Actuator

Abstract

The utility model discloses an actuator, which comprises a shell, a linear driving structure, a sliding seat, a connecting seat and a control device, the linear driving structure is installed in the shell and comprises a rotor and a stator. The sliding seat is installed in the shell in a front-back moving mode and connected with the rotor, the sliding seat comprises a pressure deformation part, and a strain gauge is arranged on the pressure deformation part; the connecting seat is mounted on the pressure deformation part, and a material suction shaft and a driving structure are mounted on the connecting seat; the control device is electrically connected with the stator and the strain gauges. The material suction shaft is arranged on the connecting base, the connecting base and the rotor are connected together through the pressure deformation part, then when the material suction shaft abuts against materials, the material suction shaft can transmit counter-acting force generated when the material suction shaft abuts against the materials to the pressure deformation part through the connecting base, and the strain gauge can detect strain and feed information back to the control device. The control device controls the position of the rotor in the front-back direction according to the information, and materials are prevented from being crushed.

Description

Technical Field

[0001] The utility model relates to the field of actuators, and particularly to an actuator. Background Art

[0002] Existing actuators have the functions of linear and rotational motion. Generally, a motor is used to drive a screw to rotate, and the screw then drives a slider to perform linear motion. An installation seat is installed on the slider, and a rotatable material suction rod is installed on the installation seat. However, such actuators lack a structure for adjusting the magnitude of the force when the material suction rod contacts the material. Therefore, when the material suction rod abuts against the material, the material may be damaged. Summary of the Utility Model

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art. For this purpose, the utility model provides an actuator.

[0004] An actuator according to an embodiment of the first aspect of the utility model includes a housing, a linear drive structure, a sliding seat, a connecting seat, and a control device; the linear drive structure is installed inside the housing, and the linear drive structure includes a mover and a stator for driving the mover to move back and forth; the sliding seat is movably installed inside the housing and is connected to the mover. The sliding seat includes a pressure deformation part, and a strain gauge for detecting the strain of the pressure deformation part is provided on the pressure deformation part; the connecting seat is located inside the housing and is installed on the pressure deformation part. A rotatable material suction shaft and a drive structure for driving the material suction shaft to rotate are installed on the connecting seat, and the material suction shaft can extend out of the housing; the control device is electrically connected to the stator and the strain gauge respectively.

[0005] The actuator according to an embodiment of the utility model has at least the following technical effects: a rotatable material suction shaft is provided on the connecting seat, and the connecting seat and the mover of the linear drive structure are connected together through the pressure deformation part of the sliding seat. When the material suction shaft abuts against the material, the material suction shaft can transmit the reaction force generated when it abuts against the material to the pressure deformation part through the connecting seat, causing the pressure deformation part to deform. Thus, the strain gauge can detect the strain and feedback the information to the control device. The control device controls the position of the mover in the front and back directions according to the information, thereby realizing the control of the force of the material suction shaft and avoiding crushing the material.

[0006] According to some embodiments of the utility model, the sliding seat further includes a connecting part, the connecting part is connected to the mover, and the pressure deformation parts are provided in several numbers. The several pressure deformation parts are arranged at intervals in the front and back directions and are connected to the connecting part.

[0007] In some embodiments of the present utility model, data lines connected to the strain gauges on the plurality of pressure deformation parts are all electrically connected to the control device. A channel for placing the data lines is provided on the sliding seat, and the data lines on the plurality of strain gauges are all arranged on the channel.

[0008] In some embodiments of the present utility model, the pressure deformation part has a first cavity, an installation cavity, and a second cavity that are arranged at intervals in the front-rear direction and penetrate in the up-down direction. The first cavity extends in the left-right direction and penetrates the left side wall of the pressure deformation part. The second cavity extends in the left-right direction and penetrates the right side wall of the pressure deformation part. The installation cavity is located between the first cavity and the second cavity. Strain gauges are attached to the front and rear side walls of the installation cavity. At least the rear end of the pressure deformation part is connected to the connecting part, and the connecting seat is connected to the part of the pressure deformation part in front of the first cavity.

[0009] In some embodiments of the present utility model, a magnetic spring is further included. The magnetic spring includes a magnetic shaft and a magnetic sleeve. The magnetic sleeve is installed in the outer shell and is located in front of or behind the sliding seat. One end of the magnetic shaft is on the sliding seat, and the other end of the magnetic shaft is movably arranged in the magnetic sleeve in the front-rear direction.

[0010] In some embodiments of the present utility model, the control device is arranged in the outer shell.

