Actuator

Abstract

The invention provides an actuator which comprises a main shell, a power assembly and a sensor, at least part of the power assembly is located in the main shell, and the power assembly is connected with the inner wall of the main shell; the sensor comprises a sensing assembly and a sensor shell, and the sensing assembly is at least partially located in the sensor shell; the main shell comprises a first end part, and the sensor shell is welded with the first end part. The invention further provides an installation method of the actuator, the main shell, the sensing assembly and the sensor shell are provided, the sensing assembly is assembled in the sensor shell, and then the sensor shell and the main shell are welded. In the application, the sensor shell is welded with the first end part, and the sensor shell and the main shell are connected and fixed in a welding manner, so that the connection is firmer, and the situation of connection looseness is reduced.

Description

Technical Field

[0001] This application relates to the field of actuators, and particularly to the housing of an actuator. Background Art

[0002] In related technologies, an actuator includes a main housing and a force sensor. The force sensor includes a sensor housing, and the sensor housing is connected to the main housing by bolt fixation or threaded fastening. However, in actual applications, the connection may become loose due to factors such as vibration, which has a negative impact on the actuator. Summary of the Invention

[0003] This application provides an actuator, including a main housing, a power component, and a sensor. At least part of the power component is located inside the main housing, and the power component is connected to the inner wall of the main housing; the sensor includes a sensing component and a sensor housing, and at least part of the sensing component is located inside the sensor housing;

[0004] The main housing includes a first end, and the sensor housing is welded to the first end.

[0005] This application also provides an installation method for an actuator. Provide a main housing, a sensing component, and a sensor housing. Assemble the sensing component inside the sensor housing, and then weld or bond the sensor housing to the main housing.

[0006] In this application, the sensor housing is welded or bonded to the first end, and the sensor housing and the main housing are connected and fixed by welding or bonding, making the connection more secure and reducing the occurrence of loose connections. Description of the Drawings

[0007] Figure 1 Is a perspective view of the actuator in this application;

[0008] Figure 2 Is a cross-sectional view of the actuator in this application;

[0009] Figure 3 Is an exploded cross-sectional view of the actuator in this application;

[0010] Figure 4 Is a cross-sectional view of the sensor in this application;

[0011] Figure 5 Is an exploded view of the sensor in this application;

[0012] Figure 6 Is an exploded view of the sensor from another perspective in this application. Detailed Description of the Embodiments

[0013] To better understand the technical solution of the present application, the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0014] It should be clear that the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts belong to the scope of protection of the present application.

[0015] In the related art, a force sensor includes a sensing component and a sensor housing. The sensing component is connected to the inner wall of the sensor housing. When an external force from an external carrier acts, the force generated by the external carrier acts on the housing, and the housing deforms to transmit the force to the sensing component, thereby monitoring the magnitude of the applied force. However, during the process of the force sensor monitoring the action of the external carrier force, the external environment may affect the monitoring. For example, an accidental collision with the sensor housing may occur. At this time, the sensor housing may deform, and the sensing component will also detect a change in force. However, in actual situations, the force sensor only monitors the action of the external carrier force, and these situations such as accidental collisions will affect the monitoring results.

[0016] The present application provides a sensor, as Figures 4 to 6 shown, including a sensing component 301, a sensor housing 302, and a transition portion 317. The sensor housing 302 has a cavity 303. At least a part of the sensing component 301 is located in the cavity 303, and at least a part of the transition portion 317 is located in the cavity 303; the transition portion 317 and the sensor housing 302 are of a split structure. The transition portion 317 is connected to the sensor housing 302, the sensing component 301 is connected to the transition portion 317, and the transition portion 317 can be connected to an external carrier.

[0017] Connecting the sensing component 301 to the transition portion 317, and then connecting the transition portion 317 to the sensor housing 302 reduces the direct contact between the sensing component 301 and the sensor housing 302, thereby reducing the influence of deformation such as accidental collision of the sensor housing 302 on the monitoring result of the sensing component 301. Among them, the transition portion 317 can be used to connect to an external carrier. When a force is generated by the external carrier, the action of the force is directly transmitted to the sensing component 301 through the transition portion 317, and the change in the force transmitted from the transition portion 317 is monitored. At this time, if the sensor housing 302 is deformed due to an external collision or other situations, the influence on the sensing component 301 will also be reduced.

