actuator

Abstract

An actuator includes a drive component, an electronic control board, a first rotating component, and a housing. The drive component includes a circuit board and an electrical connector. One end of the electrical connector is electrically connected to the circuit board, and the other end of the electrical connector is electrically connected to the electronic control board. The drive component is capable of driving the first rotating component. The first rotating component includes a first bracket. The circuit board is located on the side of the first bracket facing the drive component, and the electronic control board is located on the side of the first bracket away from the drive component. The actuator includes a limiting portion connected to the housing. At least a portion of the limiting portion is located between the first bracket and the housing along the radial direction of the actuator. The limiting portion has a limiting hole, and a portion of the electrical connector is located in the limiting hole. By providing a limiting portion connected to the housing, and with at least a portion of the limiting portion located between the first bracket and the housing in the radial direction of the actuator, a portion of the electrical connector is positioned within the limiting hole of the limiting portion. This constrains and limits the electrical connector through the limiting portion, optimizing the wiring harness layout and reducing the probability of interference between the electrical connectors.

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, joint actuators are a crucial component. A joint actuator includes a drive mechanism and a reduction mechanism. The drive mechanism comprises a motor and a drive circuit board, which controls the motor's operation. The motor then drives the reduction mechanism to achieve deceleration. The motor includes a motor circuit board, with the stator winding terminals electrically connected to it. The actuator includes an electronic control board, which is electrically connected to the motor circuit board and the electronic control board via wires. In existing technology, a rotating bracket is connected to the end of the shaft assembly near the electronic control board. This rotating bracket is used to mount an encoder that measures the rotational speed of the shaft assembly. However, part of the rotating bracket is located between the motor circuit board and the electronic control board. This can cause interference between the wires and the rotating bracket during rotation. Summary of the Invention

[0003] The purpose of this application is to provide an actuator that reduces the probability of interference with electrical connectors.

[0004] An actuator includes a drive component, an electronic control board, a first rotating component, and a housing. The drive component includes a circuit board and an electrical connector. One end of the electrical connector is electrically connected to the circuit board, and the other end of the electrical connector is electrically connected to the electronic control board. The drive component is capable of driving the first rotating component. The first rotating component includes a first bracket. The circuit board is located on the side of the first bracket facing the drive component, and the electronic control board is located on the side of the first bracket away from the drive component. The housing includes a limiting portion connected to the housing. Along the radial direction of the actuator, at least a portion of the limiting portion is located between the first bracket and the housing. The limiting portion has a limiting hole, and a portion of the electrical connector is located in the limiting hole.

[0005] By setting a limiting part connected to the housing, and with at least part of the limiting part located between the first bracket and the housing in the radial direction of the actuator, a portion of the electrical connector is placed in the limiting hole of the limiting part, and the electrical connector is constrained and limited by the limiting part, thereby optimizing the wiring harness layout and reducing the probability of interference of the electrical connector. Attached Figure Description

[0006] Figure 1 This is a three-dimensional schematic diagram of the actuator of this application;

[0007] Figure 2 This is a cross-sectional view of the actuator of this application from one angle;

[0008] Figure 3 A perspective view of the actuator of this application without its housing;

[0009] Figure 4 This is a three-dimensional schematic diagram of the limiting part of this application;

[0010] Figure 5 This is a cross-sectional view of the actuator of this application from another angle;

[0011] Figure 6 A three-dimensional schematic diagram of the actuator of this application from another angle, with the housing removed;

[0012] Figure 7 This is a three-dimensional schematic diagram of the casing of this application from one angle;

[0013] Figure 8 This is a three-dimensional schematic diagram of the casing of this application from another angle. Detailed Implementation

[0014] 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.

[0015] like Figures 1-8 As shown, this application provides an actuator, including a drive member 1, an electronic control board 2, a first rotating member 3, and a housing 4. The drive member 1 includes a circuit board 11 and an electrical connector 12. One end of the electrical connector 12 is electrically connected to the circuit board 11, and the other end of the electrical connector 12 is electrically connected to the electronic control board 2. The drive member 1 can drive the first rotating member 3. The first rotating member 3 includes a first bracket 31. The circuit board is located on the side of the first bracket facing the drive member, and the electronic control board is located on the side of the first bracket away from the drive member. The actuator includes a limiting part 41, which is connected to the housing. Along the radial direction of the actuator, at least a portion of the limiting part 41 is located between the first bracket 31 and the housing 4, and is disposed opposite to each other. The limiting part 41 has a limiting hole 411, and a portion of the electrical connector 12 is located in the limiting hole 411. By providing a limiting part connected to the housing, in the radial direction of the actuator, a portion of the limiting part is positioned opposite to the first bracket, and a portion of the electrical connector is disposed within the limiting hole of the limiting part. The electrical connector is constrained and limited by the limiting part, optimizing the wiring harness layout and reducing the probability of electrical connection interference. Specifically, in this application, both ends of the electrical connector are bent, and the portion of the electrical connector located in the limiting part is constricted within the limiting hole. Specifically, along the radial direction of the actuator, at least a portion of the limiting part 41 is positioned opposite to the first bracket 31.

