actuator

Abstract

The application provides an actuator, and relates to the technical field of actuator devices. The actuator comprises a shell, an execution assembly, a force sensing assembly and a driving assembly arranged in the shell, the shell is provided with a through hole, 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 the axial direction 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 on the output shaft. In the actuator, the force sensing assembly is not prone to being damaged by knocking, the wiring distance of the force sensing assembly is short and the force sensing assembly operates stably, so that the assembly convenience of the actuator is improved, and stable operation of the actuator is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of execution device, in particular to an executor. BACKGROUND

[0002] The executor is widely used in pushing, picking up, clamping and other operations of materials. In the existing executor, a force sensor is generally arranged at the execution end of the executor. When in use, the force sensor directly contacts with the materials to detect the acting force, which causes the force sensor to be easily damaged by knocking. In addition, the wiring distance between the force sensor and the driving plate is far, which is not conducive to wiring and the wiring is prone to be damaged by hanging and pulling, resulting in large assembly difficulty and poor running stability of the executor. SUMMARY

[0003] The technical problem to be solved by the present application is to provide an executor to solve the technical problems that the force sensor is easily damaged by knocking in the existing executor, and the assembly difficulty of the executor is large and the running stability is poor.

[0004] To solve the above problems, the present application provides an executor, which comprises a shell, an execution assembly, a force sensing assembly and a driving assembly arranged in the shell. The shell is provided with a through hole. 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 the axial direction of the through hole. The driving end of the driving assembly is fixedly connected with a sliding seat. The force sensing assembly is connected to the mounting seat and the sliding seat.

[0005] The driving assembly is used to drive the sliding seat to move linearly along the driving direction thereof. The force sensing assembly moves linearly along the driving direction thereof following the sliding seat, and drives the mounting seat to move linearly along the driving direction thereof. The output shaft moves linearly along the driving direction thereof following the mounting seat, so as to extend out of or retract into the shell through the through hole. The force sensing assembly is used to detect the acting force received by the output shaft.

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

[0007] Optionally, one end of the elastic element close to the execution assembly is connected to the first connecting piece. The other end of the elastic element close to the driving assembly is connected to the second connecting piece.

[0008] The one end of the elastic element along the driving direction is connected to the first connecting piece. The other end of the elastic element along the driving direction is connected to the second connecting piece.

[0009] The elastic elements are at least two, and each of the elastic elements is arranged in parallel and spaced.

[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 comprises a first limiting part provided on the first connecting member and a second limiting part provided on the second connecting member, the first limiting part is located on the side of the first connecting member close to the second connecting member, the second limiting part is located on the side of the second connecting member close to the first connecting member, one of the first limiting part and the second limiting part has a boss, the other of the first connecting part and the second connecting part has a limiting slot, the boss is inserted into the limiting slot, and there is a movement gap between the boss on the opposite sides along the driving direction and the limiting slot.

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

[0013] Optionally, the limiting structure is at least two, and each of the limiting structures is arranged in parallel and spaced along the driving direction; or,

[0014] The elastic elements are provided in two and arranged in parallel and spaced along the driving direction, and the limiting structure is located between the two elastic elements along the driving direction; or,

[0015] The limiting structure is provided in two and arranged in parallel and spaced along the driving direction, and the elastic element is located between the two limiting structures along the driving direction.

[0016] Optionally, the execution assembly further comprises a rotary driving member, the rotary driving member is provided on the mounting seat and connected to the output shaft, and the rotary driving member is used to drive the output shaft to rotate.

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

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

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

[0020] A linear encoder is arranged between the sliding seat and the shell, the linear encoder is located on the side of the sliding seat away from the through hole along the driving direction, and on the side of the sliding seat away from the execution assembly.

[0021] The force sensing assembly is connected between the execution assembly and the driving assembly in the execution device, on the basis of detecting the force acting on the execution end, the force sensing assembly is located in the shell, the shell can isolate and protect the force sensing assembly, thereby reducing the damage of the force sensing assembly caused by knocking, and ensuring the operation and use of the force sensing assembly and the execution device; at the same time, the force sensing assembly is located in the shell, which can not only shorten the wiring distance between the force sensing assembly and the driving board, reduce the damage of the wiring caused by hanging and pulling in the operation process, but also has a simple connection structure between the force sensing assembly and the execution assembly, occupies a small space in the shell, and can provide sufficient space for the wiring between the force sensing assembly and the driving board, thereby improving the convenience and stability of the wiring between the force sensing assembly and the driving board, and correspondingly improving the assembly convenience of the execution device, reducing the cost and improving the operation stability. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0023] Figure 1 The shaft measurement schematic diagram inside the execution device provided by the embodiment of the present application is shown;

