Actuator and control method having same

Abstract

The invention discloses an actuator and a control method with the same. The actuator comprises a shell, a linear driving structure, a sliding seat, a connecting seat and a control device. The linear driving structure is installed in the shell and comprises a rotor and a stator. The sliding seat is installed in the shell in a front-back moving mode and connected with the rotor, the sliding seat comprises a pressure deformation part, and a strain gauge is arranged on the pressure deformation part; the connecting seat is mounted on the pressure deformation part, and a material suction shaft and a driving structure are mounted on the connecting seat; the control device is electrically connected with the stator and the strain gauges. The material suction shaft is arranged on the connecting base, the connecting base and the rotor are connected together through the pressure deformation part, then when the material suction shaft abuts against the material, the material suction shaft can transmit the counter-acting force generated when the material suction shaft abuts against the material to the pressure deformation part through the connecting base, and the strain gauge can detect the strain and feed information back to the control device; the control device controls the position of the rotor in the front-back direction according to the information, and materials are prevented from being crushed.

Description

Technical Field

[0001] The present invention relates to the field of actuators, and in particular to an actuator and a control method thereof. Background Art

[0002] Existing actuators have linear and rotational motion functions, and generally use a motor to drive the screw to rotate, which in turn drives a slider to perform linear motion. The slider is equipped with a mounting seat, and a rotatable suction rod is installed on the mounting seat. However, this type of actuator lacks a structure to adjust the strength of the suction rod when it contacts the material. Therefore, when the suction rod abuts against the material, it may cause damage to the material. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides an actuator and a control method thereof.

[0004] According to the actuator of the first aspect of the present invention, the actuator comprises a housing, a linear drive structure, a sliding seat, a connecting seat and a control device; the linear drive structure is installed in the housing, and the linear drive structure comprises a mover and a stator for driving the mover to move forward and backward; the sliding seat is installed in the housing so as to be movably installed forward and backward and is connected to the mover, the sliding seat comprises a pressure deformation part, and the pressure deformation part is provided with a strain gauge for detecting the strain of the pressure deformation part; the connecting seat is located in the housing and installed on the pressure deformation part, and a rotatable suction shaft and a driving structure for driving the suction shaft to rotate are installed on the connecting seat, and the suction shaft can extend out of the housing; the control device is electrically connected to the stator and the strain gauge respectively.

[0005] The actuator according to the embodiment of the present invention has at least the following technical effects: a rotatable suction shaft is provided on the connecting seat, and the connecting seat and the mover of the linear drive structure are connected together through the pressure deformation part of the sliding seat, so that when the suction shaft abuts against the material, the suction shaft can transmit the reaction force generated when it abuts against the material to the pressure deformation part through the connecting seat, so that the pressure deformation part is deformed, so that the strain gauge can detect the strain and feed back the information to the control device, and the control device controls the position of the mover in the front and rear directions according to the information, thereby realizing the control of the force of the suction shaft to avoid crushing the material.

[0006] According to some embodiments of the present invention, the sliding seat further includes a connecting portion connected to the mover, and the pressure deformation portions are provided in a plurality, and the plurality of pressure deformation portions are spaced apart in a front-to-rear direction and connected to the connecting portion.

[0007] According to some embodiments of the present invention, the strain gauges on the multiple pressure deformation parts are all connected to data lines electrically connected to the control device, the sliding seat is provided with a channel for placing the data line, and the data lines on the multiple strain gauges are all arranged on the channel.

[0008] According to some embodiments of the present invention, the pressure deformation part comprises a first cavity, an installation cavity, and a second cavity which are arranged at intervals along the front-to-back direction and penetrate in the up-down direction; the first cavity extends along the left-to-right direction and penetrates the left side wall of the pressure deformation part; the second cavity extends along the left-to-right direction and penetrates the right side wall of the pressure deformation part; the installation cavity is located between the first cavity and the second cavity; the strain gauge is affixed to the front and rear side walls of the installation cavity; at least the rear end of the pressure deformation part is connected to the connecting part; and the connecting seat is connected to the part of the pressure deformation part located in front of the first cavity.