[0016] The housing 4 includes a sidewall 43 with a plurality of ventilation holes 431 penetrating the sidewall 43. The drive unit 1 includes a motor 13, and the motor 13, circuit board 11, first bracket 31, and control board 2 are arranged along the axial direction of the actuator. The limiting part 41 includes a first rib 412, a second rib 413, and a third rib 414. The second rib 413 connects the first rib 412 and the third rib 414. The first rib 412 and the third rib 414 are respectively connected to the wall forming the ventilation holes 431. The sidewall 43, the first rib 412, the second rib 413, and the third rib 414 form a limiting hole 411. The first rib 412 and the third rib 414 are arranged opposite to each other. The end of the first rib 412 away from the second rib 413 is connected to the housing 4, and the end of the third rib 414 away from the second rib 413 is connected to the housing 4. The limiting hole 411 is located between the first rib 412, the second rib 413, and the third rib 414. The electrical connector 12 includes an insulating part 121 and a conductive body 122. The insulating part 121 is located outside the conductive body 122 and covers part of the conductive body 122. The conductive body 122 includes a first conductive end 1221 and a second conductive end 1222. The first conductive end 1221 is electrically connected to the circuit board 11, and the second conductive end 1222 is electrically connected to the electronic control board 2.

[0017] The first, second, and third ribs form an opening. The electrical connector is installed between the limiting part and the side wall of the housing. Since the side wall of the housing has ventilation holes, the first and third ribs of the limiting part are located within adjacent ventilation holes. The first and third ribs are respectively connected to the adjacent inner walls forming the ventilation holes. Figure 1 As shown. Specifically, since the electrical connector needs to be electrically connected to the circuit board at one end and the control board at the other end, the electrical connector can be first gathered together by the first rib, the second rib, and the third rib. Then, the first rib and the third rib are welded or glued to the inner wall of the ventilation hole, thus forming a limiting part for constraining the electrical connector.

[0018] The motor 13 includes a stator 131 and a rotor 132. The rotor 132 is located inside the stator 131. The stator 131 is fixedly connected to the housing 4, and the first rotating member 3 is connected to the rotor 132. The housing 4 includes a bottom cover 42 and a side wall 43. The control board 2 is fixed to the side wall 43. Along the radial direction of the actuator, there is an installation space between the side wall 43 and the first bracket 31. A limiting part 41 is located in the installation space. The stator includes a stator winding, and the terminals of the stator winding are electrically connected to a circuit board. When the first rotating member rotates, to prevent the electrical connector from touching the first bracket that rotates with the first rotating member, the limiting part is used to constrain the electrical connector and limit it to a fixed position to prevent interference with the first rotating member. By providing an installation space between the side wall and the first bracket, and placing the limiting part within the installation space, the limiting part is placed at a position where interference may occur to constrain the electrical connector, reducing the probability of interference.

[0019] Specifically, the bottom cover 42 is provided with several screw holes, the electronic control board 2 is provided with several screw holes, and the inner side of the side wall 43 of the housing 4 is provided with mounting hole 432. By passing long screws through the screw holes of the bottom cover 42 and the screw holes of the electronic control board 2 and the mounting hole 432 in sequence, the bottom cover 42 is fixed to the side wall 43 of the housing 4. By passing short screws through the screw holes of the electronic control board 2 and the mounting hole 432 of the side wall 43 in sequence, the electronic control board 2 is further fixed to the side wall 43.

[0020] Furthermore, the housing 4 also includes a top cover 44, which is connected to the side wall 43. In this application, the top cover and the side wall are integrally formed, enclosing a mounting cavity in which the motor is installed. The rotor 132 includes a rotor core 1321 and a magnet 1322. The first rotating member 3 includes a first shaft 32, which is connected to the first bracket 31. The rotor core 1321 is located outside the first shaft 32 and connected to the first shaft 32. The magnet 1322 is located outside the rotor core 1321. The magnet has a magnetic conduction function, used to magnetically connect the rotor core together.

