Actuator

Abstract

The invention provides an actuator, and relates to the technical field of execution devices. The actuator comprises a shell, an execution assembly, a force sensing assembly and a driving assembly, the execution assembly, the force sensing assembly and the driving assembly are arranged in the shell, a through hole is formed in the shell, the execution assembly comprises a mounting seat and an output shaft arranged on the mounting seat, the axial direction of the output shaft is consistent with that of the through hole, the driving end of the driving assembly is fixedly connected with a sliding seat, and the force sensing assembly is connected to the mounting seat and the sliding seat; the force sensing assembly is used for detecting the acting force borne by the output shaft. The force sensing assembly in the actuator is not prone to being collided and damaged, the wiring distance of the force sensing assembly is short, operation is stable, and therefore the assembling convenience of the actuator is improved, and stable operation of the actuator is guaranteed.

Description

Technical Field

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

[0002] Actuators are widely used for operations such as pushing, picking up, and clamping materials. In existing actuators, force sensors are generally installed at the actuator ends. When in use, the force sensors are in direct contact with the materials to detect the applied force, which makes the force sensors susceptible to damage from bumps. In addition, the wiring distance between the force sensor and the drive board is long, which is not conducive to wiring and the lines are prone to damage from hanging and pulling, making the actuator difficult to assemble and having poor operating stability. Summary of the invention

[0003] The object of the present invention is to provide an actuator to solve the technical problems that the force sensor in the existing actuator is easily damaged by collision, the actuator is difficult to assemble and has poor operating stability.

[0004] In order to solve the above problems, the present invention provides an actuator, comprising a housing and an actuator assembly, a force sensing assembly and a driving assembly arranged in the housing, wherein the housing is provided with a through hole, the actuator assembly comprises a mounting seat and an output shaft arranged on the mounting seat, the axial direction of the output shaft is consistent with the axial direction of the through hole, a sliding seat is fixedly connected to the driving end of the driving assembly, and the force sensing assembly is connected to the mounting seat and the sliding seat;

[0005] Among them, the driving component is used to drive the slide to perform linear motion along its driving direction, the force sensing component follows the slide to perform linear motion along its driving direction, and drives the mounting seat to perform linear motion along its driving direction, and the output shaft follows the mounting seat to perform linear motion along its driving direction, thereby extending out or retracting into the shell through the through hole; the force sensing component is used to detect the force acting on the output shaft.

[0006] Optionally, the force sensing assembly includes a first connecting member, a second connecting member, an elastic element and a strain detection member, the elastic element is connected between the first connecting member and the second connecting member, and the strain detection member is arranged on the elastic element, wherein the first connecting member is connected to the mounting seat, and the second connecting member is connected to the sliding seat.

[0007] Optionally, one end of the elastic element close to the actuator assembly is connected to the first connecting member, and one end of the elastic element close to the driving assembly is connected to the second connecting member; or,

[0008] One end of the elastic element along the driving direction is connected to the first connecting member, and the other end of the elastic element along the driving direction is connected to the second connecting member; or,

[0009] There are at least two elastic elements, and the elastic elements are arranged in parallel and at intervals.

[0010] Optionally, a limiting structure is connected between the first connecting member and the second connecting member, and the limiting structure is used to limit the movement stroke of the first connecting member relative to the second connecting member along the driving direction.

[0011] Optionally, the limiting structure includes a first limiting portion provided on the first connecting member and a second limiting portion provided on the second connecting member, the first limiting portion is located on a side of the first connecting member close to the second connecting member, the second limiting portion is located on a side of the second connecting member close to the first connecting member, one of the first limiting portion and the second limiting portion has a boss, the other of the first connecting portion and the second connecting portion has a limiting groove, the boss is inserted into the limiting groove, and there is a movable gap between the boss and the limiting groove on both sides of the boss along the driving direction; or,

[0012] The first connecting member includes a first connecting section and a second connecting section, and a first groove is provided at one end of the first connecting section; the second connecting member includes a third connecting section and a fourth connecting section, and a second groove is provided at one end of the third connecting section; wherein, the extension directions of the first connecting section and the third connecting section are consistent with the driving direction, and one end of the fourth connecting section is fixedly connected to the other end of the third connecting section, and the other end of the fourth connecting section extends toward the direction close to the first connecting section and is inserted into the first groove to form one of the limiting structures; one end of the second connecting section is fixedly connected to the other end of the first connecting section, and the other end of the second connecting section extends toward the direction close to the third connecting section and is inserted into the second groove to form another of the limiting structures.

[0013] Optionally, there are at least two limiting structures, and the limiting structures are arranged at intervals along the driving direction; or,

[0014] There are two elastic elements, which are spaced apart along the driving direction, and the limiting structure is located between the two elastic elements along the driving direction; or,

[0015] The limiting structures are provided with two and are arranged at intervals along the driving direction, and the elastic element is located between the two limiting structures along the driving direction.

[0016] Optionally, the actuator assembly further includes a rotation driving member, which is disposed on the mounting seat and connected to the output shaft, and is used to drive the output shaft to rotate.

[0017] Optionally, the rotary drive member is provided with a rotary encoder, and the rotary encoder is located on a side of the rotary drive member close to the through hole along the driving direction.