[0018] The sensing component 301 is located within the cavity 303 and does not contact the inner wall of the sensor housing 302. This allows the sensor housing 302 to protect the sensing component 301 while also leaving a clearance space between the sensor housing 302 and the sensing component 301 when the sensor housing 302 deforms, further reducing the impact on the sensing component 301. The circumferential sidewall of the transition portion 317 is connected to the inner wall of the sensor housing 302, and the two can be fixed by interference fit or welding. The fixing method is not limited here.

[0019] In one embodiment, the material strength of the transition portion 317 is defined as σ1, and the material strength of the sensor housing 302 is defined as σ2, where σ1 and σ2 satisfy the following relationship: σ1 > σ2. The material strength of the transition portion 317 is greater than that of the sensor housing 302, further avoiding the influence of the deformation of the sensor housing 302 on the sensing component 301.

[0020] The transition portion 317 includes a connecting portion 305 and a main body 318. The main body 318 is cylindrical, and the connecting portion 305 is connected to the main body 318. The main body 318 is located within the cavity 303, and at least a part of the connecting portion 305 extends out of the sensor housing 302. The connecting portion 305 and the sensing component 301 are located on opposite sides of the main body 318.

[0021] The connection between the transition portion 317 and the sensor housing 302 is achieved by interference fit or welding of the circumferential sidewall of the main body 318 with the sensor housing 302. Specifically, when monitoring the change in the force of the external carrier, a part or all of the connecting portion 305 extends out of the sensor housing 302 and is connected to the external carrier, and the main body 318 is fixedly connected to the inner wall of the sensor housing 302. In the extending direction of the axis of the main body 318, the sensing component 301 and the connecting portion 305 are located on opposite sides of the main body 318. The force of the external carrier is transmitted to the connecting portion 305. Since the main body 318 is fixedly connected to the sensor housing 302, after the connecting portion 305 is stressed, it will cause deformation of the connecting part between the main body 318 and the connecting portion 305, and the deformation of the main body 318 is transmitted to the sensing component 301, thereby enabling the monitoring of force changes.

[0022] In the radial direction of the main body 318, it is relatively difficult for the circumferential sidewall of the sensor housing 302 to deform during collision or other situations, thereby causing deformation of the main body 318 in the axial direction, and the impact on the sensing component 301 will also be reduced.

[0023] Among them, the main body 318 includes a first wall 319. The main body 318 has a receiving cavity 321. The main body 318 includes an inner wall 322 of the cavity. The opening of the receiving cavity 321 is located on the surface of the first wall 319. The inner wall 322 of the cavity is located on the periphery of the receiving cavity 321. The sensing assembly 301 includes a first circuit board 310. The first circuit board 310 is at least partially located in the receiving cavity 321. The first circuit board 310 is connected to the inner wall 322 of the cavity.

[0024] On the one hand, the receiving cavity 321 provides a receiving space for the first circuit board 310, reducing the occupied space, thereby reducing the overall volume of the sensor. On the other hand, when the receiving cavity 321 is opened, it is formed by machining from the surface of the first wall 319 of the main body 318 along the axial direction of the main body 318. While reducing the overall weight of the main body 318, it also reduces the thickness in the axial direction of the main body 318, thereby reducing the strength of the main body 318 in the axial direction and making it easier to deform. Thus, when the force of the external carrier acts on the connecting portion 305, the connecting portion 305 is more likely to cause the deformation of the main body 318, thereby transmitting the change of force to the sensing assembly 301. And in the radial direction of the main body 318, the change of the strength of the main body 318 is smaller. When affected by external environmental factors such as collision, the deformation of the sensor housing 302 has less impact on the main body 318, and thus less impact on the sensing assembly 301.

[0025] The sensing assembly 301 includes a pressure-sensitive part 307. The transition part 317 includes a boss 323. The boss 323 and the main body 318 are an integral part. The boss 323 and the connecting portion 305 are located on opposite sides of the main body 318 respectively. The boss 323 is located in the receiving cavity 321. The pressure-sensitive part 307 is electrically connected to the first circuit board 310. The boss 323 is bonded to the pressure-sensitive part 307.