[0021] The actuator also includes a second rotating member 5, located inside the first rotating member 3. The second rotating member 5 includes a second bracket 51. The first bracket 31 has a mounting through hole 311, and the second bracket 51 is located within the mounting through hole 311. A first encoder 61 is provided on the side of the first bracket 31 closest to the control board 2, and a second encoder 62 is provided on the side of the second bracket 51 closest to the control board 2. Here, the first encoder 61 is a high-speed encoder used to measure the motor speed, and the second encoder 62 is a low-speed encoder used to measure the speed of the second rotating member, i.e., the output speed. The first bracket 31 has a hollow first connecting portion, which is sleeved on the outside of the first shaft to connect the first bracket to the first shaft. The second bracket has a hollow second connecting portion, and the second rotating member 5 includes a second shaft 53, which is sleeved on the outside of the second shaft to connect the second bracket to the second shaft.

[0022] The actuator includes a reduction mechanism 7, which includes a flexible wheel 71 and a first bearing 72. The first bearing 72 includes an inner ring 721 and an outer ring 722. The inner ring 721 is rotatable relative to the outer ring 722 and is meshed with the flexible wheel 71. The outer ring 722 is fixedly connected to the housing 4. The second rotating component 5 includes an output platform 52, which extends radially along the actuator and is fixedly connected to the inner ring 721. Specifically, the flexible wheel 71 has meshing teeth on the side facing the inner ring 721, and the inner ring 721 has meshing teeth on the opposite side of the flexible wheel 71. The meshing of the meshing teeth enables the flexible wheel to mesh with the inner ring. The reduction mechanism 7 is mounted on the side of the upper cover 44 away from the motor 13. The flexible wheel includes an outwardly flared fixed end. The outer ring of the first bearing and the fixed end of the flexible wheel are fixed together at the side wall of the housing by the same fastener. The upper cover 44 includes a mounting rib 441, which protrudes toward the side of the deceleration mechanism. The upper cover 44 also has a mounting through hole 442, which is located inside the mounting rib 441.

[0023] The first rotating member 3 includes a cam 33, which is integrally formed with the first shaft 32. The flexible wheel 71 has an opening 710, and the cam 33 is located within the opening 710 and connected to the flexible wheel 71. In this application, a portion of the second shaft 53 is located within the mounting through hole 311. A second bearing 81 is provided between the mounting rib 441 and the second rotating member 5. A third bearing 82 is also provided between the first rotating member 3 and the second rotating member 5. In this application, both the third bearing and the second bearing are deep groove ball bearings.

[0024] A flexible bearing is also provided between cam 33 and flexure 71. As the motor drives the first rotating component, the cam follows the rotation of the first rotating component, causing the opening of the flexure to undergo elliptical deformation. Then, the flexure performs differential gear motion with the inner ring of the first bearing it meshes with, ultimately achieving deceleration output through the inner ring of the first bearing. Here, the first bearing is a crossed roller bearing. The output platform of the second rotating component is connected to the inner ring of the first bearing. The output platform can realize output and can also be used to connect external devices. The flexure, the outer ring of the first bearing, and the housing are connected by the same locking element.

[0025] The second rotating component 5 has a vent 532 at one end near the control board 2. The second rotating component 5 is hollow and also has a first through hole 54 connecting the inside and outside of the actuator. A gap L is provided between the first rotating component 3 and the second rotating component 5. Air enters the second rotating component 5 through the first through hole 54, passes through the vent 532 into the gap L, and then enters the first support 31. In this application, the first support 31 includes fan blades and has a radially extending air passage 312 formed between the fan blades. After the air enters the first support through the gap L, a negative pressure is created when the first support rotates because it is connected to and driven by the motor. The air is drawn into the air passage 312 and finally flows out through the ventilation hole 431 located on the side wall 43. Here, in the radial direction of the actuator, the air passage 312 and the ventilation hole 431 are approximately at the same height. The overall airflow path within the actuator is roughly as follows: When the first and second rotating parts rotate, a negative pressure is created at the first support of the first rotating part. Air enters the second rotating part through the first through-hole, passes through the vent 532 located on the second rotating part, enters the air gap L, flows through the air gap L into the air passage within the first support, and finally flows through the air passage to the ventilation hole and out of the actuator. This forms an axial airflow pattern with radial airflow. Simultaneously, the first and second supports are positioned opposite the control board, so the airflow generated at the first support can rise above the control board, thus agitating the heated air at the control board and exchanging heat between the heated air at the control board and the outside air.

