Actuator

Abstract

The actuator comprises a speed reducer and a driving unit, the driving unit is in transmission connection with the speed reducer, the actuator comprises a first shell, a second shell and a fastener, at least part of the speed reducer is located in a shell cavity of the first shell, at least part of the driving unit is located in a shell cavity of the second shell, and the speed reducer comprises a rigid wheel; the first shell, the second shell and the rigid wheel can be connected through the same fastening piece, so that the first shell, the second shell and the rigid wheel can be connected and fixed through the same fastening piece, and the installation technology when the first shell, the second shell and the rigid wheel are connected and fixed can be simplified.

Description

Technical Field

[0001] The present application belongs to the technical field of actuators, and specifically relates to an actuator. Background Art

[0002] Actuators used in rotary joints generally include speed control units, which include various structural types, such as planetary gear speed control units, reducers, etc. Taking reducers as an example, reducers usually include rigid wheels and flexible wheels. The reducers in actuators have two connection forms. One is that the rigid wheel is fixed and the flexible wheel is connected to the output unit as the output structure; the other is that the flexible wheel is fixed and the rigid wheel is connected to the output unit as the output structure.

[0003] For the form of the actuator in which the rigid wheel is fixed and the flexible wheel is connected to the output unit as the output structure, the rigid wheel is generally fixed by connecting and fixing it to the shell. In the related art, two staggered connection holes are designed and processed in the first shell (the axes of the connection holes do not overlap), the first screw is located in one of the connection holes, and the second screw is located in the other connection hole. The rigid wheel is connected and fixed to the first shell by the first screw, and the second shell is connected and fixed to the first shell by the second screw. At least two screws (the first screw and the second screw) are required to connect and fix the rigid wheel, the first shell and the second shell, which makes the installation process complicated when the rigid wheel, the first shell and the second shell are connected and fixed. Summary of the Invention

[0004] The present application aims to provide an actuator that can simplify the installation process of the rigid wheel, the first shell and the second shell.

[0005] In order to achieve the above-mentioned object, the present application provides an actuator, characterized in that: it includes a reducer and a drive unit, wherein the drive unit is transmission-connected to the reducer;

[0006] The actuator includes a first housing, a second housing, and a fastener, at least part of the reducer is located in the housing cavity of the first housing, and at least part of the drive unit is located in the housing cavity of the second housing;

[0007] The reducer includes a rigid wheel, the first housing has a first connecting hole, the second housing has a second connecting hole, and the rigid wheel has a third connecting hole. The axes of the first connecting hole, the second connecting hole, and the third connecting hole coincide. The fastener includes a first portion, a second portion, and a third portion. The first portion is located in the first connecting hole, the second portion is located in the second connecting hole, and the third portion is located in the third connecting hole.

[0008] The actuator provided in the present application includes a first shell, a second shell, a fastener and a reducer, the reducer includes a rigid wheel, the first shell has a first connecting hole, the second shell has a second connecting hole, and the rigid wheel has a third connecting hole, wherein the fastener portion is located in the first connecting hole, the fastener portion is located in the second connecting hole, and the fastener portion is located in the third connecting hole, so that the first shell, the second shell and the rigid wheel can be connected and fixed by the same fastener, thereby simplifying the installation process when the first shell, the second shell and the rigid wheel are connected and fixed. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0010] Figure 1 A three-dimensional diagram of an actuator provided in one embodiment of the present application;

[0011] Figure 2 This is an exploded schematic diagram of the first shell, the second shell and the rigid wheel provided in one embodiment of the present application;

[0012] Figure 3 for Figure 2 A partial cross-sectional view of the first housing, the second housing and the rigid wheel;

[0013] Figure 4 for Figure 3 A three-dimensional diagram of the cooperation between the first shell, the second shell and the rigid wheel;

[0014] Figure 5 A three-dimensional diagram of a rigid wheel provided in one embodiment of the present application;

[0015] Figure 6 A partial cross-sectional view of an actuator provided in one embodiment of the present application;

[0016] Figure 7 A cross-sectional view of an actuator provided in one embodiment of the present application;

[0017] Figure 8 A cross-sectional view of an actuator provided in another embodiment of the present application.

