actuator

Abstract

The present invention discloses an actuator, comprising a base, an output disc, a transmission member, a cable, a first power source and a tension adjustment assembly. The output disc and the transmission member are arranged on the base and can rotate relative to the base. The cable passes through the transmission member, and one end of the cable is connected to the output disc from the outer edge of the transmission member. The first power source is arranged on the base and connected to the transmission member to drive the transmission member to rotate relative to the base. The tension adjustment assembly comprises a rod, an elastic member and a fulcrum member. The rod has a first end and a second end opposite to each other, and the first end is connected to the other end of the cable. The elastic member connects the base and the second end of the rod. The fulcrum member is slidably arranged on the base and abuts against the rod and is between the first end and the second end. The fulcrum member can be translated relative to the rod and adjusted to the ratio of the force arm to the first end and to the second end to change the tension of the cable.

Description

Technical Field

[0001] The present invention relates to an actuator, and in particular to an actuator with variable rigidity. Background Art

[0002] In the field of robotic arms, a robotic arm includes a first arm, an actuator, and a second arm. The first and second arms are connected by an actuator. The actuator can drive the second arm to rotate relative to the first arm. In the field of previous robotic arms, the actuator often directly uses motor power to drive the second arm to rotate relative to the first arm. In this case, the rigidity of the second arm relative to the first arm approaches infinity. If an unexpected situation occurs in the path of the second arm, such as an external object accidentally intruding into the path of the second arm or colliding with the second arm when it is stationary, the external object or the second arm may be damaged, and this configuration may raise safety concerns.

[0003] Therefore, actuators have been developed that feature a limited stiffness between the second arm and the motor. This allows the second arm to be resilient relative to the first arm when contacting an external object, preventing damage to the object or the second arm. However, if the stiffness between the second arm and the motor, and between the motors themselves, is too low, the torque provided by the second arm may be too low, making it difficult to use in robotic arms requiring high torque. Summary of the Invention

[0004] In view of the above problems, the present invention proposes an actuator that adjusts the stiffness provided by the actuator by adjusting the lever arm ratio.

[0005] One embodiment of the present invention provides an actuator comprising a base, an output disc, a transmission member, a cable, a first power source, and a tension adjustment assembly. The output disc is disposed on the base and is rotatable relative to the base. The transmission member is disposed on the base and is rotatable relative to the base. The cable passes through the transmission member, and one end of the cable is connected to the output disc from the outer edge of the transmission member. The first power source is disposed on the base and is connected to the transmission member to drive the transmission member to rotate relative to the base. The tension adjustment assembly comprises a rod, an elastic member, and a fulcrum member. The rod has a first end and a second end opposite to each other. The first end is connected to the other end of the cable. The elastic member connects the base and the second end of the rod. The fulcrum member is slidably disposed on the base and abuts against the rod and is located between the first end and the second end. The fulcrum member can be translated relative to the rod to adjust the ratio of the force arm to the first end and to the second end to change the tension of the cable.

[0006] According to one embodiment of the present invention, the actuator adjusts cable tension by adjusting the lever arm ratio. The first power source uses the cable tension to cause the transmission member to rotate the output disc relative to the body. The rotational rigidity between the output disc and the transmission member is adjusted based on the cable tension. High cable tension results in high rigidity, while low cable tension results in low rigidity. Therefore, the user can adjust the tension, and thus the torque provided by the actuator, based on the usage environment and needs.

[0007] The above description of the content of the present invention and the following description of the embodiments are intended to demonstrate and explain the spirit and principles of the present invention, and to provide further explanation of the claims of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 is a perspective view of an actuator according to an embodiment of the present invention;

[0009] Figure 2 for Figure 1 A perspective exploded view of an actuator;

[0010] Figure 3 for Figure 2 a perspective exploded view of a portion of an actuator;

[0011] Figure 4 for Figure 2 a perspective exploded view of a portion of an actuator;

[0012] Figure 5 for Figure 2 a perspective exploded view of a portion of an actuator;

[0013] Figure 6 for Figure 2 a top view of a portion of an actuator;

[0014] Figure 7 for Figure 2 a top view of a portion of an actuator;

[0015] Figure 8 for Figure 2 a top view of a portion of an actuator;

[0016] Figure 9 for Figure 2 Top view of a portion of the actuator.