[0018] Optionally, a deformation hole is opened in the elastic element, the strain detection component is arranged on the outer side wall of the elastic element, and at least one strain detection component is arranged on each side of the elastic element.

[0019] Optionally, a magnetic spring is provided in the housing, the magnetic spring is located on a side of the slide away from the through hole along the driving direction, and the magnetic spring is connected to the slide; and / or,

[0020] A linear encoder is provided between the slide and the housing. The linear encoder is located on a side of the slide away from the through hole along the driving direction and on a side of the slide away from the actuator.

[0021] In the actuator provided by the present invention, the force sensing component is connected between the actuator component and the driving component. On the basis of realizing the detection of the force applied to the actuator end, the force sensing component is located as a whole in the shell, and the shell can isolate and protect the force sensing component, thereby reducing the damage caused by collision to the force sensing component and ensuring the operation and use of the force sensing component and the actuator; at the same time, the force sensing component is located in the shell, which can not only shorten the wiring distance between the force sensing component and the driving board and reduce the damage caused by hanging and pulling on the line during the operation process, but also the connection structure between the force sensing component and the actuator is simple, and the space occupied in the shell is small, and sufficient space can be provided for the wiring between the force sensing component and the driving board, thereby improving the convenience and stability of the line layout between the force sensing component and the driving board, and correspondingly improving the convenience of assembly of the actuator, reducing its cost and improving its operational stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 A schematic isometric view of the interior of an actuator provided by an embodiment of the present invention;

[0024] Figure 2 A schematic diagram of the interior of an actuator provided by an embodiment of the present invention;

[0025] Figure 3 for Figure 1Axonometric diagram of the force sensing assembly when it is in the first form;

[0026] Figure 4 for Figure 3 Schematic diagram of the connection between the elastic element and the strain detection element;

[0027] Figure 5 A schematic diagram of a second form of a force sensing component in an actuator provided by an embodiment of the present invention;

[0028] Figure 6 A schematic diagram of a third form of a force sensing component in an actuator provided by an embodiment of the present invention;

[0029] Figure 7 A schematic diagram of a force sensing component in an actuator provided in an embodiment of the present invention, when the force sensing component is in the fourth form, connected between the actuator component and the driving component.

[0030] Description of reference numerals:

[0031] 100-housing; 110-through hole; 10A-first mounting area; 10B-second mounting area; 10C-third mounting area; 10D-fourth mounting area; 200-actuator; 210-mounting seat; 220-output shaft; 221-air extraction channel; 230-rotating drive member; 240-rotating encoder; 300-force sensing assembly; 310-first connecting member; 311-first connecting section; 312-second connecting section; 31a-first groove; 320-second connecting member Connector; 321-third connecting section; 322-fourth connecting section; 32a-second groove; 331-elastic element; 331a-deformation hole; 332-strain detection member; 340-limiting structure; 341-first limiting portion; 342-second limiting portion; 34a-boss; 34b-limiting groove; 34c-active gap; 400-driving assembly; 410-slide seat; 420-guide structure; 430-linear encoder; 500-magnetic spring; 600-driving plate. DETAILED DESCRIPTION

[0032] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0034] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] This embodiment provides an actuator, such as Figure 1 As shown, it includes a shell 100 and an actuator 200, a force sensing assembly 300 and a driving assembly 400 arranged in the shell 100. The shell 100 is provided with a through hole 110 for the actuator end of the actuator 200 to extend out. The force sensing assembly 300 is connected to the actuator 200 and the driving assembly 400; wherein the driving assembly 400 is used to drive the force sensing assembly 300 to drive the actuator 200 to move linearly along its driving direction, and the driving direction is consistent with the axial direction of the through hole 110; the force sensing assembly 300 is used to detect the force acting on the actuator 200.

[0036] In the actuator provided in this embodiment, at the initial stage, the actuator end of the actuator component 200 can be retracted into the shell 100 along the through hole 110 or extended out of the shell 100 through the through hole 110; when in use, the driving component 400 drives the force sensing component 300 to perform linear motion along the axial direction of the through hole 110, and the actuator component 200 moves synchronously with the force sensing component 300. The actuator end of the actuator component 200 extends out of the shell 100 along the axial direction of the through hole 110 to push, pick up, or pull the material toward the shell 100, and in this process, the material will exert a force on the actuator end, and the force is transmitted to and detected by the force sensing component 300, thereby obtaining the interaction force between the actuator end and the material, and the driving stroke of the driving component 400 on the actuator component 200 is controlled and adjusted according to the interaction force, so as to ensure the effective effect of the actuator end on the material, and at the same time reduce the occurrence of a situation where the force of the actuator end on the material is too small, resulting in deviation in the execution action, or the force of the actuator end on the material is too large, causing damage to both parties.

[0037] It should be noted that, when the driving component 400 drives the force sensing component 300 to move or when performing acceleration and deceleration movements, the force sensing component 300 can also detect the driving force of the driving component 400 driving the force sensing component 300 to move; in addition, when the execution end of the execution component 200 is subjected to radial force, it can also be detected by the force sensing component 300, so it is not limited to this.

