固定在轴承室 20的左侧面， 轴承室 20固定 在限位座 2的左侧面。 永久磁铁 18通过一个铝制托盘固定在平移拉杆 12的 侧面正上方，限位座 2正上方相应位置设置有与中心通孔 14贯通的长方形槽， 其内固定有四个霍尔元件 10，然后用盖板盖住霍尔元件 10， 四个霍尔元件 10 的位置就是平移拉杆 12需要的到位位置；霍尔元件 10的输出信号通过引线 7 送入步进电机控制*** 5。 永久磁铁 18与霍尔元件 10之间的位置关系如下： 永久磁铁 18的磁场方向与霍尔片所在方向平行， 且永久磁铁 18的靠近霍尔 元件 10的磁极端面与霍尔元件 10保持合理的工作气隙。 为了减小中心通孔 14和平移拉杆 12之间的摩擦，可在中心通孔 14和平移拉杆 12间设置一层石 墨尼龙材料制备的耐磨衬套 13。 为了防止粉尘进入限位槽 24和中心通孔 14， 可在限位座 2前后两侧面外加用于密闭限位槽 24的前盖板 1和后盖板 4。 为 了便于执行装置的安装， 还可将限位座 2通过前盖板 1和后盖板 4固定在一 个定位平台 22上。 因为被执行机构 3也需要长期平移， 如果其摩擦配合面也 需要防尘处理， 则可将平移拉杆 12的右端面设计在限位座 2右端面的左侧， 也就是用限位座 2的中心通孔 14将被执行机构 3及其摩擦配合面进行密封防 尘。 也可以用密封机构进行密封防尘， 密封机构包括密封罩 27和密封套 26， 密封罩 27设置在限位座 2右侧并将限位座 2的中心通孔密闭， 密封罩 27的 右端面设置有可供被执行机构通过的开口 28, 密封套 26的左端与开口 28相 连并将开口 28密闭； 密封套 26设置在密封罩 27和被执行机构本体 25之间 并被密封罩 27和被执行机构本体 25轴向压紧。 Referring to Figures 1, 2 and 3, a specific stroke controllable actuator comprises power Control mechanism, position feedback mechanism and actuator. The power control mechanism includes a stepping motor 6 and a stepping motor control system 5; the position feedback mechanism includes a position sensor group 9 ; the position sensor group 9 includes four Hall elements 10 and a permanent magnet 18; the actuator includes a rotating assembly and a translating assembly . The rotating assembly comprises a bearing chamber 20, a lead screw 11, two pressure bearings 19 disposed within the bearing chamber 20, and the pressure bearing 19 can be selected as a roller pressure bearing or a graphite pressure bearing, preferably a roller pressure bearing. The right end of the lead screw 11 is provided with an external thread, and the left end thereof is connected with the motor shaft 21 of the stepping motor 6, and a limiting shaft table 8 perpendicular to the axial direction of the lead screw 11 is disposed on the circumferential side surface thereof, and the limiting shaft table 8 is a cylinder coaxial with the lead screw 11 has a diameter larger than the diameter of the lead screw 11 and approximates the outer diameter of the pressure bearing 19; the limiting shaft table 8 is disposed in the middle of the bearing chamber 20, and the two roller pressure bearings are respectively disposed at The left and right sides of the limiting shaft 8 are used for limiting the axial displacement of the lead screw 11; the translation assembly includes a limiting seat 2 designed in a square shape, a translational pull rod 12 disposed in the limiting seat 2, and the lead screw 11 The external thread at the right end is combined into a ball screw pair or a nut 17 of the sliding screw pair; the ball screw pair can be preferred because of its low resistance and long service life. The right end of the translating rod 12 is provided with a connector that can be connected to the actuator 3, such as a flat head that can be connected by a pin 15. The left end surface of the translating rod 12 is provided with a blind hole 16, and the nut 17 is embedded in the blind hole 16, the translation rod The circumferential side surface of 12 has two convexly constrained blocks 23 symmetrically arranged in the horizontal direction, and the limiting block 23 is a square convex block or a semi-spherical spherical convex block. The limiting seat 2 is provided with a central through hole 14 for the left and right movement of the translational lever 12 and two limiting slots 24 for the two limiting blocks 23 to slide left and right. The translating rod 12 passes through the central through hole 14. The stepping motor 6 is fixed to the left side surface of the bearing chamber 20, and the bearing chamber 20 is fixed to the left side surface of the limiting seat 2. The permanent magnet 18 is fixed directly above the side of the translating rod 12 through an aluminum tray, and a rectangular slot penetrating through the central through hole 14 is disposed at a position directly above the limiting seat 2, and four Hall elements 10 are fixed therein, and then The Hall element 10 is covered by a cover plate, and the position of the four Hall elements 10 is the in-position position required for the translational pull rod 12; the output signal of the Hall element 