[0017] Explanation of symbols

[0018] 1…Actuator

[0019] 10...base

[0020] 11...Substrate

[0021] 12…housing

[0022] 13…raised platform

[0023] 20…Output disk

[0024] 21…Upper output tray

[0025] 22…Lower output tray

[0026] 220…Set column

[0027] 30…Transmission parts

[0028] 31…Axle tube

[0029] 32… Ring

[0030] 33…Clamping wheel

[0031] 40…cable

[0032] 41… first paragraph

[0033] 42…Second paragraph

[0034] 43…Bearings

[0035] 50…First Power Source

[0036] 51…First Motor

[0037] 52…worm

[0038] 53…worm gear

[0039] 60...Tension adjustment assembly

[0040] 61…Slide rail

[0041] 611…lower slide rail

[0042] 6111…lower slot

[0043] 6112…Lower clamping part

[0044] 612…Upper slide rail

[0045] 6121…top slot

[0046] 6122…Upper clamping part

[0047] 62…Rod

[0048] 620…Rack surface

[0049] 621…first end

[0050] 622…Second end

[0051] 63…Elastic parts

[0052] 64…Fulcrum

[0053] 641…sliding shaft

[0054] 642…Gear

[0055] 65…Second power source

[0056] 651…Second motor

[0057] 652…eccentric shaft

[0058] 653…Connecting rod

[0059] 6531…First chute

[0060] 6532…Second chute

[0061] 654…Rotation axis

[0062] 71…First encoder

[0063] 72…Second encoder

[0064] 81…First steering wheel

[0065] 82…Second steering wheel

[0066] 83…guide wheel

[0067] AF…Force Arm

[0068] AR…Resistance Arm

[0069] C…axis

[0070] L1, L2, L3...length

[0071] P…Projection DETAILED DESCRIPTION

[0072] The following detailed description of the features and advantages of the embodiments of the present invention is sufficient to enable anyone skilled in the art to understand the technical content of the embodiments of the present invention and implement them accordingly. Furthermore, based on the disclosure of this specification, the scope of the claims, and the accompanying drawings, anyone skilled in the art can easily understand the relevant objectives and advantages of the present invention. The following embodiments further illustrate the concepts of the present invention and are not intended to limit the scope of the present invention in any way.

[0073] The so-called schematic diagrams in this specification may be exaggerated in size, proportion, and angle for illustrative purposes, but are not intended to limit the present invention. Various modifications are possible without departing from the spirit of the present invention. The up-down, down-front, and forward-back directions mentioned in the descriptions of the embodiments and drawings are for illustrative purposes only and are not intended to limit the present invention.

[0074] Please refer to Figure 1 and Figure 2 . Figure 1 A perspective view of an actuator according to an embodiment of the present invention is shown. Figure 2 Draw Figure 1 Exploded perspective view of the actuator.

[0075] The actuator 1 of this embodiment includes a base 10, an output disk 20, a transmission member 30, a cable 40, a first power source 50, a tension adjustment assembly 60, a first encoder 71, and a second encoder 72. When the actuator 1 is applied to a robotic arm, the first arm can be mounted on the base 10, and the second arm can be mounted on the output disk 20. The actuator 1 rotates the output disk 20 relative to the base 10, thereby rotating the first arm relative to the second arm.

[0076] Please refer to Figure 2 and Figure 3 . Figure 3 Draw Figure 2 3D exploded view of the actuator part. Figure 2 and Figure 3 As shown, the base 10 includes a base plate 11 , a housing 12 and a raised platform 13 . The housing 12 and the raised platform 13 are disposed on the base plate 11 , and the raised platform 13 is located between the housing 12 and the base plate 11 .

[0077] The output disc 20 and the transmission member 30 are mounted on the elevated platform 13 of the base 10 and are rotatable relative to the elevated platform 13 of the base 10. Specifically, the output disc 20 includes an upper output disc 21 and a lower output disc 22. The transmission member 30 includes a shaft tube 31, a ring body 32, and two clamping wheels 33. The ring body 32 is fixed to the shaft tube 31 and surrounds the shaft tube 31. The two clamping wheels 33 are mounted on the ring body 32. The shaft tube 31 is pivotally mounted on the elevated platform 13 of the base 10. The upper output disc 21 of the output disc 20 is pivotally mounted on the shaft tube 31. The lower output disc 22 of the output disc 20 is fixed to the upper output disc 21. The lower output disc 22 of the output disc 20 is positioned around the ring body 32 of the transmission member 30.