[0024] Figure 2 The front view schematic diagram inside the execution device provided by the embodiment of the present application is shown;

[0025] Figure 3 is Figure 1Axonometric view of the shaft when the middle force sensing assembly is in the first form;

[0026] Figure 4 For Figure 3 Connection diagram of the middle elastic element and the strain detection member;

[0027] Figure 5 Second form of the middle force sensing assembly of the actuator provided by the embodiment of the present application;

[0028] Figure 6 Third form of the middle force sensing assembly of the actuator provided by the embodiment of the present application;

[0029] Figure 7 Fourth form of the middle force sensing assembly of the actuator provided by the embodiment of the present application, the connection between the execution assembly and the driving assembly.

[0030] Explanation of reference signs:

[0031] 100 - housing; 110 - through hole; 10A - first mounting area; 10B - second mounting area; 10C - third mounting area; 10D - fourth mounting area; 200 - execution assembly; 210 - mounting seat; 220 - output shaft; 221 - air extraction channel; 230 - rotary driving member; 240 - rotary encoder; 300 - force sensing assembly; 310 - first connecting member; 311 - first connecting section; 312 - second connecting section; 31a - first groove; 320 - second connecting member; 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 part; 342 - second limiting part; 34a - boss; 34b - limiting groove; 34c - movable gap; 400 - driving assembly; 410 - sliding seat; 420 - guiding structure; 430 - linear encoder; 500 - magnetic spring; 600 - driving plate. DETAILED DESCRIPTION

[0032] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0033] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0034] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0035] This embodiment provides an actuator, such as Figure 1 As shown, the device includes a housing 100 and an actuator 200, a force sensing component 300, and a drive component 400 disposed within the housing 100. The housing 100 has a through hole 110 for the actuator end of the actuator 200 to extend out. The force sensing component 300 is connected to the actuator 200 and the drive component 400. The drive component 400 is used to drive the force sensing component 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 component 300 is used to detect the force acting on the actuator 200.

[0036] In the initial stage of the actuator provided in this embodiment, the actuating end of the actuating component 200 can retract into the housing 100 along the through hole 110 or extend out of the housing 100 through the through hole 110. In use, the driving component 400 drives the force sensing component 300 to move linearly along the axial direction of the through hole 110. The actuating component 200 moves synchronously with the force sensing component 300. The actuating end of the actuating component 200 extends outward along the axial direction of the through hole 110 to push, pick up, or pull the material towards the housing 100. During this process, the material will exert a force on the actuating end. This force is transmitted to the force sensing component 300 and detected by it, thereby obtaining the interaction force between the actuating end and the material. Based on this interaction force, the driving stroke of the driving component 400 on the actuating component 200 is controlled and adjusted to ensure the effective action of the actuating end on the material. At the same time, it reduces the occurrence of deviations in the actuating action due to insufficient force exerted by the actuating end on the material, or damage to both parties due to excessive force exerted by the actuating end on the material.

[0037] It should be noted that the force sensor assembly 300 can also detect the driving force of the driving assembly 400 driving the force sensor assembly 300 to move at the moment or when the driving assembly 400 is accelerating or decelerating. In addition, the execution end of the execution assembly 200 can also be detected by the force sensor assembly 300 when it is subjected to a radial force, and therefore is not limited in this way.

[0038] In the actuator provided in the embodiment, the force sensor assembly 300 is connected between the execution assembly 200 and the driving assembly 400. On the basis of detecting the force acting on the execution end, the force sensor assembly 300 is located entirely in the housing 100, and the housing 100 can isolate and protect the force sensor assembly 300, thereby reducing the damage of the force sensor assembly 300 caused by bumps and ensuring the operation and use of the force sensor assembly 300 and the actuator. At the same time, the force sensor assembly 300 is located in the housing 100, which can not only shorten the wiring distance between the force sensor assembly 300 and the driving board 600 and reduce the damage of the wiring caused by hanging and pulling during operation, but also simplify the connection structure of the force sensor assembly 300 and the execution assembly 200, occupy less space in the housing 100, and provide sufficient space for the wiring between the force sensor assembly 300 and the driving board 600, thereby improving the convenience and stability of the wiring between the force sensor assembly 300 and the driving board 600, and accordingly improving the assembly convenience of the actuator, reducing the cost and improving the operation stability.