[0009] According to some embodiments of the present invention, a magnetic spring is further included, which includes a magnetic axis and a magnetic sleeve. The magnetic sleeve is installed in the outer shell and is located in front of or behind the sliding seat. One end of the magnetic axis is on the sliding seat, and the other end of the magnetic axis is movably disposed in the magnetic sleeve.

[0010] According to some embodiments of the present invention, the control device is disposed in the housing.

[0011] According to some embodiments of the present invention, it also includes a plate seat located in the shell, the plate seat is fixedly connected to the sliding seat, the control device is located on one side of the plate seat, a transition circuit board is provided on the plate seat, the transition circuit board is electrically connected to the strain gauge, and the transition circuit board is electrically connected to the control device through a wiring harness.

[0012] According to some embodiments of the present invention, a rotating chamber is provided in the connecting seat, a portion of the suction shaft is installed in the rotating chamber, two bearings spaced apart in the front-to-back direction and two seals spaced apart in the front-to-back direction are provided between the side wall of the suction shaft and the side wall of the rotating chamber, the two seals are located between the two bearings, the two seals, part of the side wall of the suction shaft and part of the side wall of the rotating chamber form a gas circulation chamber, the suction shaft has a hollow cavity connected to the gas circulation chamber, the front end of the suction shaft has an air hole connected to the hollow cavity, the outer shell has an air port, and the air port is connected to the gas circulation chamber through a pipe.

[0013] According to some embodiments of the present invention, a gasket is provided between the bearing and the seal.

[0014] A control method according to a second aspect of the present invention includes using an actuator according to the first aspect of the present invention;

[0015] The control method comprises:

[0016] S1, the control device controls the stator so that the stator drives the mover to move forward, and the mover drives the suction shaft to abut against the material. When the suction shaft contacts the material, the suction shaft transmits force to the pressure deformation part;

[0017] S2, the strain gauge detects the strain of the pressure deformation part;

[0018] S3, the control device obtains the voltage value on the strain gauge, and controls the stator according to the voltage value, so that the stator drives the mover to move forward or backward.

[0019] The control method according to the embodiment of the present invention has at least the following technical effects: by using the actuator of the embodiment of the first aspect of the present invention, the control device can control the forward and backward movement of the suction shaft according to the information of the strain gauge, thereby being able to accurately control the push and pull force of the suction shaft and control the force with which the suction shaft contacts the material.

[0020] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0022] Figure 1 is a schematic diagram of the structure of the actuator at a certain viewing angle;

[0023] Figure 2 This is an exploded view of the precision force control actuator after removing the casing;

[0024] Figure 3 is a top view of the sliding seat;

[0025] Figure 4 This is the axonometric view of the sliding seat;

[0026] Figure 5 It is a cross-sectional view of the connection seat of the precision force control actuator;

[0027] Figure 6 for Figure 5 The enlarged view of point A in the middle;

[0028] Figure 7 is a schematic diagram of the structure of the shell;

[0029] Figure 8 It is an axial sectional view of the sliding seat installed on the housing;

[0030] Fig. 9 A schematic diagram of the structure of the actuator from another perspective.

[0031] Reference numerals: housing 100, gas port 110, pipe 111, protrusion 120, gas communication cavity 130, linear drive structure 200, mover 210, stator 220, sliding seat 300, pressure deformation portion 310, cavity 311, installation cavity 312, strain gauge 320, connecting portion 330, channel 340, plate seat 350, transition circuit board 351, cable 352, magnetic scale 353, fixing seat 35 4. Encoder reader 355, origin sensing baffle 356, second anti-collision rubber 360, connecting seat 400, suction shaft 410, hollow cavity 411, air hole 412, driving structure 420, rotating cavity 430, bearing 440, seal 450, gas flow cavity 460, gasket 470, control device 500, magnetic spring 600, magnetic axis 610, magnetic sleeve 620, first anti-collision rubber 700, connecting piece 800. DETAILED DESCRIPTION