[0026] The setting of the boss 323 can make the action of the force more concentrated on the pressure-sensitive part 307. The pressure-sensitive part 307 is a pressure-sensitive resistor. In one embodiment, the pressure-sensitive part 307 is a strain gauge. The area of the boss 323 is smaller compared to the area of the main body 318. If the pressure-sensitive part 307 is directly connected to the cavity wall of the receiving cavity 321, when the connecting portion 305 transmits the force to cause the deformation of the main body 318, the cavity wall of the receiving cavity 321 deforms accordingly. The deformation of the cavity wall is approximately arc-shaped. If the pressure-sensitive part 307 is in contact with the cavity wall, the magnitudes of the forces felt by different positions of the pressure-sensitive part 307 due to the deformation extrusion of the cavity wall are different, which will affect the monitoring result. The boss 323 can directly and concentratedly transmit the deformation of the cavity wall to the corresponding position of the pressure-sensitive part 307, thereby improving the accuracy of monitoring.

[0027] The provision of the boss 323 also leaves a certain space between the first circuit board 310 and the cavity wall. Thus, when the cavity wall of the receiving cavity 321 deforms, the first circuit board 310 will not come into contact with the cavity wall to cause obstruction, thereby affecting the monitoring results. At the same time, it also allows for tolerances to occur between the first circuit board 310 and the cavity wall of the receiving cavity 321 during the production process. The thickness of the strain gauge is relatively thin. If there is no provision of the boss 323 and the strain gauge is in direct contact with the cavity wall, then if the tolerance is large, the first circuit board 310 will also come into contact with the cavity wall to cause obstruction.

[0028] The main body 318 includes a second wall 320. The first wall 319 and the second wall 320 are respectively located on opposite sides of the main body 318. The connecting portion 305 is connected to the second wall 320; the sensing assembly 301 includes a second circuit board 313, and the second circuit board 313 is connected to the first wall 319.

[0029] The main body 318 is cylindrical. The first wall 319 and the second wall 320 are end faces on opposite sides of the main body 318. The second wall 320 is used to connect to the connecting portion 305. The connecting portion 305 is connected to a position near the center of the circle of the second wall 320. The first wall 319 provides a connection point for the second circuit board 313. The second wall 320 is located on the side away from the receiving cavity 321. Thus, after the connecting portion 305 is connected to the second wall 320, changes in the external carrier force can directly act on the second wall 320, causing the cavity wall of the receiving cavity 321 to deform, and further enabling the sensing assembly 301 to sense and monitor changes in force. When the transition portion 317 is connected to the sensor housing 302, the second wall 320 is in abutment or welded to the inner wall of the sensor housing 302.

[0030] The second circuit board 313 is located on the periphery of the receiving cavity 321 and is connected to the first wall 319. The first circuit board 310 is located within the receiving cavity 321. Thus, the first circuit board 310 and the second circuit board 313 will not affect each other. If there is no provision of the receiving cavity 321, not only is it difficult for the connecting portion 305 to cause deformation of the second wall 320 when transmitting force changes, but also more space needs to be left for the cavity 303 within the sensor to ensure that the first circuit board 310 and the second circuit board 313 do not interfere after installation.

[0031] The boss 323, the main body 318, and the connecting portion 305 are an integral part.

[0032] The boss 323, the main body 318, and the connecting portion 305 can be formed into an integral part by integral casting, or the three can be formed into an integral part by precision machining. The structure of the integral part makes the integrity of the structure of the transition portion 317 stronger. At the same time, it also makes the force transmission more accurate when an external carrier has a force acting on it.

[0033] The connecting portion 305 has a clamping groove 324. The connecting portion 305 is cylindrical. The clamping groove 324 is located on the circumferential surface of the connecting portion 305 close to the main body 318, and the clamping groove 324 is recessed from the circumferential surface of the connecting portion 305.

[0034] The setting of the clamping groove 324 can make the connection between the connecting portion 305 and the external carrier tighter, preventing loosening. While facilitating the connection of the external carrier, the clamping groove 324 can also limit the external carrier.