[0038] Among them, in the actuator provided by this embodiment, the force sensing component 300 is connected between the actuator component 200 and the driving component 400. On the basis of realizing the detection of the force applied to the actuator end, the force sensing component 300 is located as a whole in the shell 100, and the shell 100 can isolate and protect the force sensing component 300, thereby reducing the damage caused by collision to the force sensing component 300 and ensuring the operation and use of the force sensing component 300 and the actuator; at the same time, the force sensing component 300 is located in the shell 100, which can not only shorten the wiring distance between the force sensing component 300 and the driving board 600 and reduce the damage caused by hanging and pulling of the line during the operation process, but also the connection structure between the force sensing component 300 and the actuator 200 is simple, and the space occupied in the shell 100 is small, and sufficient space can be provided for the wiring between the force sensing component 300 and the driving board 600, thereby improving the convenience and stability of the line layout between the force sensing component 300 and the driving board 600, and correspondingly improving the convenience of assembly of the actuator, reducing its cost and improving its operation stability.

[0039] Specifically, in this embodiment, the execution component 200 can be in the following form: Figure 1 and Figure 2 As shown, the actuator assembly 200 includes a mounting seat 210 and an output shaft 220 disposed on the mounting seat 210 , the axial direction of the output shaft 220 is consistent with the axial direction of the through hole 110 and one end thereof serves as an actuator end; the force sensing assembly 300 is fixedly connected to the mounting seat 210 . The mounting base 210 loaded with the output shaft 220 is fixedly connected to the force sensing component 300, the output shaft 220 extends axially along the through hole 110, and one end of the output shaft 220 is aligned toward the through hole 110 or passes through the through hole 110 and extends out of the housing 100 as an execution end; when in use, the driving component 400 drives the output shaft 220 to move axially relative to the through hole 110 through the force sensing component 300 and the mounting base 210 to perform actions such as pushing and picking up the material; wherein, the setting of the mounting base 210 can ensure the connection stability between the output shaft 220 and the force sensing component 300, ensure the driving stability of the output shaft 220 by the driving component 400 and the detection accuracy of the force on the execution end by the force sensing component 300.

[0040] Optionally, in this embodiment, if Figure 1 , Figure 3 and Figure 7As shown, the force sensing assembly 300 can be in the following form: the force sensing assembly 300 includes a first connecting member 310, a second connecting member 320, an elastic element 331 and a strain detection member 332, the first connecting member 310 is connected to the actuator 200, the second connecting member 320 is connected to the driving assembly 400, the elastic element 331 is connected between the first connecting member 310 and the second connecting member 320, and the strain detection member 332 is arranged on the elastic element 331 to detect the deformation degree of the elastic element 331, thereby detecting the magnitude of the applied force. It should be particularly pointed out that the first connecting member 310 and the second connecting member 320 are rigid structures to ensure that the force sensing assembly 300 detects accurately.

[0041] Optionally, in this embodiment, if Figure 3 and Figure 4 As shown, a deformation hole 331a is provided in the elastic element 331 to increase the deformation effect of the elastic element 331. The strain detection member 332 is disposed on the outer wall of the elastic element 331, and one is disposed on each elastic element 331 to detect the deformation degree of the elastic element 331, thereby detecting the magnitude of the applied force. Of course, in other embodiments, the strain detection member 332 may be disposed on the inner wall of the deformation hole 331a, or two, three, or other different numbers of strain detection members 332 may be disposed on each elastic element 331, so it is not limited thereto.

[0042] The first connecting member 310 is relatively fixedly connected to the actuator component 200 and the elastic element 331 along the driving direction, and the second connecting member 320 is relatively fixedly connected to the driving component 400 and the elastic element 331 along the driving direction. When in use, the driving component 400 drives the second connecting member 320 to move linearly along the axial direction of the through hole 110, and the second connecting member 320 correspondingly drives the elastic element 331, the first connecting member 310 and the actuator component 200 to move synchronously therewith. When the actuator end of the actuator component 200 contacts the material and applies action to the material, the force applied by the material to the actuator end is transmitted to the first connecting member 310 and the elastic element 331, the first connecting member 310 is displaced relative to the second connecting member 320, and the elastic element 331 is deformed accordingly. The strain detection member obtains the force applied to the actuator end from the material by detecting the deformation of the elastic element 331, thereby completing the detection of the force applied to the actuator end.

[0043] Specifically, in this embodiment, the connection positions of the first connecting member 310 and the second connecting member 320 relative to the elastic element 331 can be as follows: Figure 1 and Figure 3As shown, one end of the elastic element 331 close to the actuator 200 is connected to the first connecting member 310, and one end of the elastic element 331 close to the driving assembly 400 is connected to the second connecting member 320. One end of the elastic element 331 facing the actuator 200 is fixedly connected to the actuator 200 through the first connecting member 310, and one end of the elastic element 331 facing the driving assembly 400 is fixedly connected to the driving assembly 400 through the second connecting member 320. The connection structure is simple, and when the actuator end is subjected to a force, the elastic element 331 is subjected to a larger torque and has a larger deformation amount, thereby improving the detection sensitivity and accuracy of the strain detection member to the deformation of the elastic element 331, and correspondingly improving the detection accuracy of the force sensing assembly 300 to the force applied to the actuator end.

