Actuator

Abstract

The invention provides an actuator which comprises a shell, a driving assembly and an output assembly, at least part of the driving assembly is located in the shell, the driving assembly is connected with the output assembly, the driving assembly comprises a stator, a circuit board and an integrated part, the stator is electrically connected with the circuit board, and the integrated part is electrically connected with the circuit board. The integrated part comprises at least two lead wires and a main body part, the lead wires are fixedly matched with the main body part, the lead wires are electrically connected with the circuit board, and the assembling efficiency of the lead wires and the circuit board is improved.

Description

Technical Field

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

[0002] The actuators in the related technologies include a housing, a drive assembly, and an output assembly. The drive assembly includes a stator, a circuit board, and multiple leads. The multiple leads are connected to the circuit board, and the stator is electrically connected to the circuit board. Current is input through the leads, and then the circuit board energizes the stator to generate a magnetic field. However, in the related technologies, the multiple leads need to be connected to the circuit board sequentially. Furthermore, since the multiple leads are independent of each other and there are factors such as entanglement, the efficiency of assembling the leads and the circuit board is low, and the connection process is cumbersome. Summary of the Invention

[0003] This application provides an actuator that improves the efficiency of lead and circuit board assembly.

[0004] This application provides an actuator including a housing, a drive assembly, and an output assembly. The drive assembly is at least partially located in the housing and is connected to the output assembly. The drive assembly includes a stator, a circuit board, and an integrated component. The stator is electrically connected to the circuit board. The integrated component includes at least two leads and a main body portion. The leads are fixedly engaged with the main body portion and are electrically connected to the circuit board.

[0005] The integrated component provided in this application includes at least two leads and a main body. The leads and the main body are fixedly fitted together. The fixed fitting method includes integral part and assembly fixation. After the leads and the main body are fixed, the relative positions between two adjacent leads are determined, and the connection position between the leads and the circuit board is determined accordingly. Then, the leads are electrically connected to the circuit board, which improves the assembly efficiency of the leads and the circuit board. Attached Figure Description

[0006] Figure 1 This is a three-dimensional structural diagram of an actuator according to this application;

[0007] Figure 2 for Figure 1 The diagram shows a planar sectional view of the actuator.

[0008] Figure 3 for Figure 1 An exploded view of the actuator is shown below;

[0009] Figure 4 This is a schematic planar sectional view of the housing of the actuator of this application;

[0010] Figure 5 This is a three-dimensional structural diagram of the housing of the actuator in this application;

[0011] Figure 6 This is a schematic cross-sectional view of the first end cap of the actuator in this application;

[0012] Figure 7 This is a three-dimensional structural diagram of the first end cap of the actuator in this application;

[0013] Figure 8 This is a planar schematic diagram of the first end cap of the actuator in this application from another perspective.

[0014] Figure 9 This is a three-dimensional structural diagram of the second end cap of the actuator in this application;

[0015] Figure 10 This is a schematic cross-sectional view of the second end cap of the actuator in this application;

[0016] Figure 11 This is a schematic plan view of the second end cap of the actuator in this application from another perspective;

[0017] Figure 12 This is a schematic planar sectional view of another actuator of this application;

[0018] Figure 13 This is a partial three-dimensional structural diagram of the drive component of the actuator in this application;

[0019] Figure 14 for Figure 1 A schematic cross-sectional view of the drive component shown.

[0020] Figure 15 This is a three-dimensional structural diagram of the stator, circuit board, and leads of the actuator of this application;

[0021] Figure 16 This is a three-dimensional structural diagram of the actuator leads and integrated components of this application;

[0022] Figure 17 This is a three-dimensional structural diagram of the circuit board of the actuator in this application;

[0023] Figure 18 This is a three-dimensional structural diagram of the stator of the actuator in this application;

[0024] Figure 19 This is a schematic diagram of the stator structure of the actuator in this application from another perspective;

[0025] Figure 20 This is a three-dimensional structural diagram of the stator core and insulation of the actuator in this application;

[0026] Figure 21 This is a schematic cross-sectional view of the stator core and insulation of the actuator in this application;

[0027] Figure 22This is an exploded view of the leads and circuit board of the actuator in this application;

[0028] Figure 23 This is a three-dimensional structural diagram of the actuator housing, insulating cover, and leads of this application.

[0029] Figure 24 This is a three-dimensional structural diagram of the insulating cover of the actuator in this application. Detailed Implementation

[0030] The following description is intended to disclose the present invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art. The basic principles of the invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the invention. All technical solutions and improvements that do not depart from the spirit and scope of this application should be covered within the scope of the claims of this application.

[0031] Those skilled in the art should understand that, in the disclosure of this invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting this invention.

[0032] It is understood that the term "a" should be understood as "at least one" or "one or more," that is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element can be multiple, and the term "a" should not be understood as a limitation on the number.

[0033] This application provides an actuator that can be applied to robot joints and has a wide range of applications. In this embodiment, the actuator is a linear actuator. Currently, actuators in related technologies include a housing, an end cap, a drive assembly, and an output assembly. The drive assembly and the output assembly are connected and installed inside the housing. To assemble the end cap with the housing, an external machining tool is needed to grip the end cap and assemble it with the housing. However, because the end cap has a cylindrical structure, it is difficult for the gripper of the machining tool to apply force when gripping the cylindrical end cap. If the gripping force is too large, the end cap may deform. If the gripping force is too small, the end cap may slip on the machining tool during the assembly process, resulting in high assembly difficulty, low assembly efficiency, and the risk of wear on the end cap.