[0039] Specifically, in the embodiment, the execution assembly 200 can adopt the following forms: Figure 1 and Figure 2 As shown in the drawings, the execution assembly 200 includes 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, and one end of the output shaft 220 serves as an execution end. The force sensor assembly 300 is fixedly connected to the mounting seat 210. The mounting seat 210 loaded with the output shaft 220 is fixedly connected to the force sensor assembly 300. The output shaft 220 extends along the axial direction of the through hole 110, and one end of the output shaft 220 as an execution end is aligned with or extends out of the housing 100 through the through hole 110. During use, the driving assembly 400 drives the output shaft 220 to move axially relative to the through hole 110 through the force sensor assembly 300 and the mounting seat 210, so as to perform actions such as pushing and picking up the material. The mounting seat 210 can ensure the connection stability of the output shaft 220 and the force sensor assembly 300, ensure the driving stability of the driving assembly 400 to the output shaft 220, and ensure the detection accuracy of the force sensor assembly 300 to the force acting on the execution end.

[0040] Optionally, in the embodiment, as shown in Figure 1 , Figure 3 and Figure 7As shown, the force sensing assembly 300 can adopt the following form: the force sensing assembly 300 comprises 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 execution assembly 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, so as to detect the force size. It should be particularly pointed out that the first connecting member 310 and the second connecting member 320 are rigid structures to ensure the accurate detection of the force sensing assembly 300.

[0041] Optionally, in the embodiment, as shown in Figure 3 and Figure 4 The elastic element 331 is provided with a deformation hole 331a to increase the deformation effect of the elastic element 331, and the strain detection member 332 is arranged on the outer wall of the elastic element 331 and is provided with one on each of the elastic elements 331 to detect the deformation degree of the elastic element 331, so as to detect the force size. Of course, in other embodiments, the strain detection member 332 can be arranged on the inner wall of the deformation hole 331a, or two, three or other number of strain detection members 332 can be arranged on each of the elastic elements 331, and the number is not limited in this way.

[0042] The first connecting member 310 is fixedly connected with the execution assembly 200 and the elastic element 331 along the driving direction, the second connecting member 320 is fixedly connected with the driving assembly 400 and the elastic element 331 along the driving direction, and in use, the driving assembly 400 drives the second connecting member 320 to move linearly along the axial direction of the through hole 110, the second connecting member 320 correspondingly drives the elastic element 331, the first connecting member 310 and the execution assembly 200 to move synchronously, when the execution end of the execution assembly 200 contacts the material and applies action to the material, the force applied by the material to the execution 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 correspondingly deformed, and the strain detection member detects the deformation of the elastic element 331 to obtain the force applied to the execution end by the material, so as to complete the detection of the force applied to the execution end.

[0043] Specifically, in the embodiment, the connecting positions of the first connecting member 310 and the second connecting member 320 relative to the elastic element 331 can be as follows: as shown in Figure 1 and Figure 3As shown, the elastic element 331 is connected to the first connecting member 310 near one end of the execution assembly 200, and is connected to the second connecting member 320 near one end of the driving assembly 400. The end of the elastic element 331 towards the execution assembly 200 is fixed to the execution assembly 200 through the first connecting member 310, and the end of the elastic element 331 towards the driving assembly 400 is fixed to the driving assembly 400 through the second connecting member 320. The connecting structure is simple, and when the execution end is subjected to a force, the elastic element 331 is subjected to a larger torque, and has a larger deformation, 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 subjected by the execution end.

[0044] Preferably, the execution assembly 200 and the driving assembly 400 are arranged in a direction approximately perpendicular to the driving direction, and correspondingly, the first connecting member 310 and the second connecting member 320 are arranged in a direction approximately perpendicular to the driving 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 subjected by the execution 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, thereby making the elastic element 331 subjected to a larger torque and obtaining a larger deformation, and 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 assembly 300 to the force subjected by the execution end.