[0018] In the figure: 1- reducer; 11- cam; 111- first boss; 112- second boss; 113- third boss; 12- flexible pulley; 13- flexible bearing; 14- rigid pulley; 140- third connecting hole; 145- rigid pulley plate; 146- rigid pulley cylinder; 2- drive unit; 21- rotor; 211- rotor core; 2110- weight reduction groove; 2111- first groove; 2112- second groove; 211a- First end; 211b-second end; B1-first end face; B2-second end face; 212-magnetic steel; 22-stator; 221-stator core; 222-cladding layer; 23-motor adapter PCB board; 3-output unit; 31-output flange; 32-output member; 321-first plate; 322-cylinder; A1-first bearing; A11-first bearing inner ring; A12-first bearing outer ring; A2-first Second bearing; A21 - second bearing inner ring; A22 - second bearing outer ring; A3 - third bearing; B - fastener; C1 - first limiting structure; 141 - first wall; 611 - fifth wall; C2 - second limiting structure; 143 - third wall; 621 - sixth wall; C3 - third limiting structure; 147 - seventh wall; 612 - eighth wall; S - outer peripheral wall of the rigid wheel; 4 - sleeve; 51 - first limiting member; 52 - second Limiting member; 53-third limiting member; 54-fourth limiting member; 55-fifth limiting member; 61-first shell; 610-first connecting hole; 62-second shell; 620-second connecting hole; 621-shell extension; 8-avoidance hole groove; 9-sealing ring; 10-avoidance space; 15-support member; 16-end cover; 17-encoder driver board; 18-support; 19-low-speed end magnetic ring; 20-high-speed end magnetic ring. DETAILED DESCRIPTION

[0019] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0020] The terms used in this application are for the purpose of describing particular embodiments only and are not intended to limit this application. As used in this application and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0021] It should be understood that the words “first”, “second” and similar terms used in the specification and claims of this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as “a” or “an” do not indicate a quantity limitation, but rather indicate the presence of at least one; “plurality” indicates a quantity of two or more. Unless otherwise indicated, words such as “front”, “rear”, “lower” and / or “upper” are for ease of description only and are not limited to one position or one spatial orientation. Words such as “include” or “comprising” and similar terms mean that the elements or objects appearing before “include” or “comprising” cover the elements or objects listed after “include” or “comprising” and their equivalents, and do not exclude other elements or objects.

[0022] The following is a detailed description of exemplary embodiments of the present application in conjunction with the accompanying drawings. In the absence of conflict, the features of the following embodiments and implementations can complement or be combined with each other.

[0023] The present application provides an actuator, which includes a reducer 1 and a drive unit 2 , wherein the drive unit 2 is in transmission connection with the reducer 1 .

[0024] The actuator of the present application includes a first housing 61, a second housing 62 and a fastener B. At least part of the reducer 1 is located in the housing cavity of the first housing 61, and at least part of the drive unit 2 is located in the housing cavity of the second housing 62.

[0025] The reducer 1 of the present application includes a rigid wheel 14, a first housing 61 having a first connecting hole 610, a second housing 62 having a second connecting hole 620, and a rigid wheel 14 having a third connecting hole 140. The axes of the first connecting hole 610, the second connecting hole 620 and the third connecting hole 140 coincide, so that the first housing 61, the second housing 62 and the rigid wheel 14 can be connected and fixed by the same fastener B, that is, the same fastener B connects the first housing 61, the second housing 62 and the rigid wheel 14.

[0026] In the present application, the actuator includes a first shell 61, a second shell 62, a fastener B and a reducer 1, and the reducer 1 includes a rigid wheel 14. The same fastener B connects the first shell 61, the second shell 62 and the rigid wheel 14, so that the first shell 61, the second shell 62 and the rigid wheel 14 can be connected and fixed by the same fastener B, thereby simplifying the installation process when the first shell 61, the second shell 62 and the rigid wheel 14 are connected and fixed.

[0027] According to a specific embodiment of this application, please refer to Figures 1 to 8The actuator is applied to the rotary joint. The actuator includes a reducer 1 and a drive unit 2. The drive unit 2 is transmission-connected to the reducer 1. The drive unit 2 provides driving force for the reducer 1. The drive unit 2 in the actuator applied to the rotary joint provides rotational driving force for the reducer 1.

[0028] In this embodiment, the actuator includes a first housing 61 and a second housing 62 , at least part of the reducer 1 is located in the housing cavity of the first housing 61 , and at least part of the drive unit 2 is located in the housing cavity of the second housing 62 ;

[0029] The housing of the actuator is set to a split structure, that is, the housing of the actuator is divided into a first shell 61 and a second shell 62, the first shell 61 has a first shell cavity, at least part of the reducer 1 is located in the first shell cavity, the second shell 62 has a second shell cavity, at least part of the drive unit 2 is located in the second shell cavity.

