Actuator

Abstract

The invention provides an actuator which comprises a wire harness channel, the wire harness channel axially penetrates through the actuator, the wire harness channel comprises a first channel and a second channel, the first channel and the second channel are axially arranged, and a gap is formed between the wall forming the first channel and the wall forming the second channel in the axial direction of the actuator. The wire harness channel penetrates through the actuator, and the gap is formed between the wall forming the first channel and the wall forming the second channel in the axial direction, so that a wire in the actuator can enter the wire harness channel through the gap, the wire is prevented from being located in the actuator, and the internal wiring layout is optimized.

Description

Technical Field

[0001] This application relates to the field of robot joint transmission, and more particularly to an actuator. Background Technology

[0002] In the assembly design of robot structures, articulated actuators are a crucial component. These actuators primarily consist of a reducer, a motor, and a drive control unit. Through the coordination of these components, the robot's execution mechanism is moved. The drive control unit includes a circuit board. In related technologies, the wires on the circuit board are distributed inside the actuator, resulting in complex internal wiring. Summary of the Invention

[0003] The purpose of this application is to provide an actuator that optimizes the internal wiring layout.

[0004] This application provides an actuator including a wire harness channel that axially extends through the actuator. The wire harness channel includes a first channel and a second channel, which are axially arranged. A gap exists between the wall forming the first channel and the wall forming the second channel along the axial direction of the actuator.

[0005] In this application, the wiring harness channel runs through the actuator. In the axial direction, there is a gap between the wall forming the first channel and the wall forming the second channel. This allows the wires inside the actuator to enter the wiring harness channel through the gap, reducing the number of wires distributed inside the actuator and optimizing the internal wiring layout. Attached Figure Description

[0006] Figure 1 This is a cross-sectional structural diagram of the actuator of this application;

[0007] Figure 2 This is a structural schematic diagram of the first support of this application at one angle;

[0008] Figure 3 This is a structural schematic diagram of the first support of this application from another angle;

[0009] Figure 4 This is a schematic diagram of the structure of the second support in this application;

[0010] Figure 5 This is a schematic diagram of the structure of the speed reduction assembly and the rotating shaft assembly of this application. Detailed Implementation

[0011] To better understand the technical solution of this application, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0012] It should be understood that the described embodiments are merely some, not all, of the embodiments in this application. All other technical solutions obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0013] like Figures 1-5 As shown, this application discloses an actuator, including a wiring harness channel and a circuit board 2. The wiring harness channel axially penetrates the actuator and includes a first channel 11 and a second channel 12, which are axially arranged. Along the axial direction of the actuator, there is a gap 10 between the wall forming the first channel 11 and the wall forming the second channel 12. The gap 10 is located close to the circuit board 2. Specifically, the wiring harness channel penetrating the actuator allows wires connected to the circuit board to enter the wiring harness channel through the gap, and also allows them to extend outside the actuator through the wiring harness channel and connect to a power supply or other electrical components located outside the actuator. This arrangement avoids wires being distributed inside the actuator, optimizing the internal wiring layout.

[0014] The actuator also includes an input shaft 31, an output shaft 32, and a motor 5. The input shaft 31 is connected to the motor 5 for transmission. The output shaft 32 and the input shaft 31 are radially arranged within the actuator, with the output shaft 32 located inside the input shaft 32 and the first channel 11 located inside the output shaft 32; alternatively, the input shaft 31 is located inside the output shaft 32, and the input shaft 32 includes the first channel 11, which is located inside the input shaft 13. To reduce the size of the actuator, the input shaft 31 and the output shaft 32 are fitted together, either with the input shaft 31 fitted outside the output shaft 32 or vice versa. The motor 5 includes a rotor 51 and a stator 52. The input shaft 31 is connected to the rotor 51, and the stator 52 is located radially outside the rotor 51. In this application, the input shaft 31 is fitted outside the output shaft 32, and the first channel 11 is located inside the output shaft 32. A transition piece 53 is provided between the input shaft 31 and the rotor 51, and the rotor 51 is connected to the input shaft 31 through the transition piece 53. The transition piece 53 can be a magnetic conductor, and the rotor 51 is formed by several segmented magnets. The segmented magnets are installed on the transition piece 53, which is used to conduct the magnetism of the segmented magnets to form a closed magnetic circuit.