[0034] To solve the above assembly problems, the following will refer to Figures 1 to 11 This application is described in whole or in part by way of the following: the direction of this application is based on... Figure 2 As shown, F1 is the axial direction of the actuator, and F2 is the radial direction of the actuator.

[0035] Please refer to the following first. Figures 1 to 3 As shown, this application provides an actuator, including a housing 1, an end cap 2, a drive assembly 3, and an output assembly 4. The drive assembly 3 is at least partially located in the housing 1. The housing 1 can be a split housing or a one-piece housing. A split housing refers to having a first housing and a second housing, which are assembled into a complete housing by connecting the first housing and the second housing with bolts or other connecting parts. A one-piece housing refers to a housing formed by processing a base material through casting, forging, stamping, extrusion, metal injection molding, metal powder metallurgy, etc. In other words, the first housing and the second housing are a single piece. In this embodiment, a one-piece housing is mainly used because, compared to a split housing, a one-piece housing can improve the coaxiality of the drive assembly and the output assembly installed in the housing, thereby achieving rotational stability and connection stability. The drive assembly 3 and the output assembly 4 are connected, and the output assembly 4 is at least partially located in the housing 1. The housing 1 and the end cap 2 are connected. The end cap 2 includes a flat portion 23, which at least partially protrudes or recesses along the surface of the end cap 2. The surface protrusions or depressions, relative to the original end cap structure (i.e., the original end cap is cylindrical with a circumferentially arc-shaped wall), create a flat portion where the machining fixture's gripper makes point or line contact with the end cap. This makes it difficult for the machining fixture to bear force. The flat portion, formed by the concavity or protrusion of the circumferentially arc-shaped wall, allows the machining fixture's gripper to grasp it, providing a force point. Furthermore, by applying appropriate force, the external machining fixture can grip the flat portion of the end cap, facilitating the mating and assembly of the end cap and the housing, reducing assembly difficulty. It is worth mentioning that this article mentions... The flat portion 23 is not limited to the implementation structure due to its characteristic name. As mentioned above, the main function of the flat portion 23 is to increase the contact area with the gripper of the machining tool, or to increase the force-bearing area or friction. Therefore, the structure of the flat portion 23 is not limited to a plane. For example, multiple protrusions or wavy stripes can be added to the plane. For another example, the flat portion 23 can be a circumferential surface that is raised or recessed on the plane. For yet another example, in conjunction with the gripper structure of the machining tool, if the gripping surface of the gripper is an arc surface, then the flat portion 23 can be an arc surface that is raised or recessed relative to the circumferential surface.

[0036] Please refer to it again. Figure 1As shown, in this embodiment, the flat portion is recessed along the surface of the end cap 2, and the surface of the flat portion is flat. If the gripper of the machining fixture is also flat, the gripper and the flat portion will make surface contact. Compared with the point contact and line contact of the arc surface, the contact area is increased to improve the gripping force of the gripper and facilitate the gripper to apply force to grasp. Of course, in some other embodiments, the surface of the flat portion can be provided with some granular structure to increase the contact friction with the gripper of the machining fixture, or some corrugated structure, etc. In some other embodiments, the flat portion can not only be flat, but also be a groove, etc. The groove surface can be arc-shaped or flat. The gripper can be inserted into the groove to grasp. In some embodiments, the flat portion can be protruding along the surface of the end cap 2. For example, protrusions and protrusions can be provided on the surface of the original circumferential arc wall. The gripper of the machining fixture grasps the end cap by contacting the protrusions and protrusions. Of course, this embodiment focuses on the example of the flat surface of the flat part; in addition, the shell 1 and the end cap 2 can be connected by threads, or by interference fit, i.e., press fitting, or by other means. The shell 1 and the end cap 2 can be directly connected or indirectly connected. Direct connection in this application refers to the connection between two parts or structures without the help of a third-party part or structure, but connection by glue or other adhesives is also a direct connection. In this embodiment, the shell 1 and the end cap 2 are directly connected, and the two are threaded together.