[0078] The cable 40 includes a first section 41. The first section 41 of the cable 40 passes between the two clamping wheels 33 of the transmission member 30 and is connected to the lower output disc 22 of the output disc 20. One end of the first section 41 of the cable 40 is sleeved on the sleeve post 220 of the lower output disc 22. In other words, one end of the first section 41 of the cable 40 passes through the transmission member 30 and is connected to the lower output disc 22 of the output disc 20 from the outer edge of the transmission member 30.

[0079] The first power source 50 includes a first motor 51, a worm 52 and a worm wheel 53. The first motor 51 is arranged on the base plate 11 of the base body 10. The worm 52 is connected to the first motor 51. The worm wheel 53 is fixed to the shaft tube 31 of the transmission member 30 and is pivoted to the elevated platform 13 of the base body 10 via the shaft tube. The worm 52 and the worm wheel 53 are engaged with each other. The first motor 51 is used to drive the worm 52 to rotate, thereby driving the worm wheel 53 and the transmission member 30 to rotate relative to the elevated platform 13 of the base body 10. In this embodiment, the first motor 51 can be a DC motor, but is not limited thereto. In other embodiments, the first motor 51 can also be other types of motors.

[0080] The tension adjustment assembly 60 is mounted on the base 11 of the base 10. A first encoder 71 is mounted on the base 11 of the base 10 and is connected to the first motor 51 of the first power source 50. The first encoder 71 is used to measure the drive amount of the first motor 51 of the first power source 50. A second encoder 72 is mounted on the base 11 of the base 10 and is located on one side of the output disk 20. The second encoder 72 is used to measure the rotation angle of the output disk 20 relative to the base 10.

[0081] Please refer to Figure 3 and Figure 4 . Figure 4 Draw Figure 2 A three-dimensional exploded view of the actuator. Figure 3 and Figure 4 As shown, the cable 40 further includes a second section 42 and a bearing 43. The first section 41 and the second section 42 are connected by the bearing 43. The first section 41 can rotate relative to the second section 42 via the bearing 43.

[0082] In this embodiment, the actuator 1 may further include a first steering wheel 81 and a second steering wheel 82. The first steering wheel 81 is disposed within the shaft tube 31 of the transmission member 30. The first section 41 of the cable 40 is deflected from the shaft tube 31 by the first steering wheel 81 and passes between the two clamping wheels 33 of the transmission member 30 to be sleeved onto the sleeve post 220 of the lower output disc 22 of the output disc 20. The second steering wheel 82 is disposed on the base plate 11 of the base 10. The second steering wheel 82 is interposed between the base plate 11 and the elevated platform 13. The bearing 43 of the cable 40 is located between the second steering wheel 82 and the first steering wheel 81 and is movable therebetween.

[0083] Please refer to Figure 4 and Figure 5 . Figure 5 Draw Figure 2 3D exploded view of the actuator part. Figure 4 and Figure 5 As shown, the tension adjustment assembly 60 includes a slide rail 61 , a rod 62 , an elastic member 63 , a fulcrum 64 and a second power source 65 .

[0084] The slide rail member 61 includes a lower slide rail member 611 and an upper slide rail member 612. The lower slide rail member 611 has an adjacent lower slot 6111 and a lower clamping portion 6112. The upper slide rail member 612 has an adjacent upper slot 6121 and an upper clamping portion 6122. The lower slide rail member 611 is arranged on the base plate 11 of the base body 10. The rod 62 is placed on the lower clamping portion 6112 of the lower slide rail member 611. The upper slide rail member 612 is arranged on the lower slide rail member 611. The upper clamping portion 6122 of the upper slide rail member 612 covers the rod 62 to limit the movement of the rod 62 in the up and down directions. The rod 62 is clamped between the lower clamping portion 6112 and the upper clamping portion 6122. The rod 62 has a first end 621 and a second end 622 opposite to each other.

[0085] In this embodiment, the actuator 1 may further include three guide wheels 83. The cable 40 extends from the shaft tube 31 toward the second deflection wheel 82. The second section 42 of the cable 40 is deflected by the second deflection wheel 82 and guided by the three guide wheels 83. One end of the second section 42 of the cable 40 is connected to the first end 621 of the rod 62. The elastic member 63 is connected to the base plate 11 of the seat 10 and the second end 622 of the rod 62. In this embodiment, the number of guide wheels 83 is three, but this is not limited to this. In other embodiments, the number of guide wheels 83 may be different or omitted.