[0030] The first housing 61 and the second housing 62 are arranged along the axial direction of the driving unit 2; the first housing cavity and the second housing cavity are arranged in communication.

[0031] The actuator includes a fastener B, the reducer 1 includes a rigid wheel 14, the first housing 61 has a first connecting hole 610, the second housing 62 has a second connecting hole 620, and the rigid wheel 14 has a third connecting hole 140. The first connecting hole 610, the second connecting hole 620 and the third connecting hole 140 are communicable. Part of the fastener B is located in the first connecting hole 610, part of the fastener B is located in the second connecting hole 620, and part of the fastener B is located in the third connecting hole 140. It should be noted that part of the fastener B located in the first connecting hole 610, part of the fastener B located in the second connecting hole 620, and part of the fastener B located in the third connecting hole 140 belong to the same fastener B, that is, the fastener B includes a first part, a second part and a third part, wherein the first part is located in the first connecting hole 610, the second part is located in the second connecting hole 620, and the third part is located in the third connecting hole 140;

[0032] The axes of the first connecting hole 610, the second connecting hole 620 and the third connecting hole 140 coincide, so that the first shell 61, the second shell 62 and the rigid wheel 14 can be connected and fixed by the same fastener B. The same fastener B of the present application connects the first shell 61, the second shell 62 and the rigid wheel 14. Compared with the background technology in which at least two screws are required to connect and fix the first shell 61, the second shell 62 and the rigid wheel 14, the installation / assembly / assembly process of the present embodiment is simpler because the first shell 61, the second shell 62 and the rigid wheel 14 can be connected by one fastener B.

[0033] The reducer 1 is configured as a harmonic reducer.

[0034] Secondly, this embodiment can reduce the number of fasteners B used to connect and fix the first housing 61 , the second housing 62 and the rigid wheel 14 , which is beneficial for simplifying the assembly process of the actuator.

[0035] In addition, this embodiment can reduce the number of threaded holes opened in the upper shell 61 (the background technology requires processing two staggered threaded holes in the upper shell 61, while this embodiment only requires processing one connecting hole in the upper shell 61), so this embodiment can simplify the processing technology.

[0036] In this embodiment, one of the first connecting hole 610, the second connecting hole 620 and the third connecting hole 140 extends toward any one of the other two, and the fastener B is partially located in the first connecting hole 610, the fastener B is partially located in the second connecting hole 620, and the fastener B is partially located in the third connecting hole 140.

[0037] In the present application, one of the first connection hole 610, the second connection hole 620 and the third connection hole 140 extends continuously to at least one of the other two, that is, the first connection hole 610 and the second connection hole 620 extend continuously, the second connection hole 620 and the third connection hole 140 extend continuously, and the first connection hole 610 and the third connection hole 140 extend continuously. In other words, the first connection hole 610, the second connection hole 620 and the third connection hole 140 are arranged to be interconnected, and one of the first connection hole 610, the second connection hole 620 and the third connection hole 140 is connected to the other two.

[0038] One of the first connection hole 610, the second connection hole 620 and the third connection hole 140 is located between the other two. The connection hole that is in the middle position among the first connection hole 610, the second connection hole 620 and the third connection hole 140 and connects the other two is defined as the middle connection hole, and the middle connection hole extends toward the other two connection holes.

[0039] In this embodiment, the third connection hole 140 is located between the first connection hole 610 and the second connection hole 620. Figure 3 and Figure 4 As shown, the third connecting hole 140 and the first connecting hole 610 extend continuously, the third connecting hole 140 and the second connecting hole 620 extend continuously, the same fastener B is partially located in the first connecting hole 610, the same fastener B is partially located in the second connecting hole 620, and the same fastener B is partially located in the third connecting hole 140, that is, parts of the same fastener B are respectively located in the first connecting hole 610, the second connecting hole 620 and the third connecting hole 140.

[0040] Preferably, the first connection hole 610 , the third connection hole 140 and the second connection hole 620 are coaxially arranged.

[0041] Furthermore, the first connecting hole 610 passes through the first shell 61 along the axial direction of the drive unit 2. The first connecting hole 610 includes a large diameter section 6101 and a small diameter section 6102. The large diameter section 6101 and the small diameter section 6102 are connected. The large diameter section 6101 is farther away from the third connecting hole 140 than the small diameter section 6102. When the fastener B is selected as a screw, the screw head of the screw can be placed in the large diameter section 6101 to facilitate the placement of the screw and the passage of a wrench for tightening the screw through the hole.

[0042] In the present application, the fastener B is preferably but not limited to one or more of a screw, a bolt, and a pin.