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

[0046] The connecting positions of the first connecting member 310 and the second connecting member 320 relative to the elastic element 331 can also be as follows in addition to the above forms: Figure 7As shown in the figure, one end of the elastic element 331 along the driving direction is connected to the first connecting piece 310, and the other end of the elastic element 331 along the driving direction is connected to the second connecting piece 320. The elastic element 331 is clamped between the first connecting piece 310 and the second connecting piece 320 along the driving direction. When the execution end is subjected to a force, the first connecting piece 310 and the second connecting piece 320 move towards each other to press or stretch the elastic element 331, and the elastic element 331 deforms accordingly. The strain detection piece obtains the force acting on the execution end by detecting the deformation amount of the elastic element 331. The deformation direction of the elastic element 331 is consistent with the driving direction, and the force acting on the execution end is approximately completely applied to the elastic element 331, thereby ensuring that the elastic element 331 has a larger deformation amount, and accordingly ensuring the detection sensitivity and accuracy of the strain detection piece.

[0047] Specifically, as shown in the figures, Figure 3 , Figure 5 and Figure 7 , the elastic element 331 is at least two, and each elastic element 331 is arranged in parallel and spaced apart. Each elastic element 331 is provided with a strain detection piece, or the strain detection piece is connected to multiple elastic elements 331 at the same time; in use, each elastic element 331 deforms with the relative displacement of the first connecting piece 310 and the second connecting piece 320, and the strain detection piece can measure multiple groups of data representing the force acting on the execution end. The final value of the force with high accuracy can be obtained according to the multiple groups of data, thereby further improving the detection accuracy of the force sensing assembly 300 on the force acting on the execution end, and reducing the influence of the setting position of the elastic element 331 on the detection value.

[0048] Preferably, when the number of elastic elements 331 is greater than 1, each elastic element 331 is arranged in parallel and spaced apart along the driving direction, or in parallel and spaced apart along a direction perpendicular to the driving direction.

[0049] In this embodiment, as shown in the figure, Figures 3-7As shown, a limiting structure 340 is arranged between the first connecting member 310 and the second connecting member 320, and the limiting structure 340 is configured to limit the movement stroke of the first connecting member 310 relative to the second connecting member 320 along the driving direction. The driving assembly 400 drives the first connecting member 310 and the execution assembly 200 to move linearly along the driving direction thereof to execute an action on the material, and the force applied by the material to the execution end will hinder the movement of the execution assembly 200 and the first connecting member 310, so that the first connecting member 310 and the second connecting member 320 are relatively displaced along the driving direction; the limiting structure 340 is arranged 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 by a preset stroke, so as to ensure the deformation of the elastic element 331 and the detection of the deformation amount of the elastic element 331 by the strain detection member, thereby ensuring the detection of the force applied to the execution end by the force sensor.

[0050] When the execution end is subjected to a force applied by the material that is too large, and the relative displacement of the first connecting member 310 relative to the second connecting member 320 along the driving direction is 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 deformation of the two ends of the elastic element 331 caused by the movement of the first connecting member 310 and the second connecting member 320, and reducing the damage caused by the excessive deformation of the elastic element 331, thereby protecting the elastic element 331 and the force sensing assembly 300, and ensuring the normal use of the elastic element 331 and the force sensing assembly 300.

[0051] Optionally, in the present embodiment, the limiting structure 340 can have the following forms: Figure 5 and Figure 6 As shown, the limiting structure 340 includes a first limiting portion 341 arranged on the first connecting member 310 and a second limiting portion 342 arranged on the second connecting member 320, the first limiting portion 341 is located on the side of the first connecting member 310 close to the second connecting member 320, the second limiting portion 342 is located on the 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 an activity gap 34c between the boss 34a and the limiting groove 34b on the opposite sides along the driving direction.

[0052] Exemplarily, as shown in Figure 5The first connecting piece 310 and the second connecting piece 320 are arranged in an up-down manner, the elastic element 331 is connected between the first connecting piece 310 and the second connecting piece 320, and the elastic element 331 is two, and the two elastic elements 331 are respectively located at left and right end positions of the first connecting piece 310; wherein the bottom of the first connecting piece 310 is provided with a boss 34a, the top of the second connecting piece 320 is provided with a limiting groove 34b, the boss 34a is inserted into the limiting groove 34b downward, and there is a movement gap 34c between the boss 34a and the left side wall of the limiting groove 34b, and the left and right widths of the movement gap 34c are s1, and there is a movement gap 34c between the boss 34a and the right side wall of the limiting groove 34b, and the left and right widths of the movement gap 34c are s2.