[0015] The actuator includes a housing 6, which has a first annular rib 61 extending axially toward the motor 5, and a second channel 12 located within the first annular rib 61. The housing 6 includes a bottom cover 62, on which a circuit board 2 is mounted. The first annular rib 61 is located on the bottom cover 62, and the circuit board 2 has a through hole 21. The first annular rib 61 is at least partially located within the through hole 21, and is higher than the surface of the circuit board 2 facing the motor 5. An output shaft 32 is located within an input shaft 3, and the first channel 11 and the second channel 12 are arranged opposite each other.

[0016] The actuator further includes a reduction mechanism 7, an input encoder, and an output encoder. The reduction mechanism 7 and the motor 5 are arranged along the axial direction of the actuator. The input encoder includes an input code disk 81, and the output encoder includes an output code disk 82. The input code disk 81 is connected to the input shaft 31, and the output code disk 82 is connected to the output shaft 32. The input encoder includes an input chip, and the output encoder includes an output chip. The input chip and the output chip are disposed on the circuit board 2. The input code disk 81 is at least partially opposite to the input chip, and the output code disk 82 is at least partially opposite to the output chip.

[0017] In this application, the housing 6 includes a bottom cover 62 and a cylindrical body 63. The cylindrical body 63 includes a partition 631 and a peripheral wall 632. The partition 631 extends radially along the actuator, and the peripheral wall 632 is connected to the partition 631 and the bottom cover 62. The peripheral wall 632 and the partition 631 are integrally formed. Alternatively, the peripheral wall and the partition can be separate units, which are then joined together to form the cylindrical body 63. A mounting cavity is formed between the cylindrical body 63 and the bottom cover 62, and the motor 5, the input encoder, the output encoder, and the circuit board 2 are all housed within the mounting cavity. The input encoder includes an input code disk 81 and an input chip, and the output encoder includes an output code disk 82 and an output chip. The input code disk 81 is connected to the input shaft 31, and the output code disk 82 is connected to the output shaft 32. The input shaft 31 is sleeved outside the output shaft 32, and the input code disk 81 is sleeved outside the output code disk 82. The input shaft 31 is connected to the rotor 51 of the motor 5. Inside the mounting cavity, the input encoder 81 and the output encoder 82 form an encoder assembly. The motor 5, the encoder assembly, and the circuit board 2 are arranged sequentially along the axial direction of the actuator. The circuit board 2 is located on the side of the actuator near the bottom cover 62.

[0018] Specifically, the bottom cover 62 is provided with an axially extending first annular rib 61, and the circuit board 2 is provided with a through hole 21. The first annular rib 61 is at least partially located within the through hole 21, and the circuit board 2 is fixed to the bottom cover 2 through the cooperation of the first annular rib 61 and the through hole 21. In this application, the first annular rib 61 passes through the through hole 21 and protrudes from the surface of the circuit board 2. The second channel 12 is located within the first annular rib 61, and the first channel 11 is located within the output shaft 32. The first channel 11 and the second channel 12 are arranged opposite each other in the axial direction of the actuator, and there is a gap 10 between the first channel 11 and the second channel 12. That is, there is a gap between the output shaft 32 and the first annular rib 61, which forms the gap 10. Since the circuit board 2 is located close to the first annular rib 61, the wires on the circuit board 2 can enter the first channel 11 and the second channel 12 from the gap 10. This arrangement can prevent the wires on the circuit board from being distributed in the mounting cavity, thus optimizing the overall wiring harness layout. Furthermore, the wires on the circuit board 2 enter the wiring harness channel from the gap 10. The wiring harness channel includes the first channel 11 and the second channel 12, and can extend out of the actuator along the first channel 11 or the second channel 12, which facilitates the connection of the circuit board wires to an external power supply or electrical components.

[0019] The actuator also includes a first bracket 91 and a second bracket 92. The first bracket 91 is connected to the input shaft 3, and the second bracket 92 is connected to the output shaft 32. An input code disk 81 is disposed on the first bracket 91, and an output code disk 82 is disposed on the second bracket 92. The first bracket 91 is sleeved on the outside of the second bracket 92. The first bracket 91 is interference-fitted to the outside of the input shaft 3, and the second bracket 92 is glued to the outside of the output shaft 32. In this application, the input code disk 81 is connected to the input shaft 3 via the first bracket 91, and the output code disk 82 is connected to the output shaft 32 via the second bracket 92. Specifically, a transition piece 53 is provided between the rotor 51 and the input shaft 31. The first bracket 91 is interference-fitted to the input shaft 31, and the first bracket 91 is located on the side of the transition piece 53 facing the bottom cover 62, abutting against the transition piece 53.