[0043] This embodiment is described by taking the fastener B as a screw as an example. Figure 6 As shown, the first connecting hole 610 is at least partially set as a threaded hole, the second connecting hole 620 is at least partially set as a threaded hole, and the third connecting hole 140 can be set as a threaded hole or a smooth hole (that is, the wall forming the third connecting hole 140 is not designed with a threaded structure).

[0044] In this embodiment, the first housing 61 is connected to the rigid wheel 14 , and the rigid wheel 14 is connected to the second housing 62 .

[0045] In this embodiment, the fastener B connects the first housing 61 and the rigid wheel 14 , and at the same time, the fastener B connects the rigid wheel 14 and the second housing 62 .

[0046] Optionally, the first shell 61 and the second shell 62 are arranged along the axial direction of the driving unit 2 .

[0047] At least a portion of the rigid wheel 14 is located between the first shell 61 and the second shell 62 , and the third connection hole 140 is connected to the first connection hole 610 and the second connection hole 620 .

[0048] In this embodiment, the rigid wheel 14 includes a rigid wheel plate portion 145 and a rigid wheel cylinder portion 146 , and the rigid wheel plate portion 145 and the rigid wheel cylinder portion 146 are assembled and connected or are an integral part;

[0049] like Figure 3 As shown, this embodiment is described by taking the rigid wheel plate portion 145 and the rigid wheel cylinder portion 146 as an integral part as an example.

[0050] At least part of the rigid wheel plate portion 145 is located between the first shell 61 and the second shell 62, and the third connecting hole 140 passes through the rigid wheel plate portion 145 along the axial direction of the driving unit 2. Figure 4 As shown, part of the rigid wheel cylinder portion 146 is located in the shell cavity of the first shell 61 , and part of the rigid wheel cylinder portion 146 is located in the shell cavity of the second shell 62 .

[0051] The rigid wheel cylinder portion 146 is configured as a cylindrical structure or a substantially cylindrical structure.

[0052] In this embodiment, the actuator includes a first limiting structure C1, which is located between the rigid wheel 14 and the first housing 61. The first limiting structure C1 includes a first wall 141 and a fifth wall 611 that cooperate with each other. The first wall 141 and the fifth wall 611 cooperate to limit the radial movement of the rigid wheel 14 and the first housing 61 along the rigid wheel 14. The wall forming the rigid wheel 14 includes at least the first wall 141, and the wall forming the first housing 61 includes at least the fifth wall 611. Figure 3 and Figure 4 It is known;

[0053] like Figure 3 As shown, the wheel 14 includes a wheel outer peripheral wall S, and the maximum distance between the first wall 141 and the wheel outer peripheral wall S is L1, where L1>0.

[0054] In this embodiment, the first wall 141 is located at the conical wheel cylinder portion 146 , and the conical wheel outer peripheral wall S is located at the conical wheel plate portion 145 .

[0055] In addition, the actuator includes a second limiting structure C2, such as Figure 3 and Figure 4 As shown, the second limiting structure C2 is located between the rigid wheel 14 and the second housing 62. The second limiting structure C2 includes a third wall 143 and a sixth wall 621 that cooperate with each other. The third wall 143 and the sixth wall 621 cooperate to limit the radial movement of the rigid wheel 14 and the second housing 62 along the rigid wheel 14. The wall forming the rigid wheel 14 includes at least the third wall 143, and the wall forming the second housing 62 includes at least the sixth wall 621.

[0056] like Figure 3 As shown, the rigid wheel 14 includes a rigid wheel outer peripheral wall S, and the maximum distance between the third limiting surface 143 and the rigid wheel outer peripheral wall S is L2, where L2>0.

[0057] In this embodiment, the third wall 143 is located at the rigid wheel cylinder portion 146 , and the rigid wheel outer peripheral wall S is located at the rigid wheel plate portion 145 .

[0058] Preferably, in this embodiment, the reference plane of the third wall 143 is coplanar / coincides with the reference plane of the first wall 141, that is, the reference plane of the third wall 143 and the reference plane of the first wall 141 are the same reference plane. Of course, in other embodiments, the reference plane of the third wall 143 and the reference plane of the first wall 141 are designed to be non-coinciding.

[0059] The actuator of the present application can simultaneously process the first wall 141 that limits the first shell 61 and the third wall 143 that limits the second shell 62 based on a reference when processing the rigid wheel 14, which makes it easier to ensure the shape and position tolerances of the first wall 141 and the third wall 143, and can improve the reliability of the assembly of the first shell 61, the second shell 62 and the rigid wheel 14, ensure the concentricity of the first shell 61, the second shell 62 and the rigid wheel 14, and facilitate subsequent installation.