[0037] Please see Figures 1 to 3The housing 1 and end cover 2 are connected by a thread at one end. Because the housing 1 and end cover 2 are connected by a thread, the end cover 2 must rotate circumferentially during assembly to achieve mating with the housing 1. Compared to press-fitting or other assembly processes, threaded connection is simpler and provides better connection stability. Press-fitting requires a large force to press the end cover into the housing, and improper force could damage the end cover or the housing. Additionally, the flat portion 23 is located at the other end of the end cover 2, and it is recessed along the surface of the end cover 2. Since the end cover 2 and housing 1 are threaded together, the end cover... 2. Circumferential rotation is required. The flat portion is recessed along the surface of the end cap 2 to facilitate the insertion of the machining tool's gripper into the flat portion and to facilitate circumferential twisting. Multiple flat portions 23 are distributed at intervals along the circumference of the end cap 2. Specifically, the end cap 2 has at least two flat portions 23. In other embodiments, the end cap 2 has three flat portions 23. In this embodiment, the number of flat portions 23 is four. Of course, in some other embodiments, the number of flat portions 23 may be more than four or less than four, which should also fall within the protection scope of this application. The multiple flat portions 23 are distributed symmetrically along the circumference of the end cap 2. This symmetrical distribution includes radial symmetry, axial symmetry, and central symmetry. For example, when two flat portions 23 are provided, they are arranged radially symmetrically along the end cap 2. The purpose of the symmetrical distribution is to ensure that the machining tooling can apply force evenly when gripping the symmetrically arranged flat portions 23, preventing excessive or insufficient force on one side, which would affect the assembly quality. The interval between two adjacent flat portions 23 is equal. The end cap 2 includes a cover portion 24, which is located between two adjacent flat portions 23. The cover portion 24 and the flat portions 23 are integral parts, that is, the cover portion 24 and the flat portions 23 are formed on the same end cap 2. That is, the cover part 24 and the flat part 23 are made of the same material. In this embodiment, the integral part is interpreted as a non-assembled connection. The base can be processed by casting, forging, stamping, extrusion, metal injection molding, metal powder metallurgy, etc., and then processed by machining. Alternatively, the integral part can be directly processed by casting, forging, stamping, extrusion, metal injection molding, metal powder metallurgy, etc. The effect part in some applications is directly related. If the integral extrusion molding method is adopted, the interpretation of "integral part" can be supplemented as appropriate. Using an integral part is conducive to convenient processing and structural stability.

[0038] Please see Figure 8 and Figure 11In this embodiment, the flat portion 23 includes a flat surface, and the flat surface is recessed relative to the remaining circumferential surface of the end cover. The plane perpendicular to the axis of the end cover 2 is defined as the projection plane. Along the axial direction of the end cover 2, the projection plane of the cover body portion 24 has an arc segment 241, and the projection plane of the flat portion 23 has a straight line segment 231. The arc segment 241 and the straight line segment 231 are connected to the cover body portion along the circumference of the end cover. The reason why the projection plane has a straight line segment 231 is because the surface of the flat portion 23 is a flat surface, while the surface of the cover body portion 24 is an arc surface. When the two are projected along the axial direction of the end cover, that is, along the axial direction F1 of the actuator, the outer edge of the arc surface has an arc segment 241, and the outer edge of the flat surface has a straight line segment 231. Since the two are integral parts, the arc segment 241 and the straight line segment 231 are connected. Multiple arcs and multiple straight lines are connected at intervals and surround the same circumferential center, which is the axis of the end cover.

[0039] In addition, please see Figure 2 End cap 2 includes a first end cap 22 and a second end cap 21. Housing 1 includes a cylindrical body 11. The first end cap 22 and the cylindrical body 11 are threaded together. The cylindrical body 11 includes a first port 112 and a second port 111. The first end cap 22 is located at the first port 112. The second end cap 21 and housing 1 are threaded together. The second end cap 21 is located at the second port 111. (See also...) Figure 4 and Figure 5 The housing 1 has a limiting groove 13, which is located on the edge wall 14 of the cylinder 11 that forms the first port 112. The purpose of setting the limiting groove 13 is that during the assembly process, the housing 1 needs to be fixed first because the end cover 2 needs to rotate circumferentially. If the housing 1 also rotates, the two cannot be effectively assembled. Therefore, by setting the limiting groove 13, the tooling is clamped on the limiting groove 13 to prevent the housing 1 from rotating circumferentially during the assembly process, so as to facilitate the effective assembly of the end cover 2 and the housing 1.

[0040] Please refer to it again. Figure 4 and Figure 5 The number of limiting grooves 13 is at least two. In this embodiment, the number of limiting grooves 13 is four. Of course, in some other embodiments, the number of limiting grooves 13 is more than four or less than four, which should also fall within the protection scope of this application. At least two limiting grooves 13 are distributed radially at intervals along the housing 1. The interval distribution is for uniform force distribution.

[0041] Please see Figures 9 to 11The first end cover 22 includes a first cover body 221 and a second cover body 222, which are integral parts. The first cover body 221 and the second cover body 222 are distributed along the axial direction of the first end cover 22. The radial length of the first cover body 221 is less than the radial length of the second cover body 222. The circumferential wall of the second cover body 222 is provided with an external thread 222Q, and the circumferential wall of the first cover body 221 is provided with a flat portion 23. The first end cover 22 has a through hole, in which a lead screw portion is located. The lead screw passes through the through hole and extends out of the through hole under the action of the sleeve. The second cover body 222 is threadedly connected to the housing 1. The second cover body 222 is at least partially located inside the first port 112, and the first cover body 221 is exposed outside the housing 1. The actuator also includes a cover 7, which is interference-fitted with the first cover body 221. The cover 7 provides a sealing effect to prevent external impurities, such as dust, from entering the actuator.

[0042] Please see Figures 6 to 8 The second end cap 21 includes a mating portion 211 and a flat portion 212. The mating portion 211 extends axially along the second end cap 21, and the flat portion 212 extends radially along the second end cap 21. The mating portion 211 and the flat portion 212 are integral parts, that is, the flat portion 212 and the mating portion 211 are formed on the same second end cap 21. One end of the mating portion 211 away from the flat portion 212 is provided with an external thread 222Q, and one end of the mating portion 211 near the flat portion 212 is provided with a flat portion 23.