[0044] Preferably, the arrangement direction of the actuator component 200 and the drive component 400 is approximately perpendicular to the drive direction. Correspondingly, the arrangement direction of the first connecting member 310 and the second connecting member 320 is also approximately perpendicular to the drive direction. The first end of the elastic element 331 is connected to the first connecting member 310, and the second end is connected to the second connecting member 320. The force applied to the actuator end is transmitted to the first end of the elastic element 331 through the first connecting member 310, so that the first end of the elastic element 331 is displaced relative to the second end of the elastic element 331, so that the elastic element 331 is subjected to a larger torque and obtains a larger deformation, thereby correspondingly improving the detection sensitivity and accuracy of the strain detection member to the deformation of the elastic element 331, and correspondingly improving the detection accuracy of the force sensing component 300 to the force applied to the actuator end.

[0045] It is understandable that when the first connecting member 310 is subjected to the driving force of the driving assembly 400, the first connecting member 310 transmits the force to the second end of the elastic element 331, causing the second end of the elastic element 331 to be displaced relative to the first end of the elastic element 331, so that the elastic element 331 is subjected to a larger torque and obtains a larger deformation, thereby detecting the driving force.

[0046] In addition to the above-mentioned forms, the connection positions of the first connecting member 310 and the second connecting member 320 relative to the elastic element 331 can also be as follows: Figure 7As shown, one end of the elastic element 331 along the driving direction is connected to the first connecting member 310, and the other end of the elastic element 331 along the driving direction is connected to the second connecting member 320. The elastic element 331 is sandwiched between the first connecting member 310 and the second connecting member 320 along the driving direction. When the actuator end is subjected to a force, the first connecting member 310 and the second connecting member 320 move toward each other to squeeze or stretch the elastic element 331, and the elastic element 331 is deformed accordingly. The strain detection member obtains the force applied to the actuator end by detecting the deformation of the elastic element 331; wherein, the deformation direction of the elastic element 331 is consistent with the driving direction, and the force applied to the actuator end is almost completely applied to the elastic element 331, thereby ensuring that the elastic element 331 has a large deformation, and correspondingly ensuring the detection sensitivity and accuracy of the strain detection member.

[0047] Specifically, Figure 3 , Figure 5 and Figure 7 As shown, there are at least two elastic elements 331, and each elastic element 331 is arranged in parallel and spaced apart. Each elastic element 331 is provided with a strain detection member, or the strain detection member is simultaneously connected to multiple elastic elements 331; when in use, each elastic element 331 is deformed with the relative displacement of the first connecting member 310 and the second connecting member 320, and the strain detection member can correspondingly measure multiple groups of data that can characterize the magnitude of the force applied to the actuator end, and a high-precision final force value can be obtained based on the multiple groups of data, thereby further improving the detection accuracy of the force sensing component 300 on the force applied to the actuator end, and reducing the deviation effect of the setting position of the elastic element 331 on the detection value.

[0048] Preferably, when the number of the elastic elements 331 is greater than 1, the elastic elements 331 are arranged at intervals along the driving direction, or are arranged at intervals along a direction perpendicular to the driving direction.

[0049] In this embodiment, Figure 3-Figure 7As shown, a limiting structure 340 is connected between the first connecting member 310 and the second connecting member 320, and the limiting structure 340 is used to limit the movement stroke of the first connecting member 310 relative to the second connecting member 320 along the driving direction. The driving component 400 drives the first connecting member 310 and the actuator 200 to move linearly along the driving direction through the second connecting member 320 to perform an action on the material, and the force of the material acting on the actuator end will hinder the movement of the actuator 200 and the first connecting member 310, thereby causing the first connecting member 310 and the second connecting member 320 to have a relative displacement along the driving direction; a limiting structure 340 is set between the first connecting member 310 and the second connecting member 320, and the limiting structure 340 allows the first connecting member 310 and the second connecting member 320 to move relative to each other along the driving direction for a preset stroke, so as to ensure the deformation of the elastic element 331 and the strain detection member to detect the deformation of the elastic element 331, thereby ensuring the force sensor to detect the force on the actuator end.

[0050] When the force exerted by the material on the actuator end is too large, causing the relative displacement of the first connecting member 310 relative to the second connecting member 320 along the driving direction to be greater than the preset stroke, the limiting structure 340 stops the relative position of the first connecting member 310 and the second connecting member 320 along the driving direction, thereby reducing the occurrence of damage caused by the large deformation of the two ends of the elastic element 331 as they move with the first connecting member 310 and the second connecting member 320, and correspondingly protects the elastic element 331 and the force sensing assembly 300, ensuring the normal use of the elastic element 331 and the force sensing assembly 300.