[0032] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0033] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0034] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0035] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0036] Reference Figure 1 , 2 As shown, the actuator according to the first aspect of the present invention includes a housing 100, a linear drive structure 200, a sliding seat 300, a connecting seat 400 and a control device 500; the linear drive structure 200 is installed in the housing 100, and the linear drive structure 200 includes a mover 210 and a stator 220 for driving the mover 210 to move forward and backward; the sliding seat 300 is installed in the housing 100 so as to be movably installed forward and backward and is connected to the mover 210, the sliding seat 300 includes a pressure deformation part 310, and the pressure deformation part 310 is provided with a strain gauge 320 for detecting the strain of the pressure deformation part 310; the connecting seat 400 is located in the housing 100 and installed on the pressure deformation part 310, and a rotatable suction shaft 410 and a driving structure 420 for driving the suction shaft 410 to rotate are installed on the connecting seat 400, and the suction shaft 410 can extend out of the housing 100; the control device 500 is electrically connected to the stator 220 and the strain gauge 320 respectively.

[0037] A rotatable suction shaft 410 is provided on the connecting seat 400, and the connecting seat 400 and the mover 210 of the linear drive structure 200 are connected together through the pressure deformation part 310 of the sliding seat 300. When the suction shaft 410 abuts against the material, the suction shaft 410 can transmit the reaction force generated when it abuts against the material to the pressure deformation part 310 through the connecting seat 400, so that the pressure deformation part 310 is deformed, so that the strain gauge 320 can detect the strain and feed back the information to the control device 500. The control device 500 controls the position of the mover 210 in the front and rear directions according to the information, thereby realizing the control of the force of the suction shaft 410 to avoid crushing the material.

[0038] like Figure 1 As shown, when taking materials, the stator 220 drives the mover 210 to move forward, so that the mover 210 drives the sliding seat 300 to move forward, and the sliding seat 300 drives the connecting seat 400 to move forward, and then the suction shaft 410 on the connecting seat 400 extends out of the housing 100 and gradually abuts against the materials; when the suction shaft 410 abuts against the materials, the suction shaft 410 sucks the materials and transmits the reaction force generated when it abuts against the materials to the pressure deformation part 310 through the connecting seat 400, so that the pressure deformation part 310 is deformed, so that the strain gauge 320 detects the strain and feeds back the information to the control device 500, and the control device 500 controls the position of the mover 210 in the front-rear direction according to the information, and then controls the front-rear position of the suction shaft 410;

[0039] When discharging the material, the stator 220 drives the mover 210 to move backward, and then the suction shaft 410 stops sucking the material, and the material falls to the position to be discharged.

[0040] Specifically, the linear driving structure 200 may be a tubular linear motor, a voice coil motor, or other structures capable of driving the sliding seat 300 to move forward and backward.

[0041] Specifically, a slide rail is installed in the housing 100 , and a slider is provided at the bottom of the slide seat 300 , and the slide seat 300 moves forward and backward on the slide rail through the slider.

[0042] Specifically, the driving structure 420 may be a motor that drives the suction shaft 410 to rotate.

[0043] In some embodiments of the present invention, Figure 1 , 3 As shown in , 4, the sliding seat 300 further includes a connecting portion 330, the connecting portion 330 is connected to the mover 210, and the pressure deformation portion 310 is provided in a plurality, and the plurality of pressure deformation portions 310 are arranged at intervals along the front-to-back direction and connected to the connecting portion 330; specifically, the pressure deformation portion 310 can be provided in one, two or more than two; Figure 1 , 2 As shown, taking the case where two pressure deformation parts 310 are provided as an example, the connecting seat 400 is directly fixed on the pressure deformation part 310 of the sliding seat 300, and two pressure deformation parts 310 are provided in the front-to-back direction, so that there are two connections between the connecting seat 400 and the sliding seat 300 in the front-to-back direction, and thus the sliding seat 300 can better support the connecting seat 400.

[0044] In a further embodiment of the present invention, Figure 4 As shown, the strain gauges 320 on the multiple pressure deformation parts 310 are all connected to data lines (not shown in the figure) electrically connected to the control device 500, and a channel 340 for placing the data line is provided on the sliding seat 300. The data lines on the multiple strain gauges 320 are all arranged on the channel 340. By placing the data lines on the multiple strain gauges 320 on the channel 340 of the connecting seat 400, it is convenient to manage the data lines.