[0020] The first support 91 includes a radially extending first platform 911, a first extension 912, and a second extension 913 extending axially. The first extension 912 and the second extension 913 extend toward opposite sides of the first platform 911, forming a stepped structure. The first platform 911 and the second extension 913 enclose a first chamber 910 facing the bottom cover, and the second support 92 is at least partially located within the first chamber 910. The first extension 912 includes a radially extending first connecting surface 9121 located on the side of the first extension 912 facing the motor 5, and a transition member 53 abuts against the first connecting surface 9121. The second extension 913 includes a radially extending second connecting surface 9131 located on the side of the first support 91 facing the bottom cover 62, and an input code disk 81 is mounted on the second connecting surface 9131. Since the input shaft 31 is a high-speed shaft connected to the motor, in this application, the first bracket 91 is connected to the outside of the input shaft 31 by an interference fit.

[0021] The second bracket 92 includes a radially extending second platform 921 and an axially extending third extension 922. The second platform 921 includes a radially extending third connecting surface 9211, on which the output encoder 82 is mounted. Since the output shaft 32 is connected to the reduction gear of the actuator, and considering the need to accurately measure the rotational speed of the reduction gear, in this application, the second bracket 92 is glued to the outside of the output shaft 32.

[0022] In this application, the actuator also includes a reduction gear assembly 7 and a crossed roller bearing 4. The reduction gear assembly 7 includes a flexure 71 and a flexible bearing 72. The crossed roller bearing 4 includes an inner ring 41, an outer ring 42, and rollers. The inner ring 41 and the outer ring 42 are radially arranged, and a mounting space for mounting the rollers is provided between the inner ring 41 and the outer ring 42. The arrangement of the rollers allows the inner ring 41 to be rotatably fitted within the outer ring 42. A cam 311 is provided at the end of the input shaft 31 away from the motor 5. The cam 311 is integrated with the input shaft 31 and is mounted in an opening on the side of the flexure 71 away from the motor 5. A flexible bearing 72 is installed between the cam 311 and the flexure 71. The flexure 71 includes an axially extending cylindrical portion 711 and a radially extending outwardly extending portion 712. The cylindrical portion 711 has an opening, and the cam 311 is mounted in the opening. The outward-facing portion 712 is fixed to the outer ring 42 of the crossed roller bearing 4, and the outer ring 42 of the crossed roller bearing 4 is fixed to the housing 6. In this application, the outward-facing portion 712, the outer ring 42 of the crossed roller bearing 4, and the housing 6 are fixed by the same locking member. Specifically, a connecting lug 6321 protruding outward is provided on the peripheral wall 632 of the cylinder 63. The flexible wheel 71 and the crossed roller bearing 4 are fixed to the housing 6 by passing the locking member through the connecting lug 6321, the outward-facing portion 712, and the outer ring 42 in sequence.

[0023] The flexible wheel 71 has external teeth on the side facing the inner ring 41, and the external teeth of the flexible wheel 71 are arranged opposite to the internal teeth of the inner ring 41, and the external teeth of the flexible wheel 71 and the internal teeth of the inner ring 41 are meshed together. The outer ring 42 of the crossed roller bearing 4 has a rib 421 extending axially, and the actuator also includes an oil seal 40, which is located inside the rib 421. The input shaft 31 has a receiving platform 312 extending radially and a limiting groove 313 recessed radially inward. The receiving platform 312 and the limiting groove 313 are arranged axially along the input shaft 31, and the receiving platform 312 is located close to the motor 5. The flexible bearing 72 is mounted on the receiving platform 312 and is limited between the input shaft 3 and the flexible wheel 71 by a retaining ring being engaged in the limiting groove 313.