10 is sent to the stepping motor control system 5 through the lead wires 7. The positional relationship between the permanent magnet 18 and the Hall element 10 is as follows: The direction of the magnetic field of the permanent magnet 18 is parallel to the direction in which the Hall piece is located, and the magnetic pole face of the permanent magnet 18 close to the Hall element 10 and the Hall element 10 are properly maintained. Working air gap. In order to reduce the friction between the center through hole 14 and the translational pull rod 12, a wear resistant bushing 13 made of graphite nylon material may be disposed between the center through hole 14 and the translational pull rod 12. In order to prevent the dust from entering the limiting groove 24 and the center through hole 14, the front cover 1 and the rear cover 4 for sealing the limiting groove 24 may be added to the front and rear sides of the limiting seat 2. In order to facilitate the installation of the device, the limit seat 2 can also be fixed to the front cover 1 and the rear cover 4 On the positioning platform 22. Because the actuator 3 also needs long-term translation, if the friction fit surface also needs dustproof treatment, the right end surface of the translation rod 12 can be designed on the left side of the right end surface of the limit seat 2, that is, the limit seat 2 is used. The central through hole 14 will be sealed and dustproof by the actuator 3 and its friction fit surface. The sealing mechanism can also be sealed and dustproof. The sealing mechanism includes a sealing cover 27 and a sealing sleeve 26. The sealing cover 27 is disposed on the right side of the limiting seat 2 and seals the central through hole of the limiting seat 2, and the right end surface of the sealing cover 27 An opening 28 is provided through which the actuator can pass, the left end of the sealing sleeve 26 is connected to the opening 28 and the opening 28 is sealed; the sealing sleeve 26 is disposed between the sealing cover 27 and the body to be actuated 25 and is sealed by the cover 27 and The actuator body 25 is axially compressed.
本发明中位置反馈机构的工作原理参见图 11 :当永久磁铁 18和平移拉杆 12从远处沿平移拉杆 12的运动方向向霍尔片运动时， 最初永久磁铁 18的磁 力线穿过霍尔片的密度较小， 霍尔元件中产生一定的霍尔电压， 随着霍尔元 件与永久磁铁 18距离的靠近， 霍尔电压也越来越大， 当霍尔片所在方向与磁 场方向平行时， 则没有磁力线穿过霍尔片， 则此时霍尔元件没有输出电压。 所以， 当永久磁铁 18也就是平移拉杆 12由远处向霍尔元件平移运动时， 霍 尔元件没有输出电压的位置就是平移拉杆 12所希望的定位位置。 其中， 图 7 为采用双向开关型霍尔元件时的距离与感应信号的关系示意图； 图 8为釆用 单向开关型霍尔元件时的距离与感应信号的关系示意图； 图 9为采用单向线 性霍尔元件时的距离与感应信号的关系示意图； 图 10为采用双向线性霍尔元 件时的距离与感应信号的关系示意图。  The working principle of the position feedback mechanism in the present invention is shown in Fig. 11: when the permanent magnet 18 and the translational pull rod 12 move from the far side to the Hall piece along the moving direction of the translational rod 12, the magnetic lines of the initial permanent magnet 18 pass through the Hall sheet. The density is small, a certain Hall voltage is generated in the Hall element, and as the distance between the Hall element and the permanent magnet 18 is close, the Hall voltage is also larger and larger, and when the direction of the Hall piece is parallel to the direction of the magnetic field, No magnetic lines pass through the Hall plate, and the Hall element has no output voltage at this time. Therefore, when the permanent magnet 18, that is, the translational lever 12, is translated from the far side to the Hall element, the position where the Hall element has no output voltage is the desired positioning position of the translational lever 12. FIG. 7 is a schematic diagram showing the relationship between the distance and the sensing signal when the bidirectional switching type Hall element is used; FIG. 8 is a schematic diagram showing the relationship between the distance and the sensing signal when the unidirectional switching type Hall element is used; Schematic diagram of the relationship between the distance of the linear Hall element and the induced signal; Figure 10 is a schematic diagram showing the relationship between the distance and the induced signal when the bidirectional linear Hall element is used.