[0060] In this embodiment, the rigid wheel 14 has a first limiting groove 14a, a portion of the first housing 61 is located in the first limiting groove 14a, and the rigid wheel 14 is connected to the first housing 61;

[0061] The rigid wheel 14 includes a first wall 141 and a second wall 142. The wall forming the first limiting groove 14a includes the first wall 141 and the second wall 142. Figure 2 and Figure 3 shown.

[0062] Furthermore, the rigid wheel 14 has a second limiting groove 14b, a portion of the second housing 62 is located in the second limiting groove 14b, and the rigid wheel 14 is connected to the second housing 62;

[0063] The rigid wheel 14 includes a third wall 143 and a fourth wall 144 , and the walls forming the second limiting groove 14 b include the third wall 143 and the fourth wall 144 .

[0064] The actuator of this embodiment can simultaneously process the first limiting groove 14a for limiting the first shell 61 and the second limiting groove 14b for limiting the second shell 62 based on a reference when processing the rigid wheel 14, which makes it easier to ensure the shape and position tolerances of the first limiting groove 14a and the second limiting groove 14b, so as to improve the reliability of the assembly of the first shell 61, the second shell 62 and the rigid wheel 14, ensure the concentricity of the first shell 61, the second shell 62 and the rigid wheel 14, and facilitate subsequent installation.

[0065] Optionally, the second wall 142 and the fourth wall 144 are arranged in parallel.

[0066] The actuator includes an output unit 3 and a third bearing A3, and the reducer 1 is transmission-connected to the output unit 3;

[0067] The output unit 3 includes an output flange 31 , and the third bearing A3 connects the output flange 31 and the first housing 61 .

[0068] The third bearing A3 is preferably, but not limited to, a cross roller bearing.

[0069] This embodiment is described by taking the third bearing A3 as a cross roller bearing as an example. Figure 6 and Figure 7As shown, the crossed roller bearing of this embodiment is preferably, but not limited to, a split-type crossed roller bearing. The crossed roller bearing includes a crossed roller inner ring, a crossed roller outer ring, and crossed rollers. The crossed rollers connect the crossed roller inner ring and the crossed roller outer ring. The crossed roller outer ring is fixedly connected to the first housing 61, and the crossed roller inner ring is integrated with the output flange 31. The crossed roller outer ring can be fixed to the first housing 61 using screws, bolts, or pins.

[0070] The reducer 1 includes a cam 11, a flexible spline 12 and a flexible bearing 13. The flexible bearing 13 is located between the cam 11 and the flexible spline 12, and the flexible bearing 13 connects the cam 11 and the flexible spline 12. Part of the flexible spline 12 is transmission-connected to the rigid spline cylinder 146, and the rigid spline plate portion 145 is located on the side of the rigid spline cylinder 146 away from the flexible spline 12.

[0071] The output unit 3 includes an output member 32 , an output flange 31 connected to the flexspline 12 , and the flexspline 12 connected to the output member 32 ;

[0072] The actuator includes a sleeve 4, which is connected to the output flange 31, and the sleeve cavity of the sleeve 4 passes through the sleeve 4 along the length direction of the sleeve 4;

[0073] The length direction of the sleeve 4 is parallel to the axial direction of the drive unit 2;

[0074] Optionally, the sleeve 4 has a avoidance slot 8, such as Figure 6 、 Figure 7 and Figure 8 As shown, the design of the avoidance slot 8 helps to operate the sleeve 4 to achieve the connection between the sleeve 4 and the output flange 31 .

[0075] Optionally, the output flange 31 has a mounting groove, and the actuator includes a sealing ring 9 . The sealing ring 9 is located in the mounting groove, and the sealing ring 9 is fixedly connected to the output flange 31 .

[0076] In this embodiment, the actuator includes a first limiting member 51 , which is connected to the cylindrical portion 322 and cooperates with the first bearing A1 ; the first limiting member 51 is preferably but not limited to a retaining spring.

[0077] The actuator includes a second limiting member 52 , which is connected to the cylindrical portion 322 and cooperates with the second bearing A2 ; the second limiting member 52 is preferably but not limited to a retaining spring.

[0078] The first limit member 51 is located on the side of the first bearing A1 away from the second bearing A2, and the second limit member 52 is located on the side of the second bearing A2 away from the first bearing A1; the length direction of the cylindrical portion 322 is parallel to the axial direction of the driving unit 2, and the first bearing A1 and the second bearing A2 are arranged along the length direction of the cylindrical portion 322.