[0045] In a further embodiment of the present invention, Figure 1 , 3 As shown in , 4, the pressure deformation part 310 has a first cavity 311, a mounting cavity 312 and a second cavity 313 which are arranged at intervals along the front-to-back direction and penetrated in the up-to-down direction. The first cavity 311 extends along the left-to-right direction and penetrates the left side wall of the pressure deformation part 310, and the second cavity 313 extends along the left-to-right direction and penetrates the right side wall of the pressure deformation part 310. The mounting cavity 312 is located between the first cavity 311 and the second cavity 313. Strain gauges 320 are attached to the front and rear side walls of the mounting cavity 312. At least the rear end of the pressure deformation part 310 is connected to the connecting part 330, and the connecting seat 400 is connected to the part of the pressure deformation part 310 located in front of the first cavity 311.

[0046] like Figure 4 As shown, the pressure deformation part 310 adopts such a structure that the shape of the pressure deformation part 310 is similar to an S shape. When the reaction force of the suction shaft 410 is transmitted to the connection between the connecting seat 400 and the pressure deformation part 310 through the connecting seat 400, the pressure deformation part 310 is deformed under the action of the reaction force, and the strain gauge 320 detects the deformation and feeds back the information to the control device 500. The control device 500 controls the position of the actuator 210 in the front and rear directions according to the information.

[0047] Specifically, the pressure deformation part 310 may also adopt other shapes while ensuring that the strain gauge 320 can detect the deformation of the pressure deformation part 310 and the control device 500 can control the front-to-back position of the mover 210 according to the deformation information. For example, the middle part of the pressure deformation part 310 has a through cavity with upper and lower openings, and the front and rear sides of the through cavity are provided with strain gauges 320. When the pressure deformation part 310 is subjected to force, the middle part of the pressure deformation part 310 is deformed, and the strain gauge 320 detects the deformation and feeds back the information to the control device 500. The control device 500 controls the front-to-back position of the mover 210 according to the information.

[0048] In some embodiments of the present invention, Figure 1 , 2 As shown, it also includes a magnetic spring 600, which includes a magnetic axis 610 and a magnetic sleeve 620. The magnetic sleeve 620 is installed in the housing 100 and is located in front of or behind the sliding seat 300. One end of the magnetic axis 610 is on the sliding seat 300, and the other end of the magnetic axis 610 is movably arranged in the magnetic sleeve 620.

[0049] Compared with ordinary mechanical springs, the magnetic spring 600 can overcome the interference of the mechanical spring on the push-pull force as the stroke increases.

[0050] In some embodiments of the present invention, Figure 1 As shown, the control device 500 is arranged in the housing 100, so that the control device 500, the linear drive structure 200, the sliding seat 300, the connecting seat 400 and the drive structure 420 are all integrated in the housing 100, and no external control device 500 is required, so it is convenient to control the forward and backward movement of the suction shaft 410.

[0051] Specifically, the control device 500 may also be disposed outside the housing 100 .

[0052] In a further embodiment of the present invention, Figure 1 , 2As shown, it also includes a plate seat 350 located in the housing 100, the plate seat 350 is fixedly connected to the sliding seat 300, the control device 500 is located on the left side of the plate seat 350, and a transition circuit board 351 is provided on the plate seat 350. The transition circuit board 351 is electrically connected to the strain gauge 320 through a data line, and the transition circuit board 351 is electrically connected to the control device 500 through a flat cable 352.

[0053] By providing the transition circuit board 351 and the flat cable 352 , the flat cable 352 is wear-resistant, so that the sliding seat 300 can reciprocate multiple times, thereby increasing the service life of the actuator.

[0054] In some embodiments of the present invention, Figure 1 , 5 As shown in Figures 6 and 7, a rotating chamber 430 is provided in the connecting seat 400, a part of the suction shaft 410 is installed in the rotating chamber 430, two bearings 440 spaced apart in the front-to-back direction and two seals 450 spaced apart in the front-to-back direction are provided between the side wall of the suction shaft 410 and the side wall of the rotating chamber 430, the two seals 450 are located between the two bearings 440, the two seals 450, part of the side wall of the suction shaft 410 and part of the side wall of the rotating chamber 430 enclose a gas circulation chamber 460, the suction shaft 410 has a hollow chamber 411 connected to the gas circulation chamber 460, the front end of the suction shaft 410 has an air hole 412 connected to the hollow chamber 411, the outer shell 100 has an air port 110, and the air port 110 is connected to the gas circulation chamber 460 through a pipe 111.