[0086] The fulcrum member 64 includes a sliding shaft 641 and a gear 642. The gear 642 is pivoted on the sliding shaft 641. The rod member 62 has a rack surface 620, and the rod member 62 is engaged with the gear 642 via the rack surface 620. The sliding shaft 641 of the fulcrum member 64 is slidably disposed on the base plate 11 of the base body 10 via the slide rail member 61. In detail, a portion of the sliding shaft 641 is slidably disposed in the upper groove 6121 of the upper track member 612. The gear 642 is accommodated in the lower groove 6111 of the lower track member 611. The gear 642 of the fulcrum member 64 rests against the rack surface 620 of the rod member 62 and is located between the first end 621 and the second end 622. Moreover, the transmission member 30 and the elastic member 63 are located on one side of the fulcrum member 64, and the rod member 62 is located on the other side of the fulcrum member 64. The axis C of the sliding shaft 641 of the fulcrum member 64 can be translated relative to the rod 62 and adjusted to a position between the first end 621 and the second end 622, thereby adjusting the lever arm ratio to change the tension of the cable 40. In this embodiment, when the sliding shaft 641 of the fulcrum member 64 translates relative to the rod 62, the gear 642 of the fulcrum member 64 can continuously engage with the rack surface 620 of the rod 62, and the gear 642 can rotate relative to the sliding shaft 641. However, this is not a limitation. In other embodiments, the sliding shaft 641 and the gear 642 can be integrally formed, and as the gear 642 rotates while engaging with the rack surface 620 of the rod 62, the sliding shaft 641 can slide and rotate relative to the slide rail member 61.

[0087] The second power source 65 includes a second motor 651, an eccentric shaft 652, a connecting rod 653, and a rotating shaft 654. The second motor 651 is mounted on the base plate 11 of the base 10. The eccentric shaft 652 is eccentrically mounted on the second motor 651. The connecting rod 653 is pivotally mounted on the base plate 11 of the base 10 via the rotating shaft 654. The connecting rod 653 has a first sliding groove 6531 and a second sliding groove 6532, with the first sliding groove 6531 being located between the rotating shaft 654 and the second sliding groove 6532. The eccentric shaft 652 is slidably mounted in the first sliding groove 6531, and the sliding shaft 641 of the fulcrum member 64 is slidably mounted in the second sliding groove 6532. The second motor 651 is configured to drive the eccentric shaft 652 to cause the connecting rod 653 to swing relative to the base plate 11 of the base 10, thereby causing the sliding shaft 641 of the fulcrum member 64 to translate relative to the rod 62. In this embodiment, the second motor 651 may be a servo motor, but is not limited thereto. In other embodiments, the second motor 651 may also be other types of motors.

[0088] Figure 6 Draw Figure 2 FIG2 is a top view of a portion of the actuator. The tension adjustment assembly 60 operates according to the lever principle, with the rod 62 serving as a lever, the projection P from the axis C of the sliding shaft 641 of the fulcrum member 64 to the rod 62 serving as a fulcrum, the distance between the projection P and the first end 621 of the rod 62 (i.e., the connection between the second section 42 of the cable 40 and the rod 62) serving as an application arm AF, the distance between the projection P and the second end 622 of the rod 62 (i.e., the connection between the elastic member 63 and the rod 62) serving as a resistance arm AR, and the restoring force of the elastic deformation of the elastic member 63 serving as a resistance force, thereby providing tension to the cable 40 as an application force.

[0089] like Figure 6 As shown, when the second motor 651 of the second power source 65 drives the eccentric shaft 652 to rotate clockwise, causing the connecting rod 653 to swing clockwise, thereby driving the sliding shaft 641 of the fulcrum member 64 to translate relative to the rod 62, the fulcrum member 64 approaches the first end 621 of the rod 62. As the fulcrum member 64 approaches the first end 621 of the rod 62, the resistance arm AR becomes longer and the application arm AF becomes shorter. The elastic member 63 provides a greater resisting torque per unit elastic deformation due to the longer resistance arm AR, allowing the tension adjustment assembly 60 to apply greater tension to the cable 40. For example, when the ratio of the resistance arm AR to the application arm AF is three, based on the principle that the application torque equals the resistance torque, the tension in the cable 40 is three times the elastic restoring force of the elastic member 63. When the ratio of the resistance arm AR to the application arm AF is greater than one, the tension in the cable 40 is greater than the elastic restoring force of the elastic member 63.