[0051] Optionally, in this embodiment, the limiting structure 340 may be in the following form: Figure 5 and Figure 6 As shown, the limiting structure 340 includes a first limiting portion 341 provided on the first connecting member 310 and a second limiting portion 342 provided on the second connecting member 320, the first limiting portion 341 is located on a side of the first connecting member 310 close to the second connecting member 320, the second limiting portion 342 is located on a side of the second connecting member 320 close to the first connecting member 310, one of the first limiting portion 341 and the second limiting portion 342 has a boss 34a, the other of the first connecting portion and the second connecting portion has a limiting groove 34b, the boss 34a is inserted into the limiting groove 34b, and there is a movable gap 34c between the boss 34a and the limiting groove 34b on both sides of the boss 34a along the driving direction.

[0052] For example, Figure 5As shown in the perspective, the first connecting member 310 and the second connecting member 320 are arranged up and down, and the elastic element 331 is connected between the first connecting member 310 and the second connecting member 320, and there are two elastic elements 331, and the two elastic elements 331 are respectively located at the left and right end positions of the first connecting member 310; wherein, a boss 34a is provided at the bottom of the first connecting member 310, and a limiting groove 34b is provided at the top of the second connecting member 320, the boss 34a is inserted downward into the limiting groove 34b, and there is an active gap 34c between the boss 34a and the left side wall of the limiting groove 34b, and the left-right width of the active gap 34c is s1, and there is an active gap 34c between the boss 34a and the right side wall of the limiting groove 34b, and the left-right width of the active gap 34c is s2.

[0053] When the driving component 400 drives the second connecting member 320 to move to the left along its driving direction, the second connecting member 320 drives the first connecting member 310 and the actuator 200 to move to the left synchronously with it through the elastic element 331, until the actuator end of the actuator 200 contacts the material and pushes, picks up, etc., and the force applied by the material to the actuator end causes the actuator 200 and the first connecting member 310 to move to the right relative to the second connecting member 320 by a, then the top end of the elastic element 331 moves to the right relative to its bottom end, and the elastic element 331 undergoes corresponding deformation; when a≤s2, the actuator is used normally, and there is no stop effect between the limit groove 34b and the boss 34a; when a reaches s2 and when the first connecting member 310 still has a tendency to move rightward relative to the second connecting member 320, it indicates that the displacement of the first connecting member 310 to the right relative to the second connecting member 320 has reached the preset stroke, and the elastic deformation of the elastic element 331 continues to increase and may be damaged. At this time, the right side wall of the boss 34a abuts against the right side wall of the limiting groove 34b, and the limiting groove 34b prevents the boss 34a from continuing to move rightward, and correspondingly prevents the first connecting member 310 from continuing to move rightward relative to the second connecting member 320, thereby stopping the relative movement of the first connecting member 310 to the second connecting member 320 to the right, and correspondingly protecting the elastic element 331, reducing the situation where its deformation is too large and caused by damage.

[0054] Similarly, when the driving component 400 drives the second connecting member 320 to move rightward, the actuator component 200 pulls, picks up, etc. the material, and the first connecting member 310 is displaced to the left relative to the second connecting member 320 by b, the top end of the elastic element 331 moves to the left relative to its bottom end, and the elastic element 331 is deformed accordingly; when b≤s1, the actuator is used normally, and there is no stop effect between the limit groove 34b and the boss 34a; when b reaches s1 and the first connecting member 310 is displaced to the left relative to the second connecting member 320 .... When the second connecting member 320 still has a tendency to move to the left, it indicates that the displacement of the first connecting member 310 to the left relative to the second connecting member 320 has reached the preset stroke. At this time, the left side wall of the boss 34a abuts against the left side wall of the limiting groove 34b, and the limiting groove 34b prevents the boss 34a from continuing to move to the left, thereby stopping the relative movement of the first connecting member 310 to the second connecting member 320 to the left, and correspondingly protecting the elastic element 331, reducing the situation where the elastic element is damaged due to excessive deformation.

[0055] When the first connecting member 310 is provided with a limiting groove 34b and the second connecting member 320 is provided with a boss 34a, the stopping effect of the limiting groove 34b and the boss 34a is similar to the above principle and will not be repeated here; in addition, the number of the limiting structures 340 between the first connecting member 310 and the second connecting member 320 can be one, two or more, and the forms of each limiting structure 340 can be different, such as Figure 6 As shown, two limiting structures 340 are arranged between the first connecting member 310 and the second connecting member 320. The two limiting structures 340 are respectively located at the left and right ends of the first connecting member 310, and the limiting structure 340 located on the left side includes a boss 34a arranged on the first connecting member 310 and a limiting groove 34b arranged on the second connecting member 320, and the limiting structure 340 located on the right side includes a limiting groove 34b arranged on the first connecting member 310 and a boss 34a arranged on the second connecting member 320.

[0056] Specifically, in this embodiment, Figure 7As shown, the first connecting member 310 includes a first connecting section 311 and a second connecting section 312, and a first groove 31a is provided at one end of the first connecting section 311; the second connecting member 320 includes a third connecting section 321 and a fourth connecting section 322, and a second groove 32a is provided at one end of the third connecting section 321; wherein, the extension directions of the first connecting section 311 and the third connecting section 321 are consistent with the driving direction, and one end of the fourth connecting section 322 is fixedly connected to the other end of the third connecting section 321, and the other end of the fourth connecting section 322 extends toward the direction close to the first connecting section 311 and is inserted into the first groove 31a to form a limiting structure 340; one end of the second connecting section 312 is fixedly connected to the other end of the first connecting section 311, and the other end of the second connecting section 312 extends toward the direction close to the third connecting section 321 and is inserted into the second groove 32a to form another limiting structure 340.