[0043] Please refer to it again. Figure 2 The output assembly 4 includes a sleeve 42 and a lead screw 41, which are threaded together. The lead screw 41 can move axially along the actuator and can extend beyond the first end cover 22. The actuator includes a first bearing seat 5, a second bearing seat 6, a first bearing 10, and a second bearing 15. The first bearing seat 5 and the housing 1 are integral. The first bearing seat 5 is located at one end of the housing 1. The first bearing 10 connects the first bearing seat 5 and the sleeve 42. The second bearing seat 6 is connected to the other end of the housing 1. The second bearing 15 connects the second bearing seat 6 and the sleeve 42. Sleeve 42; First bearing 10 and second bearing 15 are respectively located at both ends of sleeve 42. Drive assembly 3 is used to provide power. Sleeve 42 in output assembly 4 is threadedly engaged with lead screw 41, so that when drive assembly 3 drives sleeve 42 to rotate, lead screw 41 threadedly engaged with sleeve 42 can extend and retract along the axial direction of sleeve 42, thereby realizing the extension or retraction of lead screw 41. First bearing 10 and second bearing 15 are respectively used to support both ends of sleeve 42, so that sleeve 42 can rotate stably, thereby allowing lead screw 41 to move smoothly. First bearing seat 5 and second bearing seat 6 are respectively used to support and limit first bearing 10 and second bearing 15, preventing first bearing 10 and second bearing 15 from disengaging.

[0044] Please refer to it again. Figure 2 As shown, the actuator includes a first stud 68, a second stud 67, a first pull ring 8, and a second pull ring 9. The first stud 68 and the first pull ring 8 are integral parts. One end of the first stud 68 is threadedly connected and fixed to the lead screw 41. The second stud 67 and the second end cover 21 are integral parts. One end of the second stud 67 is threadedly connected and fixed to the second pull ring 9. The first pull ring 8 or the second pull ring 9 is connected to other actuators. The first pull ring 8 moves with the axial movement of the lead screw 41.

[0045] Please see Figure 2 The drive assembly 3 includes a stator 31 and a rotor 32. The stator 31 is connected to the inner wall of the housing 1. The stator 31 includes a stator core 313, a coil winding 311, and an insulator 312. The insulator 312 covers at least a portion of the outer wall of the stator core 313, and the coil winding 311 is wound around the insulator 312. The rotor 32 includes a magnet 321, which is connected to the circumferential side wall of the sleeve 42. The rotor 32 and the stator 31 are radially distributed along the actuator. The rotor 32 is located between the sleeve 42 and the stator 31. The drive assembly 3 drives the sleeve 42 to rotate through the magnetic force of the stator 31 and the rotor 32. The specific principle is described in relevant technologies and will not be repeated here.

[0046] This application also provides a method for manufacturing an actuator, which includes providing a housing 1, an end cap 2, a drive assembly 3, and an output assembly 4, assembling the drive assembly 3 inside the housing 1, assembling and connecting the output assembly 4 to the drive assembly 3, and assembling the output assembly 4 inside the housing 1; providing a flat portion 23 for the end cap 2, grasping the flat portion 23, and assembling the end cap 2 to the housing 1.

[0047] Specifically, a limiting groove 13 is provided for the housing 1, and the end cap 2 includes a first end cap 22 and a second end cap 21. The housing 1 includes a cylindrical body 11, which includes a first port 112 and a second port 111. The limiting groove 13 is located on the edge wall 14 of the housing 1 forming the first port 112. The housing 1 is fixed by gripping the limiting groove 13, and the flat portion 23 of the second end cap 21 is gripped to align the second end cap 21 with one end of the housing 1. The first end cap 22 is fixed by gripping the flat portion 23 of the second end cap 21. The two end caps 21 and the housing 1 are then grasped, and the flat part 23 of the first end cap 22 is connected to the other end of the housing 1. The purpose of setting the limiting groove 13 is that during the assembly process, the housing 1 needs to be fixed first because the end cap 2 needs to rotate circumferentially. If the housing 1 also rotates, the two cannot be effectively assembled. Therefore, by setting the limiting groove 13, the tooling is clamped on the limiting groove 13 to prevent the housing 1 from rotating circumferentially during the assembly process, so as to facilitate the effective assembly of the end cap 2 and the housing 1.