本发明工作过程： 步进电机 6带动丝杠 11旋转， 限位轴台 8用于限制丝 杠 11的左右窜动， 丝杠 11和螺母 17的配合将旋转运动变换为平移拉杆 12 的平移运动， 限位凸台被限位槽 24所限， 使平移拉杆 12不能转动只能左右 平移， 平移拉杆 12带动被执行机构 3平移， 完成平移动作。 当平移到位后， 霍尔元件反馈位置信号，送入步进电机控制*** 5，控制步进电机 6进行设定 的动作， 完成行程控制。  The working process of the invention: the stepping motor 6 drives the lead screw 11 to rotate, the limiting shaft table 8 is used for limiting the left and right tilting of the lead screw 11, and the cooperation of the lead screw 11 and the nut 17 converts the rotary motion into the translational movement of the translational pull rod 12. The limiting boss is limited by the limiting slot 24, so that the translational lever 12 can not be rotated and can only be translated to the left and right, and the translational lever 12 is driven to be translated by the actuator 3 to complete the translational action. When the translation is in place, the Hall element feeds back the position signal and sends it to the stepper motor control system 5 to control the stepper motor 6 to perform the set operation and complete the stroke control.
本发明具体应用在液压控制阔上时， 步进电机控制***接受的控制信号 来自控制手柄或组合控制开关。 如果控制手柄或组合控制开关有多个， 或者 液压控制阀有多个， 则可以一个控制手柄或组合控制开关控制多个执行机构， 或者多个控制手柄或组合控制开关控制多个并列放置的执行机构。 对于传感器组中的霍尔元件信号， 可以直接传给步进电机控制***； 也 可以先进行电路处理， 或软件处理， 再将处理后的模拟信号或数字信号传给 步进电机控制***。 The invention is specifically applied when the hydraulic control is wide, and the control signal received by the stepping motor control system comes from the control handle or the combined control switch. If there are multiple control handles or combination control switches, or there are multiple hydraulic control valves, one control handle or combination control switch can be used to control multiple actuators, or multiple control handles or combination control switches can control multiple side-by-side executions. mechanism. The Hall element signal in the sensor group can be directly transmitted to the stepper motor control system; the circuit processing or software processing can be performed first, and then the processed analog signal or digital signal is transmitted to the stepping motor control system.