Claims

1. An actuator, characterized in that, The device includes a drive unit (1), an electronic control board (2), a first rotating component (3), and a housing (4). The drive unit (1) includes a circuit board (11) and an electrical connector (12). One end of the electrical connector (12) is electrically connected to the circuit board (11), and the other end of the electrical connector (12) is electrically connected to the electronic control board (2). The drive unit (1) can drive the first rotating component (3). The first rotating component (3) includes a first bracket (31), and the circuit board (11) is located on the first bracket (31). Facing the drive member (1), the electronic control board (2) is located on the side of the first bracket (31) away from the drive member (1). The actuator includes a limiting part (41) connected to the housing (4). Along the radial direction of the actuator, at least a portion of the limiting part (41) is located between the first bracket (31) and the housing (4). The limiting part (41) has a limiting hole (411), and a portion of the electrical connector (12) is located in the limiting hole (411).

2. The actuator according to claim 1, characterized in that, The limiting part (41) includes a first rib (412), a second rib (413) and a third rib (414). The second rib (413) connects the first rib (412) and the third rib (414). The first rib (412) and the third rib (414) are arranged opposite to each other. The end of the first rib (412) away from the second rib (413) is connected to the housing (4). The end of the third rib (414) away from the second rib (413) is connected to the housing (4). The limiting hole (411) is located between the first rib (412), the second rib (413) and the third rib (414).

3. The actuator according to claim 2, characterized in that, The electrical connector (12) includes an insulating part (121) and a conductive body (122). The insulating part (121) is located outside the conductive body (122) and covers part of the conductive body (122). The conductive body (122) includes a first conductive end (1221) and a second conductive end (1222). The first conductive end (1221) is electrically connected to the circuit board (11), and the second conductive end (1222) is electrically connected to the electronic control board (2).

4. The actuator according to any one of claims 1-3, characterized in that, Along the radial direction of the actuator, at least a portion of the limiting part (41) is disposed opposite to the first bracket (31). The driving member (1) includes a motor (13). The motor (13), the circuit board (11), the first bracket (31) and the electronic control board (2) are arranged along the axial direction of the actuator. The motor (13) includes a stator (131) and a rotor (132). The rotor (132) is located inside the stator (131). The first rotating member (3) is connected to the rotor (132).

5. The actuator according to claim 4, characterized in that, The housing (4) includes a side wall (43), the electronic control board (2) is fixed to the side wall (43), and there is an installation space between the side wall (43) and the first bracket (31) along the radial direction of the actuator, and the limiting part (41) is located in the installation space.

6. The actuator according to claim 5, characterized in that, The rotor (132) includes a rotor core (1321) and a magnet (1322). The first rotating component (3) includes a first shaft (32), which is connected to the first bracket (31). The rotor core (1321) is located outside the first shaft (32) and is connected to the first shaft (32). The magnet (1322) is located outside the rotor core (1321).

7. The actuator according to claim 4, characterized in that, The actuator further includes a second rotating member (5), which is located inside the first rotating member (3). The second rotating member (5) includes a second bracket (51). The first bracket (31) has a mounting through hole (311), and the second bracket (51) is located in the mounting through hole (311). The first bracket (31) has a first code disk (61) on the side near the electronic control board (2), and the second bracket (51) has a second code disk (62) on the side near the electronic control board (2).

8. The actuator according to claim 7, characterized in that, The actuator includes a reduction mechanism (7), which includes a flexible wheel (71) and a first bearing (72). The first bearing (72) includes an outer ring (722) and an inner ring (721). The inner ring (721) is rotatable relative to the outer ring (722). The inner ring (721) is meshed with the flexible wheel (71). The outer ring (722) is fixedly connected to the housing (4). The second rotating component (5) includes an output platform (52). The output platform (52) extends radially along the actuator and is connected to the inner ring (721).

9. The actuator according to claim 7, characterized in that, The first rotating member (3) includes a cam (33) and a first shaft (32). The cam (33) is integrally formed with the first shaft (32). The flexible wheel (71) has an opening (710). The cam (33) is located in the opening (710) and is connected to the flexible wheel (71).

10. The actuator according to claim 4, characterized in that, The housing (4) includes a sidewall (43) having a plurality of ventilation holes (431) penetrating the sidewall (43). The limiting part (41) includes a first rib (412), a second rib (413), and a third rib (414). The second rib (413) connects the first rib (412) and the third rib (414). The first rib (412) and the third rib (414) are respectively located in adjacent ventilation holes (431), and the first rib (412) and the third rib (414) are respectively connected to the wall forming the ventilation hole (431). The sidewall (43), the first rib (412), the second rib (413), and the third rib (414) together form the limiting hole (411).

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