[0057] For example, Figure 7 As shown in the perspective, the horizontal direction is the driving direction, the first connecting section 311 and the third connecting section 321 are both extended in the left-right direction and are arranged in parallel and spaced apart from each other, the right end of the first connecting section 311 is provided with a first groove 31a on the side facing the third connecting section 321, and the left end of the third connecting section 321 is provided with a second groove 32a on the side facing the first connecting section 311; the left end of the first connecting section 311 is connected to the second connecting section 312, the second connecting section 312 extends toward the third connecting section 321 and its bottom end is inserted into the third connecting section 321. The two grooves 32a cooperate to form a limiting structure 340, and there are movable gaps 34c between the bottom end of the second connecting section 312 and the left and right walls of the second groove 32a; the right end of the third connecting section 321 is connected to the fourth connecting section 322, the fourth connecting section 322 extends toward the first connecting section 311 and its top end is inserted into the first groove 31a to cooperate to form another limiting structure 340, and there are movable gaps 34c between the top end of the fourth connecting section 322 and the left and right walls of the first groove 31a.

[0058] This embodiment adopts an angled first connector 310 and a second connector 320, and the ends of the second connecting segment 312 and the fourth connecting segment 322 serve as plug-in ends at the same time, forming a limiting structure 340 with the second groove 32a and the first groove 31a respectively. It has a simple structure and strong functionality, and each limiting structure 340 of the chain located at both ends of the driving direction has a stronger and more stable limiting effect on the first connector 310 and the second connector 320.

[0059] Preferably, the first connecting segment 311 and the second connecting segment 312 are approximately vertically arranged, and the third connecting segment 321 and the fourth connecting segment 322 are approximately vertically arranged. Accordingly, the shape accuracy of the first connecting member 310 and the second connecting member 320 is easy to ensure, and the processing convenience is higher; at the same time, the first connecting member 310 and the second connecting member 320 cooperate to form a regularly shaped rectangular structure by plugging. The assembly convenience and stability of the two are higher.

[0060] Specifically, there are at least two limiting structures 340, and each limiting structure 340 is arranged at intervals along the driving direction. When in use, each limiting structure 340 can stop the relative displacement of the first connecting member 310 and the second connecting member 320 along the driving direction at different positions, thereby improving the stopping effect and enhancing the protection of the elastic element 331.

[0061] In this embodiment, the specific number and position arrangement of the elastic elements 331 and the limiting structures 340 may be in the following forms: Figure 5 As shown, two elastic elements 331 are provided and spaced apart along the driving direction, and at least one limiting structure 340 is provided, and the limiting structure 340 is located between the two elastic elements 331 along the driving direction. Figure 6 As shown, two limiting structures 340 are provided and are arranged at intervals along the driving direction. There is at least one elastic element 331 , and the elastic element 331 is located between the two limiting structures 340 along the driving direction.

[0062] In this embodiment, Figure 1 and Figure 2 As shown, the actuator assembly 200 further includes a rotary drive member 230, which is disposed on the mounting seat 210 and connected to the output shaft 220, and is used to drive the output shaft 220 to rotate. When in use, the rotary drive member 230 can drive the output shaft 220 to rotate circumferentially to adapt to the orientation of the material or adjust the angle of the material, thereby improving the adaptability and functionality of the actuator.

[0063] Specifically, Figure 1 As shown, the interior of the output shaft 220 is hollow to form an exhaust channel 221 that runs axially through the output shaft 220. When in use, the end of the output shaft 220 that is away from the execution end is connected to the vacuum component. When the execution end is close to the material, the vacuum component sucks the exhaust channel 221 into a negative pressure state. The exhaust channel 221 at the channel opening of the execution end correspondingly produces an adsorption effect on the material, thereby adsorbing the material to the execution end; then, the rotating drive member 230 can drive the output shaft 220 to rotate, thereby driving the material to rotate and adjusting the angle of the material.

[0064] In this embodiment, Figure 1 and Figure 2As shown, the rotary drive member 230 is provided with a rotary encoder 240, and the rotary encoder 240 is located on one side of the rotary drive member 230 close to the through hole 110 along the driving direction. The rotary encoder 240 is communicatively connected to the control module of the drive board 600, and the rotary encoder 240 is used to detect the rotation angle of the output shaft 220, and feed back the measured rotation angle signal to the control module. The control module determines the circumferential adjustment angle of the output shaft 220 to the material according to the received rotation angle signal, and controls the rotary drive direction and rotation drive angle of the output shaft 220 of the rotary drive member 230 accordingly, so as to realize the precise adjustment of the rotation angle of the material.