[0090] When the actuator 1 is in use, the first power source 50 drives the transmission member 30 to rotate relative to the base 10. The first steering wheel 81 rotates along with the transmission member 30. The first section 41 of the cable 40 also rotates along with the transmission member 30. The second section 42 of the cable 40 is connected to the first section 41 via a bearing 43. This allows the first section 41 to rotate relative to the second section 42 without any angular restrictions or number of turns, thereby preventing unwanted twisting of the cable 40 caused by the rotation of the transmission member 30. Furthermore, the transmission member 30 is connected to the lower output disc 22 of the output disc 20 via a portion of the first section 41 of the cable 40. When the transmission member 30 rotates relative to the base 10, the tension in the cable 40 drives the output disc 20 to rotate along with it. Furthermore, when the tension adjustment assembly 60 applies high tension to the cable 40, angular misalignment between the output disc 20 and the transmission member 30 is less likely to occur, resulting in greater rigidity between the two. In this case, the actuator 1 can provide a high torque. Furthermore, the cable 40 has a length L1 from the closest point between the two clamping wheels 33 of the transmission member 30 to the sleeve post 220 of the lower output disc 22 .

[0091] Figure 7 Draw Figure 2 A top view of a portion of the actuator. Figure 7 As shown, when the output disk 20 is subjected to a large external torque, such as an impact, an angular offset occurs between the output disk 20 and the transmission member 30. In this case, the length L2 of the cable 40, from the closest point between the two clamping wheels 33 of the transmission member 30 to the sleeve post 220 of the lower output disk 22, is greater than the length L1 when not subjected to a large external torque. Because the total length of the cable 40 is essentially constant, the rod 62 is pulled by the second section 42 of the cable 40, causing it to swing about the fulcrum 64. At this time, the elastic member 63 is slightly stretched by the swinging of the rod 62.

[0092] Figure 8 Draw Figure 2 A top view of a portion of the actuator. Figure 8As shown, when the second motor 651 of the second power source 65 drives the eccentric shaft 652 to rotate counterclockwise, causing the connecting rod 653 to swing counterclockwise, thereby driving the sliding shaft 641 of the fulcrum member 64 to translate relative to the rod 62, the fulcrum member 64 approaches the second end 622 of the rod 62. As the fulcrum member 64 approaches the second end 622 of the rod 62, the resistance arm AR becomes shorter and the application arm AF becomes longer. The elastic member 63 provides a smaller resistance torque per unit elastic deformation due to the shorter resistance arm AR, resulting in a smaller tension applied by the tension adjustment assembly 60 to the cable 40. For example, when the ratio of the resistance arm AR to the application arm AF is one-third, based on the principle that the application torque equals the resistance torque, the tension of the cable 40 is one-third times the elastic restoring force of the elastic member 63. When the ratio of the resistance arm AR to the application arm AF is less than one, the tension of the cable 40 is less than the elastic restoring force of the elastic member 63.

[0093] When the actuator 1 is in use, the first power source 50 drives the transmission member 30 to rotate relative to the base 10. The first steering wheel 81 rotates along with the transmission member 30. The first section 41 of the cable 40 also rotates along with the transmission member 30. Furthermore, the transmission member 30 is connected to the lower output disc 22 of the output disc 20 via a portion of the first section 41 of the cable 40. When the transmission member 30 rotates relative to the base 10, the tension in the cable 40 drives the output disc 20 to rotate along with it. Furthermore, when the tension adjustment assembly 60 applies low tension to the cable 40, the rigidity between the output disc 20 and the transmission member 30 is reduced. In this case, the actuator 1 can provide low torque. Furthermore, the cable 40 has a length L1 from the closest point between the two clamping wheels 33 of the transmission member 30 to the sleeve post 220 of the lower output disc 22.

[0094] Figure 9 Draw Figure 2 A top view of a portion of the actuator. Figure 9 As shown, when the output disk 20 is subjected to a large external torque such as an impact, an angular offset will occur between the output disk 20 and the transmission member 30. At this time, the length L3 of the cable 40 from the closest point between the two clamping wheels 33 of the transmission member 30 to the sleeve column 220 of the lower output disk 22 will be greater than the length L1 when it is not subjected to a large external torque. Since the total length of the cable 40 is essentially a fixed value, the rod 62 will be pulled by the second section 42 of the cable 40 and swing with the fulcrum member 64 as the fulcrum. At this time, the elastic member 63 will be slightly stretched due to the swing of the rod 62. In addition, Figure 7 In comparison, due to Figure 9 The rigidity between the output disc 20 and the transmission member 30 is relatively small. Therefore, under the same external torque, the length L3 of the cable 40 from the closest point between the two clamping wheels 33 of the transmission member 30 to the sleeve column 220 of the lower output disc 22 will be greater than Figure 7 The length L2 in the middle.