[0048] This application also provides an actuator; please refer to [link / reference]. Figures 12 to 24As shown, the actuator includes a housing 1, a drive assembly 3, and an output assembly 4. The drive assembly 3 is at least partially located within the housing 1 and is connected to the output assembly 4. The housing 1 can be implemented as described in the above-mentioned scheme, or it can be implemented without the housing 1 structure described above. In this embodiment, the housing 1 is implemented as described in the above-mentioned scheme, i.e., the actuator includes a first end cover 22 and a second end cover 21. The housing 1 includes a cylindrical body 11, with the first end cover 22 connected to the cylindrical body 11. The cylindrical body 11 includes a first port 112 and a second port 111. The first end cover 22 is located at the first port 112, and the second end cover 21 is connected to the cylindrical body 11 and located at the second port 111. Other specific structures are not described in detail and can be implemented in conjunction with the above scheme. Additionally, the output assembly 4 includes a sleeve 42 and a lead screw 41. The sleeve 42 and the lead screw 41 are threaded together, and the lead screw 41 can move axially along the actuator and extend beyond the first end cover 22. The actuator includes a first bearing housing 5, a second bearing housing 6, a first bearing 10, and a second bearing 15. The first bearing 10 and the housing 1 are integral parts. The first bearing 10 is located at one end of the housing 1 and connects the first bearing 10 and the sleeve 42. The second bearing housing 6 is connected to the other end of the housing 1, and the second bearing 15 connects the second bearing housing 6 and the sleeve 42. The first bearing 10 and the second bearing 15 are respectively located at both ends of the sleeve 42. The drive assembly 3 is used to provide power. The sleeve 42 in the output assembly 4 is threadedly engaged with the lead screw 41. When the drive assembly 3 drives the sleeve 42 to rotate, the lead screw 41 threadedly engaged with the sleeve 42 can extend and retract along the axial direction of the sleeve 42, thereby realizing the extension or retraction of the lead screw 41. The first bearing 10 and the second bearing 15 are respectively used to support the two ends of the sleeve 42, so that the sleeve 42 can rotate stably, thereby allowing the lead screw 41 to move smoothly. The first bearing housing 5 and the second bearing housing 6 are respectively used to support and limit the first bearing 10 and the second bearing 15, and to prevent the first bearing 10 and the second bearing 15 from separating.

[0049] It is worth mentioning that, in this embodiment, the drive assembly 3 includes a stator 31, a circuit board 33, and an integrated component 3-3. The integrated component 3-3 includes at least two leads 34 and a main body 35. The stator 31 is connected to the circuit board 33, and the at least two leads 34 are fixedly engaged with the main body 35. The fixed engagement method includes integral part and assembly connection. In this embodiment, the leads 34 and the main body 35 are integral parts, i.e., integrally formed. In other embodiments, the main body 35 and the leads 34 can be assembled. For example, the main body 35 uses a wire clamp-like device. After clamping and fixing the leads 34, it is connected to the circuit board 33. The main body 35 contacts the circuit board 33, and the leads 34 are connected to the circuit board. 33. Connection, where "integrated part" is interpreted as a non-assembly connection. It can be manufactured by casting, forging, stamping, extrusion, injection molding, metal powder metallurgy, etc., to create a base material, followed by machining. Alternatively, it can be directly manufactured using casting, forging, stamping, extrusion, injection molding, metal powder metallurgy, etc. In some applications, the effect is directly related. For integrated extrusion molding, the interpretation of "integrated part" can be supplemented as needed. Using an integrated part facilitates processing and provides structural stability. In this embodiment, the lead wire 34 and the main body 35 are made of different materials. The main body 35 is made of plastic. The lead wire 34 consists of two parts: a copper wire core for conducting electricity and an insulating varnish covering the copper wire core. During manufacturing, the... Two or more leads 34 are placed in a tooling mold, and then the tooling mold is subjected to injection molding or other processes to make the two into a single piece. Of course, in some other embodiments, the insulating enamel can be replaced with a plastic sleeve, and the plastic sleeve wraps the copper wire core. In addition, in some other embodiments, the plastic sleeve and the main body 35 can be made into a single piece first, and then the copper wire core is inserted into the plastic sleeve. The advantage of making two or more leads 34 and the main body 35 into a single piece is that it is convenient to connect multiple leads 34 and the circuit board 33 at one time. In related technologies, processing equipment or workers need to connect a single lead 34 to the circuit board 33 each time, which requires multiple steps of picking up the lead 34 and soldering, thus reducing efficiency. The previous method had low processing efficiency. However, with this embodiment, the processing equipment or personnel only need to pick up one integrated component and perform one or a few welding processes to complete the processing, thus improving efficiency. In other words, since multiple leads and integrated components are made into one integrated component, it is equivalent to multiple leads and integrated components being a single unit. Therefore, when the processing equipment or personnel can easily pick up a single unit, the selection and handling process is much more convenient compared to when multiple leads exist in a separate state. More importantly, since the three-phase leads are different, if the three are picked up incorrectly, it will cause problems for subsequent welding. Making the three leads 34 and the main body 35 as a single unit eliminates this problem. In addition, when multiple leads 34 exist in a separate state, there may be entanglement between the leads, which requires separating each lead 34.It is relatively cumbersome, and during the soldering process, since the multiple leads 34 are integrated with the main body 35, the positions of the multiple leads 34 are relatively fixed. After the main body 35 and the circuit board 33 are brought into contact and engaged, the connection positions of the multiple leads 34 and the circuit board 33 are determined, making soldering more convenient, faster, and more accurate. Because the connection stability between a single lead 34 and the circuit board 33 is poor when soldered, for example, under harsh working conditions or certain factors, the single lead 34 is prone to detaching from the circuit board 33, causing the entire drive assembly to malfunction. This embodiment strengthens the connection between the lead 34 and the circuit board 33 through the main body 35. Even if the lead 34 is pulled, the connection between the lead 34 and the circuit board 33 is not affected, thus improving the connection strength and preventing the lead 34 from detaching from the circuit board 33. In this embodiment, the drive assembly 3 is a drive motor, which also includes a rotor 32 and a stator 31 connected to the inner wall of the housing 1. The rotor 32 includes a magnet 321 connected to the circumferential side wall of the sleeve 42. The rotor 32 and the stator 31 are radially distributed along the actuator, with the rotor 32 located between the sleeve 42 and the stator 31. The drive assembly 3 drives the rotation of the sleeve 42 through the magnetic interaction of the stator 31 and the rotor 32.