[0024] Specifically, the flexible bearing 72 includes an inner bearing ring and an outer bearing ring. A retaining ring abuts against at least a portion of the inner bearing ring, and the outer bearing ring at least partially abuts against the inner wall of the flexible wheel 71. One end of the input shaft 31 is provided with a cam 311, and the other end of the input shaft 31 is connected to the transition member 53. When the motor is powered on, the rotor 52 rotates together with the transition member 53 and the input shaft 31. The cam 311 on the input shaft 31 drives the flexible wheel 71 to rotate. Since the flexible wheel 71 is meshed with the inner ring 41 of the crossed roller bearing 4, the speed reduction output is achieved by the deformation of the meshing end of the flexible wheel 71 meshing with the inner ring 41 of the crossed roller bearing 4. In this application, the flexible wheel 71 is provided with an outward-curved portion 712, which serves as the fixed portion of the flexible wheel 71. Here, the end of the flexible wheel 71 that meshes with the crossed roller bearing 4 is defined as the meshing end, and the outward-curved portion 712 of the flexible wheel 71 is defined as the fixed end. The deformation portion is located between the meshing end and the fixed end of the flexible wheel 71. In this application, the flexible wheel is fixed in an outward-curved manner, which improves the overall deformation path of the flexible wheel and thus improves the transmission efficiency. The tooth difference between the flexible wheel 71 and the inner ring 41 of the crossed roller bearing 4 is 2, meaning that the inner teeth of the crossed roller bearing 41 have 2 more teeth than the outer teeth of the flexible wheel 71.

[0025] Specifically, the output shaft 32 includes a radially extending output platform 321, which is fixed to the inner ring 41 of the crossed roller bearing 4. When the inner ring 41 of the crossed roller bearing 4 meshes with the flexure 71, the inner ring 41 decelerates and completes the decelerated output through the output platform 321 connected to it.

[0026] The technical solutions described in this application should be understood by those skilled in the art. For example, directional descriptions such as "front," "back," "left," "right," "up," and "down" are only used to describe the relationship between objects and are not substantive limitations. "Multiple" means at least two or more.

[0027] Although this specification has described the present application in detail with reference to the above embodiments, those skilled in the art should understand that they can still make modifications or equivalent substitutions to the present application, and all technical solutions and 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, The actuator includes wire harness channels (11, 12) that axially penetrate the actuator. The wire harness channels (11, 12) include a first channel (11) and a second channel (12). The first channel (11) and the second channel (12) are axially arranged along the axial direction of the actuator, and there is a gap (10) between the wall forming the first channel (11) and the wall forming the second channel (12).

2. The actuator according to claim 1, characterized in that, The actuator includes an input shaft (31), an output shaft (32), and a motor (5). The input shaft (31) is connected to the motor (5) in a transmission manner. The output shaft (32) and the input shaft (31) are arranged radially within the actuator. The output shaft (32) is located within the input shaft (31), and the first channel (11) is located within the output shaft (32). Alternatively, the input shaft (31) is located within the output shaft (32), and the first channel (11) is located within the input shaft (31).

3. The actuator according to claim 2, characterized in that, The actuator includes a housing (6) having a first annular rib (61) extending axially toward the motor (5), and the second channel (12) being located within the first annular rib (61).

4. The actuator according to claim 3, characterized in that, The housing (6) includes a bottom cover (62) and a circuit board (2). The circuit board (2) is mounted on the bottom cover (62). A first ring rib (61) is provided on the bottom cover (62). The circuit board (2) has a through hole (21). The first ring rib (61) is at least partially located in the through hole (21), and the first ring rib (61) is higher than the surface of the circuit board (2) facing the motor (5).

5. The actuator according to claim 4, characterized in that, The output shaft (4) is located inside the input shaft (3), and the first channel (11) and the second channel (12) are arranged opposite to each other.

6. The actuator according to any one of claims 1-5, characterized in that, The actuator includes a reduction mechanism (7) and a motor (5), which are arranged along the axial direction of the actuator.

7. The actuator according to claim 6, characterized in that, The actuator further includes an input encoder, an output encoder, an input shaft (31), and an output shaft (32). The input encoder includes an input code disk (81), and the output encoder includes an output code disk (82). The input code disk (811) is connected to the input shaft (31), and the output code disk (82) is connected to the output shaft (32).

8. The actuator according to claim 7, characterized in that, The actuator includes a circuit board (2), the input encoder includes an input chip, the output encoder includes an output chip, the input chip and the output chip are disposed on the circuit board (2), the input code disk (81) is at least partially opposite to the input chip, and the output code disk (82) is at least partially opposite to the output chip.

9. The actuator according to claim 7, characterized in that, The actuator further includes a first bracket (91) and a second bracket (92). The first bracket (91) is connected to the input shaft (3), and the second bracket (92) is connected to the output shaft (4). The input code disk (81) is disposed on the first bracket (91), and the output code disk (82) is disposed on the second bracket (92). The first bracket (91) is sleeved on the outside of the second bracket (92).

10. The actuator according to claim 9, characterized in that, The first bracket (91) is interference-fitted to the outside of the input shaft (3), and the second bracket (92) is glued to the outside of the output shaft (4).

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