[0035] The main body 318 includes a first mounting portion 309. The first mounting portion 309 and the inner wall 322 of the cavity are an integral part, and the first circuit board 310 is connected to the first mounting portion 309.

[0036] The main body 318 includes a second mounting portion 312. The second mounting portion 312 and the first wall 319 are an integral part, and the second circuit board 313 is connected to the second mounting portion 312.

[0037] The first mounting portion 309 can facilitate the installation and fixation of the first circuit board 310. The first circuit board 310 is connected to the inner wall 322 of the cavity through the first mounting portion 309. At the same time, the first mounting portion 309 also makes a gap between the first circuit board 310 and the inner wall 322 of the cavity, thus facilitating the setting of the boss 323 and the strain gauge, and then realizing the above monitoring process. It can also prevent interference between the first circuit board 310 and the inner wall 322 of the cavity, affecting the monitoring results.

[0038] Similarly, the second mounting portion 309 also facilitates the connection between the second circuit board 313 and the first wall 319, thereby reducing the contact between the second circuit board 313 and the first wall 319, preventing the deformation of the second wall 320 from affecting the second circuit board 313, and also increasing the distance between the first circuit board 310 and the second circuit board 313, avoiding mutual influence between the two and preventing situations such as short circuit, which affect the overall operation of the sensor.

[0039] The sensor includes a filling member, and the filling member fills the cavity 303.

[0040] The filling member can fill the entire cavity 303, and its material can be epoxy resin to potting and protect the cavity 303.

[0041] In actual use, the actuator is applied to multiple fields, such as the joints of a robotic arm. In related technologies, when the actuator is applied, a force sensor is connected to the actuator to monitor the force acting on the actuator in real time. When a force acts on the actuator, the force sensor can monitor and feedback it in real time, so as to master the operation status of the actuator in real time. In one connection method, connection points are respectively arranged on the housing of the actuator sensor and the sensor housing, so as to facilitate the connection and fixation between the two through bolts. However, during the actual operation of the actuator, vibrations generated by itself and external vibrations will cause the loosening of the bolt connection, resulting in the loosening of the connection between the sensor housing and the actuator housing, which will have an adverse impact on the monitoring of the force sensor.

[0042] The present application provides an actuator, as Figures 1 to 3 shown, which includes a main housing 1, a power component 2 and a sensor 3. At least part of the power component 2 is located inside the main housing 1, and the power component 2 is connected to the inner wall of the main housing 1; the sensor 3 includes a sensing component 301 and a sensor housing 302, and at least part of the sensing component 301 is located inside the sensor housing 302; the main housing 1 includes a first end 101, and the sensor housing 302 is welded or bonded to the first end 101.

[0043] The welding of the sensor housing 302 and the first end 101 makes the connection between the sensor housing 302 and the main housing 1 more stable and the integrity better. After assembling the power component 2 and other components into the main housing 1, and then installing the sensing component 301 into the sensor housing 302, the order of their assembly is not limited here. After the assembly is completed, align the sensor housing 302 with the first end 101 and connect the two by welding.

[0044] On the one hand, the welding or bonding method is convenient for improving the connection stability between the sensor housing 302 and the main housing 1, so that the loosening of the connection between the two can be reduced even when the actuator vibrates by itself or is externally vibrated, thereby improving the overall monitoring effect of the sensor 3. On the other hand, the welding method can also reduce the setting of additional connection points on the sensor housing 302 and the main housing 1, thereby reducing the size of the actuator in the radial direction, making the overall volume of the actuator smaller, and occupying less space during actual application.

[0045] If the design solution in the related art is adopted, it is necessary to additionally weld connection points on the outer walls of the sensor housing 302 and the main housing 1, and then connect the connection points of the two with bolts to achieve the connection between the sensor housing 302 and the main housing 1. Thus, the setting of the additional connection points not only does not reduce the welding process, but also occupies a certain space. If it is applied to the field of robots, it may increase the overall volume and weight of the robots. The stability of bolt connection is poorer than that of welding, and the number of connection points set on the outer walls of the sensor housing 302 and the main housing 1 is also limited, resulting in poorer reliability of the connection between the two.