[0050] Specifically, the lead wire 34 includes a wire core 341 and an insulating part 342. The insulating part 342 is wrapped around the outside of the wire core 341 and is an integral part of the main body 35. The circuit board 33 has a first conductive part 331, and the wire core 341 is connected to the first conductive part 331. The first conductive part 331 is a copper-clad laminate, which is exposed on the body of the circuit board 33. The circuit board 33 hides the wiring. The wire core 341 is a copper wire core. The wire core 341 and the first conductive part 331 can be firmly soldered. The insulating part 342 is an insulating enamel coating made of rubber. The insulating part 342 is to prevent the wire core 341 from being exposed to the outside too much, to avoid leakage, or to prevent external dust and impurities from affecting the wire core 341.

[0051] In this embodiment, please refer to Figure 16As shown, the drive assembly 3 includes three leads 34, all of which are integral with the main body 35. Along the thickness direction of the main body 35, the leads 34 are at least partially perpendicular to the main body 35. Along the length direction of the main body 35, the three leads 34 are spaced apart, and the spacing between adjacent leads 34 is consistent, effectively preventing cross-current and leakage. The circuit board 33 has three first conductive parts 331, which correspond one-to-one with three wire cores 341. The drive motor in this embodiment is a three-phase winding motor, so three leads 34 are required. The three leads 34 and the main body 35 are integral, which can effectively strengthen the welding stability of the leads 34 and the circuit board 33. The main body 35 fixes the position of the three leads 34 relatively, which is convenient for welding and prevents the three leads 34 from shaking or moving during welding.

[0052] In addition, please see Figure 17 and Figure 22 As shown, the circuit board 33 includes a ring portion 332 and a flat portion 333, which are integral parts. Along the circumference of the circuit board 33, the flat portion 333 includes a first surface 3-1 and a fourth surface 3-2, and the ring portion 332 includes a second surface 2-1. The first surface 3-1 and the second surface 2-1 are connected. The first surface 3-1 is a plane, and the second surface 2-1 is an arc surface. The main body portion 35 includes a third surface 5-1, which faces the flat portion 333 and contacts the first surface 3-1. A limiting portion 37 is provided between the insulating portion 342 and the main body portion 35. The limiting portion 37 has a first limiting surface 371 and a fourth limiting surface 372. The two limiting surfaces 372 have a first surface 3-1 in contact with the first limiting surface 371 and a fourth surface 3-2 in contact with the second limiting surface 372. The flat part 333 is provided to facilitate the positioning and cooperation with the main body 35. That is, the third surface 5-1 is in surface contact with the first surface 3-1. Surface contact means that the third surface 5-1 of the main body 35 is also a plane. After the positioning and cooperation, it is more conducive to the welding operation between the lead wire 34 and the first conductive part 331, ensuring the stability of the welding process and the accuracy of the welding position. At the same time, the three-phase lead wire 34 can be connected to the external power supply with a dedicated connector slot, which makes the motor connection and debugging more convenient.

[0053] Please see Figure 13 and Figure 14The main body 35 includes a first arc-shaped surface 5-2, and the ring portion 332 includes a second arc-shaped surface 2-5. The first arc-shaped surface 5-2 faces away from the third surface 5-1. The first arc-shaped surface 5-2 and the second arc-shaped surface 2-5 are distributed around the circumference of the circuit board. The reason for making the outer surface of the main body 35 an arc-shaped surface is that when the main body 35 and the circuit board 33 are assembled, they form a relatively complete circumferential surface on the outside of the whole, so that the part can be cylindrical during subsequent potting, achieving a compact overall structure and easy installation into the housing. The actuator includes a heat-conducting part 12, which covers at least part of the drive component 3. Part of the lead wire 34 is exposed in the heat-conducting part 12. 2 can seal part of the stator, circuit board 33 and part of the leads. The heat-conducting part 12 is potted, that is, the circuit board 33, part of the leads and the stator are sealed by potting. On the one hand, it can prevent external impurities from entering and damaging the stator, circuit board 33 and part of the leads 34. On the other hand, it can prevent the stator, circuit board 33 and part of the leads 34 from leaking current and conducting electricity, and play an insulating role. In addition, since the stator will generate heat when the leads 34 are energized, the failure to dissipate heat in time will affect the motor performance. Therefore, potting can also help the motor dissipate heat, and transfer the heat of the stator, leads 34 and circuit board 33 to the housing in time, and then to the external environment through the housing, thereby achieving heat dissipation and extending the motor life.