[0065] Optionally, in this embodiment, if Figure 1 and Figure 2 As shown, the driving end of the driving assembly 400 is fixedly connected with a slide 410, and the force sensing assembly 300 is fixedly connected to the slide 410. The slide 410 is slidably connected to the housing 100 through a guide structure 420, and the guide direction of the guide structure 420 is consistent with the driving direction. When in use, when the driving assembly 400 drives the slide 410 to move the force sensing assembly 300 and the actuator 200, the guide structure 420 can guide and limit the movement of the slide 410 along the driving direction, thereby improving the position accuracy of the actuator 200 moving along the driving direction under the drive of the driving assembly 400, and correspondingly ensuring the smoothness of the sliding of the output shaft 220 relative to the through hole 110, and the accuracy of the output shaft 220 performing the action on the material.

[0066] In this embodiment, Figure 1 and Figure 2 As shown, a linear encoder 430 is provided between the slide 410 and the housing 100, and the linear encoder 430 is located on the side of the slide 410 away from the through hole 110 along the driving direction, and is located on the side of the slide 410 away from the actuator 200. The linear encoder 430 is communicatively connected to the control module of the drive board 600, and the linear encoder 430 is used to detect the linear displacement of the slide 410 along the driving direction, and feed back the measured linear displacement signal to the control module. The control module determines the length of the actuator end extending out of the housing 100 according to the received linear displacement signal, and controls the linear driving direction and linear driving distance of the driving assembly 400 to the actuator 200 accordingly, so as to realize the precise action of the actuator end on the material.

[0067] The linear encoder 430 is disposed on a side of the slide 410 away from the through hole 110 and the actuator 200. Figure 2As shown in the perspective, the through hole 110 is located in the upper left corner area of ​​the shell 100, the actuator 200 is located above the slider and the actuator 200 has a movement stroke along the left and right directions, and the linear encoder 430 is located at the lower right side of the slider. On the basis of realizing the detection of the linear displacement of the slider along the left and right directions, it can avoid the movement area of ​​the actuator 200, ensure the operation of the actuator 200, and improve the compactness and rationality of the layout of the components in the shell 100.

[0068] Optionally, in this embodiment, if Figure 1 and Figure 2 As shown, a magnetic spring 500 is provided in the housing 100, and the magnetic spring 500 is located on the side of the slide 410 away from the through hole 110 along the driving direction, and the magnetic spring 500 is connected to the slide 410. When the actuator is in use, when the actuating end of the actuator assembly 200 moves downward, the magnetic spring 500 can exert an upward force on the slide 410. On the one hand, the force can compensate for the gravity of the slide 410, the force sensing assembly 300 and the actuator assembly 200, thereby reducing the driving load of the driving assembly 400 on the slide 410, the force sensing assembly 300 and the actuator assembly 200, so that it can output a larger linear thrust, and improve its driving speed and accuracy on the actuator assembly 200. On the other hand, after the actuator is used, the force applied by the magnetic spring 500 to the slide 410 can also pull the slide 410 to bring the force sensing assembly 300 and the actuator assembly 200 upward to return to the initial position, thereby ensuring the reset stability of the actuator assembly 200.

[0069] In this embodiment, Figure 2 As shown, the shell 100 is rectangular and is divided into four corner mounting areas, among which one is used as the first mounting area 10A, one adjacent to the first mounting area 10A along the width direction of the shell 100 is used as the second mounting area 10B, and one adjacent to the first mounting area 10A along the length direction of the shell 100 is used as the third mounting area 10C, wherein the driving component 400 is located in the first mounting area 10A, the actuator component 200 and the force sensing component 300 are located in the second mounting area 10B, and the actuator drive plate 600 is located in the third mounting area 10C.

[0070] On the one hand, the driving direction of the driving component 400 is consistent with the length direction of the shell 100, and the actuator 200, the force sensing component 300 and the driving component 400 are arranged in sequence in a direction perpendicular to the driving direction. When in use, the force sensing component 300 has a higher detection accuracy of the force acting on the actuator end of the actuator 200; on the other hand, the force sensing component 300 is located on the side of the second installation area 10B close to the third installation area 10C, and the distance between the force sensing component 300 and the driving board 600 is small, and the unlimited distance between the two is short, which is more convenient for the line connection between the force sensing component 300 and the driving board 600, and the operation is more convenient and the cost is lower; on the other hand, the one adjacent to the second installation area 10B in the length direction is used as the fourth installation area 10D, and the fourth installation area 10D is vacant to reduce the interference of the force sensing component 300 and the actuator 200 when moving along the driving direction, thereby ensuring the operation of the actuator 200; wherein, the magnetic spring 500 can be arranged in the fourth installation area 10D.

[0071] It can be seen that by rationally arranging the driving assembly 400, the force sensing assembly 300, the actuator assembly 200, the driving plate 600 and the magnetic spring 500 in the housing 100, not only the compactness of the structure of the actuator can be improved, but also the stable operation of the actuator assembly 200 can be ensured, the accurate detection of the force acting on the actuator end by the force sensing assembly 300 can be ensured, and the convenience of wiring between the force sensing assembly 300 and the driving plate 600 can be improved and the wiring cost can be reduced.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An actuator, characterized in that: The invention comprises a housing (100), an actuator assembly (200), a force sensing assembly (300) and a driving assembly (400) arranged in the housing (100), wherein the housing (100) is provided with a through hole (110), the actuator assembly (200) comprises a mounting seat (210) and an output shaft (220) arranged on the mounting seat (210), the axial direction of the output shaft (220) is consistent with the axial direction of the through hole (110), the driving end of the driving assembly (400) is fixedly connected to a sliding seat (410), and the force sensing assembly (300) is connected to the mounting seat (210) and the sliding seat (410); The driving assembly (400) is used to drive the slide seat (410) to perform linear motion along its driving direction, the force sensing assembly (300) follows the slide seat (410) to perform linear motion along its driving direction, and drives the mounting seat (210) to perform linear motion along its driving direction, and the output shaft (220) follows the mounting seat (210) to perform linear motion along its driving direction, thereby extending out of or retracting into the housing (100) through the through hole (110); the force sensing assembly (300) is used to detect the force acting on the output shaft.