[0046] However, welding or bonding the sensor housing 302 and the main housing 1, a full-weld laser welding method can be adopted around the circumferential direction of the sensor housing 302 or the main housing 1, which not only improves the connection strength between the two, but also improves the sealing performance, and can prevent external water, dust, etc. from entering the interior of the actuator, causing negative impacts. If the solution in the related art is adopted and the bolt connection method is used, the connection between the sensor housing 302 and the main housing 1 will not be tight enough, and there will be gaps between the two. Water or dust in the external environment is likely to enter the interior of the actuator through the gaps, which may affect the operation of the actuator. Especially when the actuator is applied to high-precision fields such as robots, various sensors and complex circuit connections will be integrated, and any external factor may cause adverse effects.

[0047] Specifically, the sensor housing 302 includes an open end 325, and the open end 325 is welded to the first end 101; the sensor housing 302 has a cavity 303, the opening of the cavity 303 faces the main housing 1, and the main housing 1 has an inner cavity 110, and the cavity 303 and the inner cavity 110 can communicate with each other.

[0048] The actuator includes a gasket, and the gasket is located between the open end 325 and the first end 101.

[0049] In the connection between the sensor housing 302 and the main housing 1, it is realized by welding the open end 325 and the first end 101. The open end 325 has an opening, and the sensing component 301 is also installed into the sensor housing 302 through the opening of the open end 325. The welding of the sensor housing 302 enables the main housing 1 to omit the sealing setting of the end cover at the position of the first end 101. The sensor housing 302 can replace the function of the end cover and seal the main housing 1.

[0050] Since the sensor housing 302 also serves as an end cap, the length of the actuator in the axial direction is reduced, thereby reducing the overall volume and size of the actuator. The communication between the cavity 303 and the inner cavity 110 facilitates, on the one hand, the partial extension of the internal components of the actuator into the sensor housing 302 or the partial extension of the sensing component 301 into the main housing 1, which can further reduce the size of the main housing 1 or the sensor housing 302, and thus reduce the overall size of the actuator. On the other hand, it also enables the sealing of the sensor housing 302 at the open end 325 to be achieved through connection with the main housing 1.

[0051] If the cavity 303 of the sensor housing 302 and the inner cavity 110 of the main housing 1 are not in communication and there is an end cap blocking between them, although the functions and functions of the actuator can still be realized, there are greater requirements for the size of the actuator. On the one hand, due to the setting of the end cap, the overall size is increased. On the other hand, a certain space needs to be reserved in the cavity 303 of the sensor housing 302 for the installation of the sensing component 301, and a certain space needs to be reserved in the inner cavity 110 of the main housing 1 for the installation of the driving component 2 and other components to prevent interference and limitation between these installed components and the end cap, resulting in the situation that the end cap cannot be installed or the installed components are damaged, thereby further increasing the overall size. The communication between the cavity 303 and the inner cavity 110 reduces the occurrence of such situations.

[0052] The actuator includes an end cap 5, and the actuator includes a second end portion 102. The end cap 5 is welded to the second end portion 102 or is an integral part.

[0053] The end cap 5 is used for the sealing of the actuator at the second end portion 102. Similarly, the connection between the end cap 5 and the main housing 1 can also be achieved by welding, which can improve the sealing performance of the actuator at the position of the second end portion 102; or the end cap 5 and the main housing 1 are an integral part. When installing the internal structure of the actuator, it can be assembled through the opening at the first end portion 101. The end cap 5 and the second end portion 102 being an integral part can further improve the overall sealing performance of the actuator.

[0054] The actuator includes an output component 4. The output component 4 includes a sleeve 401 and a lead screw 402. The sleeve 401 is in threaded cooperation with the lead screw 402, and the lead screw 402 can extend out of the outside of the end cap 5; the actuator includes a first bearing seat 6, a second bearing seat 7, a first bearing 8, and a second bearing 9. The first bearing seat 6 is connected to the first end portion 101, the first bearing 8 is connected to the first bearing seat 6, the second bearing 9 is connected to the second bearing seat 7, the first bearing seat 6 is connected to the first end portion 101, and the second bearing seat 7 is connected to the second end portion 102; the first bearing 8 and the second bearing 9 are respectively connected to both ends of the sleeve 401.