[0054] Please see Figure 23 and Figure 24 The actuator also includes an insulating cover 16, which is connected to the housing 1. The housing 1 has a mounting hole 17, and the insulating cover 16 is at least partially located in the mounting hole 17. The insulating cover 16 has at least two wire passage holes 161, and the lead wire 34 is partially located in the wire passage holes 161. The purpose of the insulating cover 16 is to prevent the three-phase lead wire 34 from conducting electricity and to achieve an insulating effect. The insulating cover 16 is made of plastic or rubber.

[0055] Furthermore, in this embodiment, the stator 31 includes a stator core 311, a coil winding 312, and an insulating component 313. Please refer to [link to relevant documentation]. Figures 18 to 21As shown, the stator core 311 is arranged in a ring shape. The stator core 311 includes a stator yoke 3111 and a stator tooth 3112. The stator yoke 3111 and the stator tooth 3112 are either integral or connected. One condition refers to the stator yoke 3111 and the stator tooth 3112 being integrally formed, while "connected" refers to assembly connection. The stator yoke 3111 and the stator tooth 3112 are manufactured independently and then assembled and fixed. The stator yoke 3111 is distributed along the circumference of the stator core 311, and the stator tooth 3112 extends towards the center of the stator 31. The stator yoke 3111 can be an integral piece, i.e., a whole ring structure, or it can be composed of multiple segmented stator yokes assembled together. The stator core 311 has stator slots 31. 13. Stator slots 3113 are located between adjacent stator teeth 3112. Insulating member 313 covers at least a portion of the surface of the stator core 311, with a portion of the insulating member 313 located in the stator slots 3113. Coil winding 312 is wound on the insulating member 313, with at least a portion of the insulating member 313 located between the coil winding 312 and the stator yoke 3111. One side of the circuit board 33 contacts the insulating member 313. The circuit board 33 has a second conductive portion 334, and the coil winding 312 is connected to the second conductive portion 334. The second conductive portion 334 is electrically connected to the first conductive portion 331. The second conductive portion 334 is also copper-clad, with the copper plating exposed on the circuit board 33 body. The second conductive portion 334 is electrically connected to the first conductive portion 331 via traces hidden inside the circuit board 33. To prevent the coil winding 312 from becoming tangled or misaligned, please refer to [reference needed]. Figure 15 and Figure 17 As shown, the circuit board 33 has wire grooves 336, and multiple wire grooves 336 are distributed circumferentially along the circuit board 33. The coil winding 312 includes a lead-out end 3121, and the lead-out end 3121 is at least partially located in the wire groove 336. The wire groove 336 can limit the lead-out end 3121 to prevent it from getting tangled. On the other hand, since part of the lead-out end 3121 is located in the wire groove 336, it can protect the lead-out end 3121 from damage. The lead-out end 3121 is soldered to the second conductive part 334.

[0056] In addition, please see Figure 20 and Figure 21 As shown, the insulating component 313 includes an insulating body 3131 and insulating paper 3132. The insulating body 3131 includes a first insulating portion D1 and a second insulating portion D2. Along the thickness direction of the stator core 311, the stator tooth portion 3112 is located between the first insulating portion D1 and the second insulating portion D2. The insulating paper 3132 connects the first insulating portion D1 and the second insulating portion D2. The purpose of using insulating paper 3132 is that, compared to other insulating boards / insulating frames, the insulating paper is relatively thin, so the coil winding can have more turns, resulting in a higher slot fill factor, leading to a higher power density of the motor and a smaller motor size under the same operating conditions. Please refer to [further details omitted]. Figure 15 , Figures 17 to 19 As shown, the first insulating part D1 includes a first boss D11, which extends toward the circuit board 33. One side of the circuit board 33 contacts the first boss D11. The first boss D11 includes a limiting block D111. The circuit board 33 has a limiting groove 335. Multiple limiting grooves 335 are distributed circumferentially along the annular part 332. The limiting block D111 is at least partially located in the limiting groove 335. The limiting block D111 cooperates with the limiting groove 335 to restrict the circumferential rotation of the circuit board 33, ensuring that the circuit board 33 is fixed and preventing the circuit board 33 from detaching from the stator core during the potting process.

[0057] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the accompanying drawings are merely examples and do not limit the present invention.

[0058] The functions and structural principles of the present invention have been shown and explained in the embodiments. Without deviating from the principles, the implementation of the present invention can be modified or altered.

Claims

1. An actuator, characterized in that, The device includes a housing (1), a drive assembly (3), and an output assembly (4). The drive assembly (3) is at least partially located in the housing (1) and is connected to the output assembly (4). The drive assembly (3) includes a stator (31), a circuit board (33), and an integrated component (3-3). The stator (31) is electrically connected to the circuit board (33). The integrated component (3-3) includes at least two leads (34) and a main body (35). The leads (34) are fixedly fitted to the main body (35) and are electrically connected to the circuit board (33).

2. The actuator according to claim 1, characterized in that, The lead wire (34) and the main body (35) are integral parts. The lead wire (34) includes a wire core (341) and an insulating part (342). The insulating part (342) is wrapped around the outside of the wire core (341). The insulating part (342) and the main body (35) are integral parts. The circuit board (33) has a first conductive part (331). The wire core (341) is connected to the first conductive part (331). The main body (35) is in contact with the circuit board (33).