Claims

权利要求书 Claim
1、 一种行程可控的执行装置， 其特征在于： 其包括动力控制机构、 位置 反馈机构和执行机构； 所述动力控制机构包括步进电机 (6)及步进电机控制系 统 (5) ; 所述位置反馈机构包括位置传感器组 (9) ; 所述位置传感器组 (9)包括 至少一个霍尔元件（10)和至少一个永久磁铁（18)； 所述执行机构包括转动组 件和平移组件；所述转动组件包括轴承室 (20)、丝杠（11)、设置在轴承室 (20) 内的两个压力轴承（19) ; 所述丝杠（11)的右端设置有外螺纹， 其左端与步进 电机 (6)的电机轴 (21)连接， 其中部圆周侧面上设置与丝杠（11)轴心方向垂直 的限位轴台（8) ; 所述限位轴台（8)设置在轴承室 (20)内， 所述两个压力轴承 A stroke controllable execution device, comprising: a power control mechanism, a position feedback mechanism and an actuator; the power control mechanism comprising a stepper motor (6) and a stepper motor control system (5); The position feedback mechanism includes a position sensor group (9); the position sensor group (9) includes at least one Hall element (10) and at least one permanent magnet (18); the actuator includes a rotation assembly and a translation assembly; The rotating assembly includes a bearing chamber (20), a lead screw (11), and two pressure bearings (19) disposed in the bearing chamber (20); the right end of the lead screw (11) is provided with an external thread, and the left end thereof Connected to the motor shaft (21) of the stepping motor (6), wherein the circumferential side surface is provided with a limiting shaft table (8) perpendicular to the axial direction of the lead screw (11); the limiting shaft table (8) is set In the bearing chamber (20), the two pressure bearings
(19)分别设置在限位轴台 (8)的左右两边； 所述平移组件包括限位座 (2)、 设 置在限位座 (2)内的平移拉杆 (12)、可与丝杠 (11)组合成滚珠丝杠副或滑动丝 杠副的螺母（17)； 所述平移拉杆 (12)的右端设置有可与被执行机构 (3)连接的 连接头， 所述平移拉杆（12)的左端面设置有盲孔（16)， 所述螺母（17)嵌于盲 孔 (16)内， 所述平移拉杆 (12)的圆周侧面设置有两个外凸的限位块 (23) ; 所 述限位座 (2)上设置有可供平移拉杆（12)左右移动的中心通孔（14)以及可供 两个限位块 (23)左右滑动的两个限位槽 (24)； 所述步进电机 (6)固定在轴承室(19) respectively disposed on the left and right sides of the limit shaft table (8); the translation assembly includes a limit seat (2), a translation pull rod (12) disposed in the limit seat (2), and a screw ( 11) a nut (17) combined into a ball screw pair or a sliding screw pair; a right end of the translation rod (12) is provided with a connector connectable to the actuator (3), the translation lever (12) The left end surface is provided with a blind hole (16), the nut (17) is embedded in the blind hole (16), and the circumferential side of the translational pull rod (12) is provided with two convex limiting blocks (23); The limiting seat (2) is provided with a central through hole (14) for the left and right movement of the translational pull rod (12) and two limiting slots (24) for sliding the two limiting blocks (23) to the left and right; The stepping motor (6) is fixed in the bearing chamber
(20)的左侧面，所述轴承室 (20)固定在限位座 (2)的左侧面；所述永久磁铁 (18) 固定在平移拉杆（12)的圆周侧面上方， 所述霍尔元件（10)固定在限位座 (2)上 与永久磁铁 (18)相应的位置， 所述霍尔元件 (10)的输出信号送入步进电机控 制*** (5)。 (20) on the left side, the bearing chamber (20) is fixed to the left side of the limiting seat (2); the permanent magnet (18) is fixed above the circumferential side of the translational lever (12), the The element (10) is fixed on the limit seat (2) at a position corresponding to the permanent magnet (18), and the output signal of the Hall element (10) is sent to the stepping motor control system (5).
2、 根据权利要求 1所述的行程可控的执行装置， 其特征在于： 所述行程 可控的执行装置还包括密封机构， 所述密封机构包括密封罩 (27)和密封套 (26)， 所述密封罩 (27)设置在限位座 (2)右侧并将限位座 (2)的中心通孔 (14) 密闭， 所述密封罩 (27)的右端面设置有可供被执行机构 (3)通过的开口（28)， 所述密封套 (26)的左端与开口（28)相连并将开口（28)密闭； 所述密封套 (26) 设置在密封罩（27)和被执行机构本体 (25)之间并被密封罩 (27)和被执行机构 本体 (25)轴向压紧。  2. The stroke controllable actuator according to claim 1, wherein: the stroke controllable actuator further comprises a sealing mechanism, the sealing mechanism comprising a sealing cover (27) and a sealing sleeve (26), The sealing cover (27) is disposed on the right side of the limiting seat (2) and seals the central through hole (14) of the limiting seat (2), and the right end surface of the sealing cover (27) is provided to be executed The opening (28) through which the mechanism (3) passes, the left end of the sealing sleeve (26) is connected to the opening (28) and the opening (28) is sealed; the sealing sleeve (26) is disposed in the sealing cover (27) and The actuator body (25) is axially compressed by the seal cover (27) and the body to be actuated (25).