[0053] When the driving assembly 400 drives the second connecting piece 320 to move leftward along the driving direction thereof, the second connecting piece 320 drives the first connecting piece 310 and the executing assembly 200 to move leftward synchronously through the elastic element 331, until the executing end of the executing assembly 200 contacts the material and performs the pushing, picking and other actions on the material, the force applied by the material to the executing end makes the executing assembly 200 and the first connecting piece 310 relatively displace rightward by a distance a relative to the second connecting piece 320, and then the top end of the elastic element 331 moves rightward relative to the bottom end thereof, and the elastic element 331 deforms correspondingly; when a≤s2, the actuator is used normally, and the limiting groove 34b and the boss 34a have no limiting effect; when a reaches s2 and the first connecting piece 310 still has a tendency to move rightward relative to the second connecting piece 320, it indicates that the displacement of the first connecting piece 310 rightward relative to the second connecting piece 320 has reached a preset stroke, and the elastic deformation of the elastic element 331 continues to increase, which may damage the elastic element 331, at this time, the right side wall of the boss 34a abuts against the right side wall of the limiting groove 34b, the limiting groove 34b prevents the boss 34a from continuing to move rightward, and correspondingly prevents the first connecting piece 310 from continuing to move rightward relative to the second connecting piece 320, thereby limiting the rightward movement of the first connecting piece 310 relative to the second connecting piece 320, and correspondingly protecting the elastic element 331, and reducing the damage caused by the large deformation of the elastic element 331.

[0054] Similarly, when the driving assembly 400 drives the second connecting member 320 to move rightward, the execution assembly 200 performs actions such as pulling and picking the material, and the first connecting member 310 is displaced leftward relative to the second connecting member 320 by a displacement b, the top end of the elastic element 331 moves leftward relative to the bottom end, and the elastic element 331 deforms correspondingly; when b≤s1, the actuator is used normally, and the limiting slot 34b and the boss 34a do not have a limiting effect; when b reaches s1 and the first connecting member 310 still has a tendency to move leftward relative to the second connecting member 320, it indicates that the displacement of the first connecting member 310 leftward 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 slot 34b, and the limiting slot 34b prevents the boss 34a from continuing to move leftward, thereby limiting the relative movement of the first connecting member 310 leftward relative to the second connecting member 320, and correspondingly protecting the elastic element 331, reducing the damage caused by excessive deformation.

[0055] When the first connecting member 310 is provided with the limiting slot 34b and the second connecting member 320 is provided with the boss 34a, the limiting effect of the limiting slot 34b and the boss 34a is similar to the above principle, which will not be described here again; 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 the limiting structures 340 can be different, for example, as shown in the figure, the first connecting member 310 and the second connecting member 320 are provided with two limiting structures 340, 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 at the left side includes the boss 34a provided on the first connecting member 310 and the limiting slot 34b provided on the second connecting member 320, and the limiting structure 340 located at the right side includes the limiting slot 34b provided on the first connecting member 310 and the boss 34a provided on the second connecting member 320. Figure 6

[0056] Specifically, in the embodiment, as shown in the figure, the first connecting member 310 and the second connecting member 320 are provided with two limiting structures 340, 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 at the left side includes the boss 34a provided on the first connecting member 310 and the limiting slot 34b provided on the second connecting member 320, and the limiting structure 340 located at the right side includes the limiting slot 34b provided on the first connecting member 310 and the boss 34a provided on the second connecting member 320.

[0056] Specifically, in the embodiment, as shown in the figure, the first connecting member 310 and the second connecting member 320 are provided with two limiting structures 340, 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 at the left side includes the boss 34a provided on the first connecting member 310 and the limiting slot 34b provided on the second connecting member 320, and the limiting structure 340 located at the right side includes the limiting slot 34b provided on the first connecting member 310 and the boss 34a provided on the second connecting member 320. Figure 7As shown, the first connecting piece 310 comprises a first connecting segment 311 and a second connecting segment 312, and one end of the first connecting segment 311 is provided with a first recess 31a; the second connecting piece 320 comprises a third connecting segment 321 and a fourth connecting segment 322, and one end of the third connecting segment 321 is provided with a second recess 32a; wherein the extending directions of the first connecting segment 311 and the third connecting segment 321 are consistent with the driving direction, and one end of the fourth connecting segment 322 is fixedly connected to the other end of the third connecting segment 321, the other end of the fourth connecting segment 322 extends towards the first connecting segment 311 and is inserted into the first recess 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 towards the third connecting segment 321 and is inserted into the second recess 32a to form another limiting structure 340.