[0095] In summary, the actuator of one embodiment of the present invention adjusts the cable tension by adjusting the lever arm ratio. The first power source uses the cable tension to cause the transmission member to rotate the output disc relative to the main body, and provides rotational rigidity between the output disc and the transmission member based on the cable tension. High tension results in high rigidity, while low tension results in low rigidity. Therefore, the user can adjust the tension, and thus the torque provided by the actuator, based on the usage environment and requirements. Furthermore, the cable connects the first and second sections via bearings, allowing the first section to rotate relative to the second section without any restrictions on the angle or number of turns. When the first section of the cable rotates with the transmission member, unnecessary twisting of the cable is avoided. Therefore, there are no restrictions on the angle or number of turns between the output disc and the base of the actuator, while exhibiting characteristics such as continuous rotation, a large rigidity adjustment range, and a controllable equilibrium position.

Claims

1. An actuator comprising: seat body; an output disk, disposed on the base and rotatable relative to the base; a transmission member, disposed on the base and rotatable relative to the base; a cable passing through the transmission member, with one end of the cable connected from the transmission member to the output disc; a first power source, disposed on the base and connected to the transmission member to drive the transmission member to rotate relative to the base; as well as Tension adjustment assembly, comprising: a rod having a first end and a second end opposite to each other, the first end being connected to the other end of the cable; an elastic member connecting the base and the second end of the rod; a fulcrum member slidably disposed on the base and abutting against the rod member so as to be located between the first end and the second end; the fulcrum member can be translated relative to the rod member and adjusted to a position between the first end and the second end to change the tension of the cable; and The second power source is arranged on the base body and connected to the fulcrum member to drive the fulcrum member to translate relative to the rod member, wherein the second power source includes a motor, an eccentric shaft, a connecting rod and a rotating shaft, the connecting rod has a first slide groove and a second slide groove, the connecting rod is pivoted to the base body via the rotating shaft, the first slide groove is between the rotating shaft and the second slide groove, the eccentric shaft is slidably arranged in the first slide groove, and the fulcrum member is slidably arranged in the second slide groove, the motor is arranged on the base body and connected to the eccentric shaft to drive the eccentric shaft to drive the connecting rod to swing relative to the base body, thereby driving the fulcrum member to translate relative to the rod member. 2 . The actuator as claimed in claim 1 , wherein the rod has a rack surface, the fulcrum comprises a sliding shaft and a gear, the gear is pivotally mounted on the sliding shaft, and the rack surface is engaged with the gear.

3. The actuator of claim 1 , wherein the cable comprises a first section, a second section, and a bearing, the first section and the second section being connected by the bearing, the first section being rotatable relative to the second section, the first section passing through the transmission member and connected to the output disk from an outer edge of the transmission member, and the second section being connected to the first end of the rod. 4 . The actuator of claim 1 , wherein the transmission member comprises two pinch wheels, the cable passes between the two pinch wheels and is connected to the output disc.

5. The actuator as described in claim 4 further includes a first steering wheel, the transmission member includes a shaft tube and a ring body, the ring body surrounds the shaft tube, the two clamping wheels are arranged on the ring body, the shaft tube is pivoted to the base body, the output disk is pivoted to the shaft tube, the first steering wheel is arranged in the shaft tube, the cable is turned from the shaft tube through the first steering wheel and passes between the two clamping wheels to be connected to the output disk.

6. The actuator as described in claim 5 further includes a second steering wheel, the base body includes a base plate and an elevated platform, the elevated platform is arranged on the base plate, the first power source, the tension adjustment component and the second steering wheel are arranged on the base plate, the second steering wheel is between the base plate and the elevated platform, the shaft tube is pivoted on the elevated platform, the cable is turned from the shaft tube through the second steering wheel and connected to the first end of the rod.

7. An actuator as described in claim 1, wherein the first power source includes a motor, a worm and a worm wheel, the motor is arranged on the base body, the worm is connected to the motor, the worm wheel is pivotally mounted on the base body, the transmission member is fixed to the worm wheel, the worm and the worm wheel are engaged with each other, and the motor is used to drive the worm to rotate, thereby driving the worm wheel and the transmission member to rotate relative to the base body.

8. The actuator as described in claim 1 further includes a first encoder and a second encoder, the first encoder is arranged on the base to measure the driving angle of the first power source, and the second encoder is arranged on the base to measure the rotation angle of the output disk relative to the base.

Images