[0011] In some embodiments of the present utility model, a board seat located in the outer shell is further included. The board seat is fixedly connected to the sliding seat. The control device is located on one side of the board seat. A transition circuit board is provided on the board seat. The transition circuit board is electrically connected to the strain gauges, and the transition circuit board is electrically connected to the control device through a wiring harness.

[0012] In some embodiments of the present utility model, a rotation cavity is provided in the connecting seat. A part of the material suction shaft is installed in the rotation cavity. Two bearings arranged at intervals in the front-rear direction and two seals arranged at intervals in the front-rear direction are provided between the side wall of the material suction shaft and the side wall of the rotation cavity. The two seals are located between the two bearings. The two seals, a part of the side wall of the material suction shaft, and a part of the side wall of the rotation cavity enclose a gas flow cavity. The material suction shaft has a hollow cavity communicated with the gas flow cavity. The front end of the material suction shaft has air holes communicated with the hollow cavity. An air port is provided on the outer shell, and the air port is communicated with the gas flow cavity through a pipeline.

[0013] In some embodiments of the present utility model, a gasket is provided between the bearing and the seal.

[0014] According to some embodiments of the present utility model, a convex portion protruding upward is provided inside the outer shell. A gas communication cavity is provided inside the convex portion. One end of the gas communication cavity is communicated with the pipeline, and the other end of the gas communication cavity is communicated with the air port. The convex portion is located to the right of the sliding seat.

[0015] Additional aspects and advantages of the present utility model will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Additional aspects and advantages of the present utility model will become apparent and be readily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0017] Figure 1 is a schematic structural diagram of the actuator from a certain perspective;

[0018] Figure 2 is an exploded view of the precision force control actuator after removing the outer shell;

[0019] Figure 3 is a top view of the sliding seat;

[0020] Figure 4 is an axonometric view of the sliding seat;

[0021] Figure 5 is a cross-sectional view of the precision force control actuator at the connecting seat;

[0022] Figure 6 is Figure 5 an enlarged view of part A in

[0023] Figure 7 is a schematic structural diagram of the outer shell;

[0024] Figure 8 is an axonometric cross-sectional view of the sliding seat mounted on the outer shell;

[0025] Figure 9 is a schematic structural diagram of the actuator from another perspective.

[0026] Reference numerals: housing 100, air inlet 110, pipeline 111, convex part 120, gas communication cavity 130, linear drive structure 200, mover 210, stator 220, sliding seat 300, pressure deformation part 310, cavity 311, installation cavity 312, strain gauge 320, connecting part 330, channel 340, plate seat 350, transition circuit board 351, cable 352, magnetic scale 353, fixed seat 354, encoder head 355, origin induction piece 356, second anti-collision rubber 360, connecting seat 400, material suction shaft 410, hollow cavity 411, air hole 412, drive structure 420, rotation cavity 430, bearing 440, seal 450, gas flow cavity 460, washer 470, control device 500, magnetic spring 600, magnetic shaft 610, magnetic sleeve 620, anti-collision rubber 700, connecting piece 800. Detailed implementation manners

[0027] The embodiments of the present utility model will be described in detail below. Examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present utility model and should not be construed as a limitation to the present utility model.

[0028] In the description of the present utility model, it should be understood that the orientation descriptions such as up, down, front, back, left, right, etc. refer to the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present utility model.

[0029] In the description of the present utility model, the meaning of several is one or more, the meaning of multiple is two or more, greater than, less than, exceeding, etc. are understood as not including the present number, and above, below, within, etc. are understood as including the present number. If the first and second are described only for the purpose of distinguishing technical features, they should not be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or the sequence relationship of the indicated technical features.

[0030] In the description of the present utility model, unless otherwise clearly defined, words such as setting, installing, connecting, etc. should be understood in a broad sense. Those skilled in the art can reasonably determine the specific meanings of the above words in the present utility model in combination with the specific content of the technical solution.

[0031] Refer to Figure 1 、 2As shown in the figure, the actuator according to an embodiment of the present invention includes a housing 100, a linear drive structure 200, a sliding seat 300, a connecting seat 400, and a control device 500; the linear drive structure 200 is installed inside the housing 100, and the linear drive structure 200 includes a mover 210 and a stator 220 for driving the mover 210 to move forward and backward; the sliding seat 300 is movably installed inside the housing 100 and is connected to the mover 210, and the sliding seat 300 includes a pressure deformation part 310, and a strain gauge 320 for detecting the strain of the pressure deformation part 310 is arranged on the pressure deformation part 310; the connecting seat 400 is located inside the housing 100 and is installed on the pressure deformation part 310, a rotatable material suction shaft 410 and a drive structure 420 for driving the material suction shaft 410 to rotate are installed on the connecting seat 400, and the material suction shaft 410 can extend out of the housing 100; the control device 500 is electrically connected to the stator 220 and the strain gauge 320 respectively.