2. The actuator according to claim 1, characterized in that: The force sensing assembly (300) comprises a first connecting member (310), a second connecting member (320), an elastic element (331) and a strain detecting member (332), wherein the elastic element (331) is connected between the first connecting member (310) and the second connecting member (320), and the strain detecting member (332) is arranged on the elastic element (331), wherein the first connecting member (310) is connected to the mounting seat (210), and the second connecting member (320) is connected to the sliding seat (410).

3. The actuator according to claim 2, characterized in that: One end of the elastic element (331) close to the actuator component (200) is connected to the first connecting member (310), and one end of the elastic element (331) close to the driving component (400) is connected to the second connecting member (320); or, One end of the elastic element (331) along the driving direction is connected to the first connecting member (310), and the other end of the elastic element (331) along the driving direction is connected to the second connecting member (320); or, There are at least two elastic elements (331), and the elastic elements (331) are arranged in parallel and at intervals.

4. The actuator according to claim 2, characterized in that: A limiting structure (340) is connected between the first connecting member (310) and the second connecting member (320), and the limiting structure (340) is used to limit the movement stroke of the first connecting member (310) relative to the second connecting member (320) along the driving direction.

5. The actuator according to claim 4, characterized in that: The limiting structure (340) comprises a first limiting portion (341) provided on the first connecting member (310) and a second limiting portion (342) provided on the second connecting member (320), the first limiting portion (341) being located on a side of the first connecting member (310) close to the second connecting member (320), the second limiting portion (342) being located on a side of the second connecting member (320) close to the first connecting member (310), one of the first limiting portion (341) and the second limiting portion (342) having a boss (34a), the other of the first connecting member and the second connecting member having a limiting groove (34b), the boss (34a) being inserted into the limiting groove (34b), and movable gaps (34c) being present between the boss (34a) and the limiting groove (34b) on opposite sides along the driving direction; or, The first connecting member (310) comprises a first connecting section (311) and a second connecting section (312), one end of the first connecting section (311) is provided with a first groove (31a); the second connecting member (320) comprises a third connecting section (321) and a fourth connecting section (322), one end of the third connecting section (321) is provided with a second groove (32a); wherein the extension directions of the first connecting section (311) and the third connecting section (321) are both consistent with the driving direction, and one end of the fourth connecting section (322) is fixedly connected to the drive direction. The other end of the fourth connecting segment (322) is connected to the other end of the third connecting segment (321), extends in a direction close to the first connecting segment (311), and is inserted into the first groove (31a) to form a limiting structure (340); one end of the second connecting segment (312) is fixedly connected to the other end of the first connecting segment (311), and the other end of the second connecting segment (312) extends in a direction close to the third connecting segment (321), and is inserted into the second groove (32a) to form another limiting structure (340).

6. The actuator according to claim 4, characterized in that: There are at least two limiting structures (340), and the limiting structures (340) are arranged at intervals along the driving direction; or, Two elastic elements (331) are provided and are arranged at intervals along the driving direction, and the limiting structure (340) is located between the two elastic elements (331) along the driving direction; or, Two limiting structures (340) are provided and are arranged at intervals along the driving direction, and the elastic element (331) is located between the two limiting structures (340) along the driving direction.

7. The actuator according to claim 1, characterized in that: The actuator assembly (200) further comprises a rotation driving member (230), wherein the rotation driving member (230) is disposed on the mounting seat (210) and connected to the output shaft (220), and the rotation driving member (230) is used to drive the output shaft (220) to rotate.

8. The actuator according to claim 7, characterized in that: The rotary drive member (230) is provided with a rotary encoder (240), and the rotary encoder (240) is located on a side of the rotary drive member (230) close to the through hole (110) along the driving direction.

9. The actuator according to claim 2, characterized in that: The elastic element (330) is provided with a deformation hole (331), the strain detection component (332) is arranged on the outer side wall of the elastic element (330), and at least one strain detection component (332) is arranged on each side of the elastic element (330).

10. The actuator according to claim 1, characterized in that: A magnetic spring (500) is provided in the housing (100), the magnetic spring (500) is located on a side of the slide seat (410) away from the through hole (110) along the driving direction, and the magnetic spring (500) is connected to the slide seat (410); and / or, A linear encoder (430) is provided between the slide seat (410) and the housing (100), and the linear encoder (430) is located on a side of the slide seat (410) away from the through hole (110) along the driving direction, and is located on a side of the slide seat (410) away from the actuator (200).

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