3、 根据权利要求 1所述的行程可控的执行装置， 其特征在于： 所述平移 拉杆 (12)的右端面位于限位座 (2)右端面的左侧。 4、 根据权利要求 1或 2或 3所述的行程可控的执行装置， 其特征在于： 所述永久磁铁（18)与霍尔元件（10)之间的位置关系如下： 各永久磁铁（18)的 磁场方向 (A)与每个霍尔元件 (10)的霍尔片所在方向 (B)平行， 且永久磁铁 (18) 的靠近霍尔元件 (10)的磁极端面与霍尔元件（10)保持合理的工作气隙 (L)。 3. The stroke controllable actuator according to claim 1, wherein: the right end surface of the translational pull rod (12) is located on the left side of the right end surface of the limiting seat (2). 4. The stroke controllable actuator according to claim 1 or 2 or 3, wherein: the positional relationship between the permanent magnet (18) and the Hall element (10) is as follows: Each permanent magnet (18) The direction of the magnetic field (A) is parallel to the direction (B) of the Hall piece of each Hall element (10), and the permanent magnet (18) is close to the magnetic pole face of the Hall element (10) and the Hall element ( 10) Maintain a reasonable working air gap (L).
5、 根据权利要求 4所述的行程可控的执行装置， 其特征在于： 所述限位 座 (2)包括设置在中心通孔（14)和平移拉杆（12)间的耐磨衬套（13)。  5. The stroke controllable actuator according to claim 4, wherein: the limiting seat (2) comprises a wear bushing disposed between the central through hole (14) and the translating rod (12) ( 13).
6、 根据权利要求 5所述的行程可控的执行装置， 其特征在于： 所述耐磨 衬套 (13)采用石墨尼龙材料制备。  6. The stroke controllable actuator according to claim 5, wherein: the wear resistant bushing (13) is made of a graphite nylon material.
7、 根据权利要求 5所述的行程可控的执行装置， 其特征在于： 所述限位 座 (2)还包括用于密闭限位槽 (24)的前盖板（1)和后盖板 (4)。  7. The stroke controllable actuator according to claim 5, wherein: the limiting seat (2) further comprises a front cover (1) and a rear cover for sealing the limiting slot (24). (4).
8、 根据权利要求 7所述的行程可控的执行装置， 其特征在于： 所述行程 可控的执行装置还包括定位平台（22)， 所述前盖板（1)和后盖板 (4)固定在定 位平台 (22)上。  8. The stroke controllable actuator according to claim 7, wherein: the stroke controllable actuator further comprises a positioning platform (22), the front cover (1) and the rear cover (4) ) is fixed on the positioning platform (22).
9、 根据权利要求 8所述的行程可控的执行装置， 其特征在于： 所述限位 块 (23)为方形凸块或半圆球形凸块； 所述压力轴承 (19)为滚柱压力轴承或石 墨压力轴承。  9. The stroke controllable actuator according to claim 8, wherein: the limiting block (23) is a square or semi-spherical spherical bump; and the pressure bearing (19) is a roller pressure bearing. Or graphite pressure bearings.
10、 根据权利要求 4所述的行程可控的执行装置， 其特征在于： 所述行 程可控的执行装置还包括定位平台 (22)。  10. The stroke controllable actuator of claim 4, wherein: the travel controllable actuator further comprises a positioning platform (22).
PCT/CN2009/001125 2009-06-06 2009-10-09 Stroke-controllable actuating device WO2010139098A1 (en)

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