[0055] Through the air port 110, the pipeline 111, the gas circulation cavity 460, the hollow cavity 411 and the air hole 412, when the air is sucked out through the air port 110, the gas passes through the air hole 412, the hollow cavity 411, the gas circulation cavity 460 and the pipeline 111 in sequence, and then is discharged from the air port 110, and then the air hole 412 can absorb the material, so that the suction shaft 410 can absorb the material.

[0056] In a further embodiment of the present invention, Figure 6 As shown, a gasket 470 is provided between the bearing 440 and the seal 450 . The gasket 470 is provided to ensure that the seal 450 will not be damaged by the rotation of the outer ring of the bearing 440 , thereby improving the service life of the seal 450 .

[0057] In a further embodiment of the present invention, Figure 1 , 7As shown in Figure 8, the housing 100 has a protruding portion 120 protruding upward, and a gas connecting cavity 130 is provided in the protruding portion 120. One end of the gas connecting cavity 130 is connected to the pipe 111, and the other end of the gas connecting cavity 130 is connected to the gas port 110. The protruding portion 120 is located on the right side of the sliding seat 300, and the sliding seat 300 is provided with a first anti-collision rubber 700 at a position corresponding to the protruding portion 120. The protruding portion 120 can serve as a limiting structure of the sliding seat 300 and also as a gas connecting cavity 130 for gas circulation, so that the structure inside the housing 100 is compact.

[0058] Specifically, Fig. 9 As shown, a connecting member 800 is installed on the rear side of the sliding seat 300 , and the first anti-collision rubber 700 and the magnetic axis 610 are installed on the rear side of the connecting rod 800 .

[0059] Specifically, Figure 1 As shown, the control device 500, the plate seat 350, the magnetic spring 600, the protrusion 120 and the driving structure 420 are arranged in sequence along the left and right directions of the outer shell 100, and the linear driving structure 200, the sliding seat 300 and the connecting seat 400 are arranged in sequence along the left and right directions of the outer shell 100, so that the structure inside the outer shell 100 is compact.

[0060] In some embodiments of the present invention, Fig. 9 As shown, it also includes a magnetic scale 353 and a fixed base 354. The magnetic scale 353 is installed on one side of the plate base 350, and the fixed base 354 is installed between the plate base 350 and the control device 500. An encoder reader 355 is installed on the fixed base 354. The encoder reader 355 is used to read the information on the magnetic scale 353 and feed back the control device 500. When the sliding base 300 moves, the encoder reader 355 reads the signal of the magnetic scale 353 and feeds back to the control device 500, so as to know the moving position of the suction shaft 410, improve the position control accuracy of the suction shaft 410, and complete high-precision and closed-loop control; specifically, an origin sensing baffle 356 is installed on the rear side of the encoder reader 355.

[0061] In some embodiments of the present invention, Fig. 9 As shown, a second anti-collision rubber 360 is installed on the front side of the sliding seat 300 to prevent the sliding seat 300 from colliding with the inner wall of the housing 100 .

[0062] A control method according to an embodiment of a second aspect of the present invention comprises: using the actuator according to an embodiment of the first aspect of the present invention;

[0063] Control methods include:

[0064] S1, the control device 500 controls the stator 220, so that the stator 220 drives the mover 210 to move forward, and the mover 210 drives the suction shaft 410 to abut against the material. When the suction shaft 410 contacts the material, the suction shaft 410 transmits force to the pressure deformation part 310;

[0065] S2, the strain gauge 320 detects the strain of the pressure deformation part 310;

[0066] S3, the control device 500 obtains the voltage value on the strain gauge 320, and controls the stator 220 according to the voltage value, so that the stator 220 drives the mover 210 to move forward or backward.