[0055] The power assembly 2 is used to provide power. The sleeve 401 in the output assembly 4 is in threaded engagement with the lead screw 402. Thus, when the power assembly 2 drives the sleeve 401 to rotate, the lead screw 402 in threaded engagement with the sleeve 401 can telescopically move along the axial direction of the sleeve 401, thereby realizing the extension or retraction of the lead screw 402. The lead screw 402 passes through the end cap 5.

[0056] The first bearing 8 and the second bearing 9 are respectively used to support both ends of the sleeve 401, enabling the sleeve 401 to rotate stably, so that the lead screw 402 can smoothly move telescopically.

[0057] The actuator includes a fixed bushing 10 and a sliding bearing 11. The fixed bushing 10 is at least partially located within the end cap 5. The fixed bushing 10 is in interference fit with the inner wall of the end cap 5. The fixed bushing 10 is connected to the sliding bearing 11. In the axial direction of the lead screw 402, the sliding bearing 11 is in sliding fit with the lead screw 402.

[0058] The fixed bushing 10 facilitates the installation of the sliding bearing 11. The sliding bearing 11 and the fixed bushing 10 together can be used to limit the lead screw 402 in the circumferential direction, enabling the lead screw 402 to perform the extension or retraction action under the limitation of the sliding bearing 11.

[0059] The bushing 10 includes an abutting end 1001 which has a receiving cavity 1002. The abutting end 1001 can abut against the second bearing 9. One end of the sleeve 401 is partially located within the receiving cavity 1002. The output assembly 4 includes a nut 403 which is in threaded engagement with one end of the sleeve 401. The nut 403 is at least partially located within the receiving cavity 1002.

[0060] The abutting end 1001 can also be used to limit the second bearing 9 to prevent the position of the second bearing 9 from shifting. The bushing 10 can be first installed into the end cap 5, and then the end cap 5 can be welded to the second end portion 102. After welding, the end cap 5 can abut against the bushing 10 to limit the second bearing 9.

[0061] In another embodiment, when the end cap 5 and the main housing 1 are an integral part, the bushing 10 can be first installed into the end cap 5, and then, with the abutting end 1001 as a reference, the second bearing seat 7 and the second bearing 9 can be installed into the main housing 1. The supports of the first bearing 8 and the second bearing 9 for the sleeve 401 do not need to be symmetrical, as long as they can stably support the sleeve 401. Therefore, even with the abutting end 1001 as a reference, it will not affect the installation and positioning of the drive assembly 2 and other components.

[0062] The power assembly 2 includes a stator 201 and a rotor 202. The stator 201 is connected to the inner wall of the main housing 1, and the rotor 202 is connected to the circumferential side wall of the sleeve 401. The power assembly 2 drives the rotation of the sleeve 401 through the magnetic force cooperation between the stator 201 and the rotor 202. The specific principle has been recorded in the related art and will not be elaborated here.

[0063] The present application also provides an installation method for an actuator. Provide the main housing 1, the sensing assembly 301 and the sensor housing 302. Assemble the sensing assembly 301 into the sensor housing 302, and then weld the sensor housing 302 to the main housing 1.

[0064] Provide a gasket. The main housing 1 includes a first end 101, and the sensor housing 302 includes an open end 325. Before welding the first end 101 and the open end 325, place the gasket between the first end 101 and the open end 325.

[0065] The function of the gasket can prevent the welding slag from falling into the actuator during the welding of the sensor housing 302 and the main housing 1. On the other hand, it can also improve the stability during welding and reduce the situation of welding through the housing.

[0066] The material of the main housing 1 is steel. When processing the main housing 1, the steel pipe with the corresponding diameter size can be directly sheared, and the long steel pipe can be cut into the size lengths corresponding to multiple main housings 1. The materials of the sensor housing 302 and the end cap 5 can be galvanized sheets, which can be formed by stamping. Then, after installing the internal components of the sensor housing 302 and the main housing 1, welding treatment is carried out. The processing is simple and convenient, and the material of the main housing 1 is changed from aluminum in the related art to steel, so the strength is improved and the cost is relatively low.