[0057] Exemplarily, as Figure 7 As shown by the perspective view, the horizontal direction is the driving direction, the first connecting segment 311 and the third connecting segment 321 both extend along the left-right direction and are arranged in parallel and spaced apart in the up-down direction, the right end of the first connecting segment 311 is provided with the first recess 31a towards one side of the third connecting segment 321, and the left end of the third connecting segment 321 is provided with the second recess 32a towards one side of the first connecting segment 311; the left end of the first connecting segment 311 is connected with the second connecting segment 312, the second connecting segment 312 extends towards the third connecting segment 321 and its bottom end is inserted into the second recess 32a to form a limiting structure 340 in cooperation, and there are movable gaps 34c between the bottom end of the second connecting segment 312 and the left and right side walls of the second recess 32a; the right end of the third connecting segment 321 is connected with the fourth connecting segment 322, the fourth connecting segment 322 extends towards the first connecting segment 311 and its top end is inserted into the first recess 31a to form another limiting structure 340 in cooperation, and there are movable gaps 34c between the top end of the fourth connecting segment 322 and the left and right side walls of the first recess 31a.

[0058] The first connecting piece 310 and the second connecting piece 320 of the present embodiment are of the shape of an angle, the end portions of the second connecting segment 312 and the fourth connecting segment 322 simultaneously serve as the plug-in ends and form the limiting structures 340 with the second recess 32a and the first recess 31a respectively, the structure is simple and functional, and the limiting structures 340 at the two ends of the driving direction have stronger and more stable limiting effects on the first connecting piece 310 and the second connecting piece 320.

[0059] Preferably, the first connecting segment 311 and the second connecting segment 312 are arranged approximately vertically, the third connecting segment 321 and the fourth connecting segment 322 are arranged approximately vertically, the shape accuracy of the first connecting piece 310 and the second connecting piece 320 is easily ensured, and the processing convenience is higher; at the same time, the first connecting piece 310 and the second connecting piece 320 are matched and inserted to form a rectangular structure with regular shape, and the assembly convenience and stability of the two are higher.

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

[0061] In the embodiment, the specific number and position arrangement of the elastic element 331 and the limiting structure 340 can adopt the following forms: as shown in Figure 5 , the elastic element 331 is provided with two and arranged at intervals along the driving direction, the limiting structure 340 is at least one, and the limiting structure 340 is located between the two elastic elements 331 along the driving direction. Or, as shown in Figure 6 , the limiting structure 340 is provided with two and arranged at intervals along the driving direction, the elastic element 331 is at least one, and the elastic element 331 is located between the two limiting structures 340 along the driving direction.

[0062] In the embodiment, as shown in Figure 1 and Figure 2 , the execution assembly 200 further comprises a rotary driving piece 230, the rotary driving piece 230 is arranged on the mounting seat 210 and connected to the output shaft 220, and the rotary driving piece 230 is used to drive the output shaft 220 to rotate. In use, the rotary driving piece 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, as shown in Figure 1 , the output shaft 220 is hollow inside to form an air suction channel 221 penetrating along the output shaft 220 in the axial direction, in use, one end of the output shaft 220 away from the execution end is connected to a vacuum assembly, when the execution end is close to the material, the vacuum assembly sucks the air suction channel 221 to a negative pressure state, the channel port of the air suction channel 221 located at the execution end correspondingly generates adsorption effect on the material, thereby adsorbing the material to the execution end; then, the rotary driving piece 230 can drive the output shaft 220 to rotate, thereby rotating the material and adjusting the angle of the material.

[0064] In the embodiment, as shown in Figure 1 and Figure 2As shown, the rotary driving member 230 is provided with a rotary encoder 240 located on the side of the rotary driving member 230 close to the through hole 110 along the driving direction. The rotary encoder 240 is in communication connection with the control module of the driving board 600, and is used to detect the rotation angle of the output shaft 220 and feed back the detected 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 rotation driving direction and rotation driving angle of the rotary driving member 230 to the output shaft 220, so as to realize the accurate adjustment of the rotation angle of the material.

[0065] Optionally, in the embodiment, as shown in Figure 1 and Figure 2 , the driving end of the driving assembly 400 is fixedly connected with a sliding seat 410, and the force sensing assembly 300 is fixedly connected to the sliding seat 410. The sliding seat 410 and the shell 100 are slidingly connected through a guide structure 420, and the guide direction of the guide structure 420 is consistent with the driving direction. During use, the driving assembly 400 drives the sliding seat 410 to drive the force sensing assembly 300 and the execution assembly 200 to move, and the guide structure 420 can guide and limit the movement of the sliding seat 410 along the driving direction, thereby improving the position accuracy of the execution assembly 200 moving along the driving direction under the driving of the driving assembly 400, and accordingly ensuring the smoothness of the output shaft 220 sliding relative to the through hole 110, and the accuracy of the execution assembly 200 executing actions on the material.