[0079] In this embodiment, if Figure 6 As shown, the actuator includes a third limiting member 53 , which is connected to the cam 11 , and at least partially connected to the first bearing A1 .

[0080] The actuator of this embodiment further includes a fourth stopper 54. One end of the fourth stopper 54 is connected to the first bearing A1, the other end of the fourth stopper 54 is connected to the second bearing A2, and at least one of the cam 11 and the barrel 322 is connected to the fourth stopper 54. The fourth stopper 54 is preferably, but not limited to, a sleeve.

[0081] This embodiment is described by taking the connection between the cam 11 and the fourth limiting member 54 as an example. Figure 6 and Figure 7 As shown, the wall forming the first cavity 110 is in at least partial contact with the fourth stopper 54. Of course, in some other embodiments, the fourth stopper 54 can be connected to the barrel portion 322.

[0082] The first limiting member 51 in combination with the fourth limiting member 54 and the third limiting member 53 can limit the movement of the first bearing A1 along the axis of the drive unit 2, and the second limiting member 52 in combination with the fourth limiting member 54 and the first boss 111 can limit the movement of the second bearing A2 along the axis of the drive unit 2.

[0083] At the same time, the third limiting member 53 in combination with the second boss 112 and / or the third boss 113 can limit the movement of the cam 11 along the axis direction of the driving unit 2 .

[0084] In this application, the actuator includes a support member 15, such as Figure 7 and Figure 8 As shown, the support member 15 is connected to the cam 11, and the flexible bearing 13 is in abutment with the support member 15. The support member 15 is used to support the flexible bearing 13. The support member 15 and the cam 11 are preferably but not limited to being connected by screws.

[0085] The actuator includes an end cap 16 and an encoder driver board 17. At least one of the end cap 16 and the second housing 62 has a first slot, in which the encoder driver board 17 is located. In other words, the first slot in the end cap 16 and the location of the encoder driver board 17 in the first slot improve the concentricity of the installation between the end cap 16 and the encoder driver board 17. Alternatively, the first slot in the second housing 62 and the location of the encoder driver board 17 in the first slot improve the concentricity of the installation between the encoder driver board 17 and the second housing 62.

[0086] Optionally, the end cover 16 is connected to the second shell 62 , and the end cover 16 is located at an end of the second shell 62 away from the first shell 61 . The end cover 16 and the second shell 62 can be fixed by screws.

[0087] The output member 32 includes a first plate portion 321 and a cylindrical portion 322. The first plate portion 321 and the cylindrical portion 322 are assembled and connected or form an integral part. The first plate portion 321 is located on a side of the flexspline 12 away from the output flange 31. The plate surface of the first plate portion 321 at least partially contacts the inner wall of the flexspline 12. The first plate portion 321 is connected to the flexspline 12, and the flexspline 12 is connected to the output flange 31.

[0088] Optionally, the output flange 31 has a threaded hole with an internal thread, the sleeve 4 is designed with an external thread, and the sleeve 4 is fixed to the output flange 31 through a threaded connection.

[0089] The actuator further includes a bracket 18, a low-speed end magnetic ring 19, and a high-speed end magnetic ring 20. The low-speed end magnetic ring 19 is connected to the sleeve 4, and the high-speed end magnetic ring 20 is connected to the bracket 18. The drive unit 2 includes a rotor portion 21. The bracket 18 is connected to the rotor portion 21. The bracket 18 connects the high-speed end magnetic ring 20 and the rotor portion 21. Specifically, the bracket 18 connects the high-speed end magnetic ring 20 and the rotor core 211.

[0090] The low-speed end magnetic ring 19 and the sleeve 4 can be connected and fixed together using mounting components. Bracket 18 isolates the magnetic field of the low-speed end magnetic ring 19 from the magnetic field of the high-speed end magnetic ring 20. Furthermore, bracket 18 can also be made of a magnetic isolation material to enhance its magnetic isolation effect.

[0091] In the present application, the actuator includes a first bearing A1 and a second bearing A2. The first bearing A1 and the second bearing A2 are arranged along the axial direction of the drive unit 2. Compared with the first bearing A1, the second bearing A2 is closer to the drive unit 2.

[0092] The first bearing A1 is located between the cam 11 and the output member 32 and connects the two members. The second bearing A2 is located between the cam 11 and the output member 32 and connects the two members. The output member 32 can fix the flexspline 12 and the output flange 31.