[0067] The above embodiments are only used to illustrate the present application and do not limit the technical solutions described in the present application. The understanding of this specification should be based on those skilled in the art of the relevant technical field. For example, the directional descriptions such as "front", "rear", "left", "right", "up", and "down" are only used to describe the relationship between objects and are not substantial limitations. "Multiple" means at least two or more.

[0068] Although this specification has described the present application in detail with reference to the above embodiments, those of ordinary skill in the art should understand that those skilled in the relevant technical field can still modify the present application or make equivalent substitutions. All technical solutions and their improvements that do not depart from the spirit and scope of the present application should be covered within the scope of the claims of the present application.

Claims

1. An actuator, characterized in that, It includes a main housing (1), a power assembly (2) and a sensor (3). At least part of the power assembly (2) is located inside the main housing (1), and the power assembly (2) is connected to the inner wall of the main housing (1); the sensor (3) includes a sensing assembly (301) and a sensor housing (302), and at least part of the sensing assembly (301) is located inside the sensor housing (302). The main housing (1) includes a first end (101), and the sensor housing (302) is welded or bonded to the first end (101).

2. The actuator according to claim 1, characterized in that, The sensor housing (302) includes an open end (325), and the open end (325) is welded to the first end (101); the sensor housing (302) has a cavity (303), the opening of the cavity (303) faces the main housing (1), and the main housing (1) has an inner cavity (110), and the cavity (303) and the inner cavity (110) can communicate with each other.

3. The actuator according to claim 2, characterized in that, The actuator includes a gasket, and the gasket is located between the open end (325) and the first end (101).

4. The actuator according to claim 1, 2 or 3, characterized in that, The actuator includes an end cap (5), the actuator includes a second end (102), and the end cap (5) is welded to the second end (102) or is an integral part.

5. The actuator according to claim 4, characterized in that, The actuator includes an output assembly (4), the output assembly (4) includes a sleeve (401) and a lead screw (402), the sleeve (401) is in threaded cooperation with the lead screw (402), and the lead screw (402) can extend out of the outside of the end cap (5). The actuator includes a first bearing seat (6), a second bearing seat (7), a first bearing (8) and a second bearing (9). The first bearing seat (6) is connected to the first end (101), the first bearing (8) is connected to the first bearing seat (6), the second bearing (9) is connected to the second bearing seat (7), the first bearing seat (6) is connected to the first end (101), and the second bearing seat (7) is connected to the second end (102). The first bearing (8) and the second bearing (9) are respectively connected to both ends of the sleeve (401).

6. The actuator according to claim 5, wherein The actuator includes a fixed bushing (10) and a sliding bearing (11). At least part of the fixed bushing (10) is located inside the end cap (5), the fixed bushing (10) is in interference fit with the inner wall of the end cap (5), the fixed bushing (10) is connected to the sliding bearing (11), and in the axial direction of the lead screw (402), the sliding bearing (11) is in sliding cooperation with the lead screw (402).

7. The actuator according to claim 5 or 6, characterized in that, The bushing (10) includes an abutting end (1001), the abutting end (1001) has a receiving cavity (1002), and the abutting end (1001) can abut against the second bearing (9). One end of the sleeve (401) is partially located inside the receiving cavity (1002). The output component (4) includes a nut (403), the nut (403) is in threaded fit with one end of the sleeve (401), and the nut (403) is at least partially located in the accommodation cavity (1002).

8. The actuator according to claim 1 or 2, characterized in that, The power component (2) includes a stator (201) and a rotor (202), the stator (201) is connected to the inner wall of the main housing (1), and the rotor (202) is connected to the circumferential side wall of the sleeve (401).

9. An installation method of an actuator, characterized in that, Provide a main housing (1), a sensing component (301) and a sensor housing (302), assemble the sensing component (301) in the sensor housing (302), and then weld the sensor housing (302) to the main housing (1).

10. The actuator according to claim 9, characterized in that, Provide a gasket, the main housing (1) includes a first end (101), and the sensor housing (302) includes an open end (325); before welding the first end (101) to the open end (325), place the gasket between the first end (101) and the open end (325).

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