[0066] In the embodiment, as shown in Figure 1 and Figure 2 , a linear encoder 430 is arranged between the sliding seat 410 and the shell 100, and the linear encoder 430 is located on the side of the sliding seat 410 away from the through hole 110 along the driving direction, and on the side of the sliding seat 410 away from the execution assembly 200. The linear encoder 430 is in communication connection with the control module of the driving board 600, and is used to detect the linear displacement of the sliding seat 410 along the driving direction, and feed back the detected linear displacement signal to the control module. The control module determines the length of the execution end extending out of the shell 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 execution assembly 200, so as to realize the accurate action of the execution end to the material.

[0067] Among them, the linear encoder 430 is arranged on the side of the sliding seat 410 away from the through hole 110 and the execution assembly 200, as shown in Figure 2As shown in the perspective view, the through hole 110 is located at the upper left corner region of the shell 100, the execution assembly 200 is located above the slider and has a movement stroke in the left-right direction, and the linear encoder 430 is located at the lower right of the slider. On the basis of detecting the linear displacement of the slider in the left-right direction, the movement region of the execution assembly 200 can be avoided, the operation of the execution assembly 200 is ensured, and the compactness and rationality of the arrangement of various components in the shell 100 are improved.

[0068] Optionally, as shown in Figure 1 and Figure 2 , the shell 100 is provided with a magnetic spring 500. The magnetic spring 500 is located on the side of the sliding seat 410 away from the through hole 110 in the driving direction, and the magnetic spring 500 is connected to the sliding seat 410. When the actuator is used in the process, the execution end of the execution assembly 200 performs the action towards the lower side, the magnetic spring 500 can exert an upward force on the sliding seat 410. On the one hand, the force can compensate for the gravity of the sliding seat 410, the force sensing assembly 300 and the execution assembly 200, thereby reducing the driving load of the driving assembly 400 on the gravity of the sliding seat 410, the force sensing assembly 300 and the execution assembly 200, so that it can output greater linear thrust, and improve the driving speed and accuracy of the execution assembly 200. On the other hand, after the actuator is used, the magnetic spring 500 exerts a force on the sliding seat 410, which can pull the sliding seat 410 to drive the force sensing assembly 300 and the execution assembly 200 to return to the initial position upwards, thereby ensuring the reset stability of the execution assembly 200.

[0069] As shown in Figure 2 , the shell 100 is rectangular and is divided into four corner mounting areas. One of the four corner mounting areas 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. Among them, the driving assembly 400 is located in the first mounting area 10A, the execution assembly 200 and the force sensing assembly 300 are located in the second mounting area 10B, and the driving plate 600 of the actuator is located in the third mounting area 10C.

[0070] On one hand, the driving direction of the driving assembly 400 is consistent with the length direction of the shell 100, the execution assembly 200, the force sensing assembly 300 and the driving assembly 400 are arranged in sequence along the direction perpendicular to the driving direction, and the detection accuracy of the force sensing assembly 300 on the execution end of the execution assembly 200 subjected to the force is higher; on the other hand, the force sensing assembly 300 is located on the side of the second mounting area 10B close to the third mounting area 10C, the distance between the force sensing assembly 300 and the driving plate 600 is smaller, the distance between the two is shorter, which is more convenient for the line connection between the force sensing assembly 300 and the driving plate 600, and the operation is more convenient and the cost is lower; on the other hand, one adjacent to the second mounting area 10B along the length direction is used as the fourth mounting area 10D, the fourth mounting area 10D is vacant to reduce the interference on the force sensing assembly 300 and the execution assembly 200 when moving along the driving direction, so as to ensure the operation of the execution assembly 200; wherein the magnetic force spring 500 can be arranged in the fourth mounting area 10D.