[0093] Optionally, the output member 32 , the flexible spline 12 and the output flange 31 can be connected and fixed by the same screw, and the present application does not limit the number of screws connecting the output member 32 , the flexible spline 12 and the output flange 31 .

[0094] Optionally, the cam 11 includes a first boss 111, and the first boss 111 is in contact with the second bearing A2. Figure 6 and Figure 7 shown.

[0095] In this embodiment, the first bearing A1 connects the cam 14 and the output member 32 . Specifically, the first bearing A1 connects the cam 14 and the cylindrical portion 322 .

[0096] In this embodiment, the cam 11 has a first cavity 110, and the first bearing A1 and the second bearing A2 are both located in the first cavity 110. Figure 6 and Figure 7 shown.

[0097] Of course, in some other embodiments, the second bearing A2 may be placed in other positions, such as Figure 8 As shown, the second bearing A2 is located between the cam 11 and the second housing 62, and the second bearing A2 connects the cam 11 and the second housing 62. Specifically, the second housing 62 includes a housing extension 621, and the second bearing A2 is located between the cam 11 and the housing extension 621, and the second bearing A2 connects the cam 11 and the housing extension 621.

[0098] The rotor part 21 includes a rotor core 211 and a magnet 212 . The rotor core 211 has a second slot. The magnet 212 is located in the second slot. The second slot can support the position of the limiting magnet 212 to improve the accuracy and efficiency of the assembly of the magnet 212 and the rotor core 211 .

[0099] In some other embodiments, such as Figure 8 As shown, the rotor core 211 has a weight-reducing groove 2110 , and the rotor core 211 can be limited along its axial direction by relying on the fifth limiting member 55 and the step on the cam 11 .

[0100] The rotor core 211 is connected to the cam 11 , and the connection between the rotor core 211 and the cam 11 is preferably but not limited to an interference fit connection.

[0101] The driving unit 2 includes a stator portion 22 , which is in transmission connection with the rotor portion 21 , and is located on a side of the rotor portion 21 away from the cam 11 ;

[0102] In this embodiment, the stator portion 22 and the rotor portion 21 constitute a driving motor of the inner rotor and outer stator type.

[0103] Optionally, the stator portion 22 includes a stator core 221 and a cladding layer 222, wherein the cladding layer 222 wraps the stator core 221. Figure 6 The coating layer 222 may be a potting material.

[0104] Furthermore, the covering layer 222 of the stator portion 22 has an inclined surface 2220 for avoiding the bracket 18 .

[0105] The drive unit 2 includes a motor transfer PCB board 23, which is coated on the coating layer 222 of the stator part 22. In other words, the coating layer 222 wraps the motor transfer PCB board 23. Figure 6 、 Figure 7 and Figure 8 shown.

[0106] Preferably, at least one of the output flange 31 , the drive unit 2 , the end cover 16 , the upper shell 61 and the lower shell 62 has a slot for reducing weight.

[0107] In this embodiment, the actuator includes an oil seal 91, which is located between the stator portion 22 and the cam 11. Specifically, the oil seal 91 is located between the coating layer 222 and the cam 11. Figure 6 The oil seal 91 is configured as an annular structure or a substantially annular structure. The small-diameter ring wall of the oil seal 91 is connected and matched with the cam 11, and the large-diameter ring wall of the oil seal 91 is connected and matched with the coating layer 222. The oil seal 91 can reduce the amount of lubricating grease accumulated at the flexible bearing 13 in the reducer 1 and flow toward the drive unit 2, and can prevent some of the lubricating grease from leaking toward the drive unit 2.

[0108] The cam 11 includes a second boss 112 , which is in abutment with the rotor core 211 . The second boss 112 cooperates with the bracket 18 to limit the movement of the rotor core 211 along the axis of the drive unit 2 .

[0109] The cam 11 includes a third boss 113, such as Figure 6 As shown, the oil seal 91 is in abutment with the third boss 113 .

[0110] In addition, the actuator of the present application includes a stop-rotation structure, which includes a mating protrusion and a groove. The groove is located on one of the rotor part 21 or the cam 11, and the other is connected to the protrusion. The cam 11 and the rotor part 21 are limited by the mating of the protrusion and the groove to improve the reliability of the connection between the drive unit 2 and the reducer 1.

[0111] Some technical implementations in the above embodiments can be combined or replaced.