3. The actuator according to claim 2, characterized in that, The integrated component (3-3) includes three leads (34), all three leads (34) being integral with the main body (35). Along the thickness direction of the main body (35), the leads (34) are at least partially perpendicular to the main body (35). Along the length direction of the main body (35), the three leads (34) are spaced apart. The circuit board (33) has three first conductive parts (331), and the three first conductive parts (331) correspond one-to-one with the three wire cores (341).

4. The actuator according to claim 2, characterized in that, The circuit board (33) includes a ring portion (332) and a flat portion (333), which are integral parts. Along the circumference of the circuit board (33), the flat portion (333) includes a first surface (3-1) and a fourth surface (3-2), and the ring portion (332) includes a second surface (2-1). The first surface (3-1) and the second surface (2-1) are connected. The first surface (3-1) is a plane, and the second surface (2-1) is an arc surface. The main body portion (35) The device includes a third surface (5-1) facing the flat portion (333) and in contact with the first surface (3-1); a limiting portion (37) is provided between the insulating portion (342) and the main body portion (35), the limiting portion (37) having a first limiting surface (371) and a second limiting surface (372), the first surface (3-1) in contact with the first limiting surface (371), and the fourth surface (3-2) in contact with the second limiting surface (372).

5. The actuator according to any one of claims 1 to 4, characterized in that, The main body (35) includes a first arc-shaped surface (5-2), which faces away from the third surface (5-1). The ring (332) includes a second arc-shaped surface (2-5), which is distributed around the circumference of the circuit board. The actuator includes a heat-conducting part (12) that covers at least a portion of the drive assembly (3), and a portion of the lead wire (34) is exposed outside the heat-conducting part (12).

6. The actuator according to any one of claims 1 to 4, characterized in that, The actuator further includes an insulating cover (16) connected to the housing (1), the housing (1) having a mounting hole (17), the insulating cover (16) being at least partially located in the mounting hole (17), the insulating cover (16) having at least two wire holes (161), and the lead wire (34) being partially located in the wire holes (161).

7. The actuator according to claim 3, characterized in that, The stator (31) includes a stator core (311), a coil winding (312), and an insulating component (313). The stator core (311) is arranged in a ring shape. The stator core (311) includes a stator yoke (3111) and a stator tooth (3112). The stator yoke (3111) and the stator tooth (3112) are integral or connected. The stator yoke (3111) is distributed along the circumference of the stator core (311). The stator tooth (3112) extends toward the center of the stator (31). The stator core (311) has a stator slot (3113). The stator slot (3113) is located adjacent to the stator tooth (311). 2) Between, the insulating member (313) covers at least a portion of the surface of the stator core (311), a portion of the insulating member (313) is located in the stator slot (3113), the coil winding (312) is wound on the insulating member (313), the insulating member (313) is at least partially located between the coil winding (312) and the stator yoke (3111), one side of the circuit board (33) contacts the insulating member (313), the circuit board (33) has a second conductive part (334), the coil winding (312) is connected to the second conductive part (334), and the second conductive part (334) and the first conductive part (331) are electrically connected.

8. The actuator according to claim 7, characterized in that, The insulating component (313) includes an insulating body (3131) and insulating paper (3132). The insulating body (3131) includes a first insulating portion (D1) and a second insulating portion (D2). Along the thickness direction of the stator core (311), the stator tooth portion (3112) is located between the first insulating portion (D1) and the second insulating portion (D2). The insulating paper (3132) connects the first insulating portion (D1) and the second insulating portion (D2). (D1) includes a first boss (D11) extending toward the circuit board (33), one side of the circuit board (33) contacting the first boss (D11), the first boss (D11) including a limiting block (D111), the circuit board (33) having a limiting groove (335), a plurality of the limiting grooves (335) being distributed circumferentially along the annular portion (332), and the limiting block (D111) being at least partially located in the limiting groove (335).

9. The actuator according to claim 7, characterized in that, The circuit board (33) has wire grooves (336), a plurality of wire grooves (336) are distributed circumferentially along the circuit board (33), the coil winding (312) includes a lead-out end (3121), the lead-out end (3121) is at least partially located in the wire groove (336), and the lead-out end (3121) is welded to the second conductive part (334).

10. The actuator according to any one of claims 1 to 4, characterized in that, The actuator includes a first end cap (22) and a second end cap (21). The housing (1) includes a cylindrical body (11). The first end cap (22) is connected to the cylindrical body (11). The cylindrical body (11) includes a first port (112) and a second port (111). The first end cap (22) is located at the first port (112). The second end cap (21) is connected to the cylindrical body (11) and is located at the second port (111).

11. The actuator according to claim 10, characterized in that, The output assembly (4) includes a sleeve (42) and a lead screw (41), the sleeve (42) and the lead screw (41) are threaded together, the lead screw (41) is axially movable along the actuator, and the lead screw (41) is able to extend out of the first end cover (22); The actuator includes a first bearing housing (5), a second bearing housing (6), a first bearing (10), and a second bearing (15). The first bearing (10) and the housing (1) are integral parts. The first bearing (10) is located at one end of the housing (1) and connects the first bearing (10) and the sleeve (42). The second bearing housing (6) is connected to the other end of the housing (1), and the second bearing (15) connects the second bearing housing (6) and the sleeve (42). The first bearing (10) and the second bearing (15) are located at both ends of the sleeve (42).

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