[0067] By using the actuator of the first embodiment of the present invention, the control device 500 can control the forward and backward movement of the suction shaft 410 according to the information of the strain gauge 320, thereby accurately controlling the push and pull force of the suction shaft 410 and the force with which the suction shaft 410 contacts the material.

[0068] In the description of this specification, the description with reference to the terms "some embodiments" or "it is conceivable that" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0069] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. An actuator, characterized in that: include: shell; A linear drive structure is installed in the housing, and the linear drive structure includes a mover and a stator for driving the mover to move forward and backward; A sliding seat is installed in the housing and connected to the mover so as to be movable forward and backward, wherein the sliding seat comprises a pressure deformation portion, and a strain gauge for detecting the strain of the pressure deformation portion is provided on the pressure deformation portion; A connecting seat, located in the shell and mounted on the pressure deformation portion, a rotatable suction shaft and a driving structure for driving the suction shaft to rotate are mounted on the connecting seat, and the suction shaft can extend out of the shell; A control device is electrically connected to the stator and the strain gauge respectively.

2. The actuator according to claim 1, characterized in that: The sliding seat further comprises a connecting portion, the connecting portion being connected to the mover, and the pressure deformation portions are provided in a plurality, the plurality of pressure deformation portions are arranged at intervals along the front-rear direction and connected to the connecting portion.

3. The actuator according to claim 2, characterized in that: The strain gauges on the multiple pressure deformation parts are all connected to data lines electrically connected to the control device, the sliding seat is provided with a channel for placing the data lines, and the data lines on the multiple strain gauges are all arranged on the channel.

4. The actuator according to claim 2 or 3, characterized in that: The pressure deformation part comprises a first cavity, a mounting cavity and a second cavity which are arranged at intervals along the front-to-back direction and penetrated in the up-down direction. The first cavity extends along the left-to-right direction and penetrates the left side wall of the pressure deformation part. The second cavity extends along the left-to-right direction and penetrates the right side wall of the pressure deformation part. The mounting cavity is located between the first cavity and the second cavity. The strain gauges are affixed to the front and rear side walls of the mounting cavity. At least the rear end of the pressure deformation part is connected to the connecting part, and the connecting seat is connected to the part of the pressure deformation part located in front of the first cavity.

5. The actuator according to claim 1, characterized in that: It also includes a magnetic spring, which includes a magnetic axis and a magnetic sleeve. The magnetic sleeve is installed in the shell and is located in front of or behind the sliding seat. One end of the magnetic axis is on the sliding seat, and the other end of the magnetic axis is movably arranged in the magnetic sleeve.

6. The actuator according to claim 1, characterized in that: The control device is arranged in the housing.

7. The actuator according to claim 6, characterized in that: It also includes a plate seat located in the shell, the plate seat is fixedly connected to the sliding seat, the control device is located on one side of the plate seat, a transition circuit board is provided on the plate seat, the transition circuit board is electrically connected to the strain gauge, and the transition circuit board is electrically connected to the control device through a flat cable.

8. The actuator according to claim 1, characterized in that: The connecting seat has a rotating chamber in it, a part of the suction shaft is installed in the rotating chamber, two bearings spaced apart in the front-to-back direction and two seals spaced apart in the front-to-back direction are arranged between the side wall of the suction shaft and the side wall of the rotating chamber, the two seals are located between the two bearings, the two seals, part of the side wall of the suction shaft and part of the side wall of the rotating chamber form a gas circulation chamber, the suction shaft has a hollow cavity connected to the gas circulation chamber, the front end of the suction shaft has an air hole connected to the hollow cavity, the outer shell has an air port, and the air port is connected to the gas circulation chamber through a pipe.

9. The actuator according to claim 8, characterized in that: A gasket is arranged between the bearing and the sealing member.

10. A method for controlling an actuator, characterized in that: include: Using an actuator as described in any one of claims 1 to 9; The control method comprises: S1, the control device controls the stator so that the stator drives the mover to move forward, and the mover drives the suction shaft to abut against the material. When the suction shaft contacts the material, the suction shaft transmits force to the pressure deformation part; S2, the strain gauge detects the strain of the pressure deformation part; S3, the control device obtains the voltage value on the strain gauge, and controls the stator according to the voltage value, so that the stator drives the mover to move forward or backward.

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