[0112] The technical principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the above description is merely for the purpose of explaining the principles of the present application and is not to be construed in any way as a specific limitation on the scope of protection of the present application. Based on the explanations herein, those skilled in the art can, without inventive effort, conceive of other specific embodiments of the present application or equivalent alternatives, which fall within the scope of protection of the present application.

Claims

1. An actuator, characterized in that: It includes a reducer and a drive unit, wherein the drive unit is in transmission connection with the reducer; The actuator includes a first housing, a second housing, and a fastener, at least part of the reducer is located in the housing cavity of the first housing, and at least part of the drive unit is located in the housing cavity of the second housing; The reducer includes a rigid wheel, the first shell has a first connecting hole, the second shell has a second connecting hole, the rigid wheel has a third connecting hole, the axes of the first connecting hole, the second connecting hole and the third connecting hole coincide, the fastener includes a first part, a second part and a third part, the first part is located in the first connecting hole, the second part is located in the second connecting hole, and the third part is located in the third connecting hole.

2. The actuator according to claim 1, characterized in that: The first shell is connected to the rigid wheel, and the rigid wheel is connected to the second shell; At least a portion of the rigid wheel is located between the first shell and the second shell, and the third connecting hole is connected to the first connecting hole and the second connecting hole.

3. The actuator according to claim 1 or 2, characterized in that: The actuator includes a first limiting structure, which includes a first wall and a fifth wall. The walls forming the rigid wheel include at least the first wall, and the walls forming the first shell include at least the fifth wall.

4. The actuator according to claim 3, characterized in that: The actuator includes a second limiting structure, the second limiting structure includes a third wall and a sixth wall, the wall forming the rigid wheel includes at least the third wall, and the wall forming the second housing includes at least the sixth wall; The first limiting structure and the second limiting structure are arranged along the axis of the driving unit.

5. The actuator according to claim 4, characterized in that: The rigid wheel includes a rigid wheel outer peripheral wall, and the maximum distance between the first wall and the rigid wheel outer peripheral wall is L1, L1>0; The maximum distance between the third limiting surface and the outer peripheral wall of the rigid wheel is L2, and L2>0.

6. The actuator according to claim 1 or 2, characterized in that: The actuator includes a third limiting structure, and the third limiting structure includes a seventh wall and an eighth wall. The walls forming the rigid wheel include at least the seventh wall, and the walls forming the first shell include at least the eighth wall.

7. The actuator according to claim 1 or 2, characterized in that: The rigid wheel comprises a rigid wheel plate portion and a rigid wheel cylinder portion, wherein the rigid wheel plate portion and the rigid wheel cylinder portion are assembled and connected or are an integral part; At least a portion of the rigid wheel plate portion is located between the first shell and the second shell, and the third connecting hole passes through the rigid wheel plate portion along the axial direction of the driving unit; The reducer includes a cam, a flexible wheel and a flexible bearing. The flexible bearing is located between the cam and the flexible wheel, and the flexible bearing connects the cam and the flexible wheel. Part of the flexible wheel is transmission-connected to the rigid wheel cylinder, and the rigid wheel plate portion is located on a side of the rigid wheel cylinder away from the flexible wheel.

8. The actuator according to claim 1 or 2, characterized in that: The rigid wheel has a first limiting groove, a portion of the first shell is located in the first limiting groove and the rigid wheel is connected to the first shell; The rigid wheel includes a first wall and a second wall, and the wall forming the first limiting groove includes the first wall and the second wall; The rigid wheel has a second limiting groove, a portion of the second shell is located in the second limiting groove and the rigid wheel is connected to the second shell; The rigid wheel includes a third wall and a fourth wall, and the walls forming the second limiting groove include the third wall and the fourth wall.

9. The actuator according to claim 8, characterized in that: The reference plane where the first wall is located is coplanar with the reference plane where the third wall is located, and the second wall and the fourth wall are parallel to each other; The actuator includes an output unit and a third bearing, and the reducer is transmission-connected to the output unit; The output unit includes an output flange, and the third bearing connects the output flange and the first housing.

10. The actuator according to claim 9, characterized in that: The output unit includes an output member, the output flange is connected to the flexspline, and the flexspline is connected to the output member; The actuator includes an end cover and an encoder driver board. At least one of the end cover and the second housing has a first slot, and the encoder driver board is located in the first slot. The actuator also includes a bracket, a low-speed end magnetic ring and a high-speed end magnetic ring, the low-speed end magnetic ring is connected to the sleeve 4, the high-speed end magnetic ring is connected to the bracket, the drive unit includes a rotor part, the bracket is connected to the rotor part, and the bracket connects the high-speed end magnetic ring and the rotor part.

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