[0071] It can be seen that through the above reasonable arrangement of the driving assembly 400, the force sensing assembly 300, the execution assembly 200, the driving plate 600 and the magnetic force spring 500 in the shell 100, not only the compactness of the structure of the actuator can be improved, but also the stable operation of the execution assembly 200 can be ensured, the accurate detection of the force sensing assembly 300 on the execution end subjected to the force can be ensured, and the convenience of wiring between the force sensing assembly 300 and the driving plate 600 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 application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An actuator, characterized by The application relates to a force sensor, which comprises a shell (100), an executing assembly (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), the executing assembly (200) comprises a mounting seat (210) and an output shaft (220) arranged in 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 with a sliding seat (410), and the force sensing assembly (300) is connected with the mounting seat (210) and the sliding seat (410). The driving assembly (400) is used for driving the sliding seat (410) to move linearly along the driving direction, the force sensing assembly (300) moves linearly along the driving direction together with the sliding seat (410) and drives the mounting seat (210) to move linearly along the driving direction, the output shaft (220) moves linearly along the driving direction together with the mounting seat (210), so that the output shaft (220) extends out of or retracts into the shell (100) through the through hole (110), and the force sensing assembly (300) is used for detecting the acting force on the output shaft. The force sensing assembly (300) comprises a first connecting piece (310), a second connecting piece (320), an elastic element (331) and a strain detection piece (332), the elastic element (331) is connected between the first connecting piece (310) and the second connecting piece (320), a deformation hole (331a) is arranged in the elastic element (331), the strain detection piece (332) is arranged on the outer side wall of the elastic element (331), and at least one strain detection piece (332) is arranged on each side of the elastic element (331); the first connecting piece (310) is connected with the mounting seat (210), and the second connecting piece (320) is connected with the sliding seat (410).

2. The actuator of claim 1, wherein, One end of the elastic element (331) close to the executing assembly (200) is connected with the first connecting piece (310), and the other end of the elastic element (331) close to the driving assembly (400) is connected with the second connecting piece (320); or, One end of the elastic element (331) along the driving direction is connected with the first connecting piece (310), and the other end of the elastic element (331) along the driving direction is connected with the second connecting piece (320); or, The elastic element (331) is at least two, and each elastic element (331) is arranged in parallel and at intervals.

3. The actuator of claim 1, wherein, A limiting structure (340) is arranged between the first connecting piece (310) and the second connecting piece (320), and the limiting structure (340) is used for limiting the movement stroke of the first connecting piece (310) relative to the second connecting piece (320) along the driving direction.

4. The actuator of claim 3, wherein, The limiting structure (340) comprises a first limiting part (341) arranged on the first connecting piece (310) and a second limiting part (342) arranged on the second connecting piece (320), the first limiting part (341) is located on the side of the first connecting piece (310) close to the second connecting piece (320), the second limiting part (342) is located on the side of the second connecting piece (320) close to the first connecting piece (310), one of the first limiting part (341) and the second limiting part (342) has a boss (34a), the other of the first limiting part (341) and the second limiting part (342) has a limiting groove (34b), the boss (34a) is inserted into the limiting groove (34b), and there is a movement gap (34c) between the boss (34a) and the limiting groove (34b) on the opposite sides of the driving direction; or, The first connecting piece (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 piece (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 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), the other end of the fourth connecting section (322) extends towards 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 towards the third connecting section (321) and is inserted into the second groove (32a) to form another limiting structure (340).

5. The actuator of claim 3, wherein, The limiting structure (340) is at least two, each limiting structure (340) is arranged along the driving direction; or, The elastic element (331) is provided with two and is arranged along the driving direction, and the limiting structure (340) is located between the two elastic elements (331) along the driving direction; or, The limiting structure (340) is provided with two and is arranged along the driving direction, and the elastic element (331) is located between the two limiting structures (340) along the driving direction.

6. The actuator of claim 1, wherein, The execution assembly (200) further comprises a rotary driving piece (230), the rotary driving piece (230) is arranged on the mounting seat (210) and is connected to the output shaft (220), and the rotary driving piece (230) is used for driving the output shaft (220) to rotate.

7. The actuator of claim 6, wherein, The rotating driving member (230) is provided with a rotary encoder (240) located on the side of the rotating driving member (230) close to the through hole (110) along the driving direction.

8. The actuator of claim 1, wherein, The shell (100) is provided with a magnetic force spring (500) located on the side of the sliding seat (410) away from the through hole (110) along the driving direction, and the magnetic force spring (500) is connected to the sliding seat (410); and / or, The sliding seat (410) and the shell (100) are provided with a linear encoder (430) located on the side of the sliding seat (410) away from the through hole (110) along the driving direction, and located on the side of the sliding seat (410) away from the execution assembly (200).

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