[0032] A rotatable material suction shaft 410 is arranged on the connecting seat 400, and the connecting seat 400 and the mover 210 of the linear drive structure 200 are connected together through the pressure deformation part 310 of the sliding seat 300. When the material suction shaft 410 abuts against the material, the material suction shaft 410 can transmit the reaction force generated when it abuts against the material to the pressure deformation part 310 through the connecting seat 400, causing the pressure deformation part 310 to deform, so that the strain gauge 320 can detect the strain and feedback the information to the control device 500. The control device 500 controls the position of the mover 210 in the front and back directions according to the information, and further realizes the control of the force of the material suction shaft 410 to avoid crushing the material.

[0033] As Figure 1 shown in the figure, when taking the material, the stator 220 drives the mover 210 to move forward, so that the mover 210 drives the sliding seat 300 to move forward, and the sliding seat 300 drives the connecting seat 400 to move forward. Then, the material suction shaft 410 on the connecting seat 400 extends out of the housing 100 and gradually abuts against the material; when the material suction shaft 410 abuts against the material, the material suction shaft 410 sucks the material and transmits the reaction force generated when it abuts against the material to the pressure deformation part 310 through the connecting seat 400, causing the pressure deformation part 310 to deform, so that the strain gauge 320 detects the strain and feedbacks the information to the control device 500. The control device 500 controls the position of the mover 210 in the front and back directions according to the information;

[0034] When discharging the material, the stator 220 drives the mover 210 to move backward, and then the material suction shaft 410 stops sucking the material, and the material drops to the position to be discharged.

[0035] Specifically, the linear drive structure 200 can be a tubular linear motor, or a voice coil motor, or other structures that can drive the sliding seat 300 to move forward and backward.

[0036] Specifically, a slide rail is installed inside the outer shell 100. The bottom of the sliding seat 300 has a slider, and the sliding seat 300 moves back and forth on the slide rail through the slider.

[0037] Specifically, the driving structure 420 can be a motor that drives the suction shaft 410 to rotate.

[0038] In some embodiments of the present invention, as Figure 1 、 3 、as shown in FIG. 4, the sliding seat 300 further includes a connecting portion 330. The connecting portion 330 is connected to the mover 210. A plurality of pressure deformation portions 310 are provided. The plurality of pressure deformation portions 310 are arranged at intervals in the front-rear direction and are connected to the connecting portion 330. Specifically, the pressure deformation portion 310 can be provided as one, two or more than two; as Figure 1 、 2 shown, taking two pressure deformation portions 310 as an example, the connecting seat 400 is directly fixed on the pressure deformation portion 310 of the sliding seat 300, and there are two pressure deformation portions 310 arranged in the front-rear direction, so that there are two connection points between the connecting seat 400 and the sliding seat 300 in the front-rear direction. Furthermore, the sliding seat 300 can better support the connecting seat 400.

[0039] In a further embodiment of the present invention, as Figure 4 shown, data lines (not shown in the figure) electrically connected to the control device 500 are connected to the strain gauges 320 on the plurality of pressure deformation portions 310. A channel 340 for placing the data lines is provided on the sliding seat 300. The data lines on the plurality of strain gauges 320 are all arranged on the channel 340. By placing the data lines on the plurality of strain gauges 320 on the channel 340 of the connecting seat 400, it is convenient to manage the data lines.

[0040] In a further embodiment of the present invention, as Figure 1 、 3 、as shown in FIG. 4, the pressure deformation portion 310 has a first cavity 311, an installation cavity 312 and a second cavity 313 that are arranged at intervals in the front-rear direction and penetrate in the up-down direction. The first cavity 311 extends in the left-right direction and penetrates the left side wall of the pressure deformation portion 310. The second cavity 313 extends in the left-right direction and penetrates the right side wall of the pressure deformation portion 310. The installation cavity 312 is located between the first cavity 311 and the second cavity 313. Strain gauges 320 are pasted on the front and rear side walls of the installation cavity 312. At least the rear end of the pressure deformation portion 310 is connected to the connecting portion 330. The connecting seat 400 is connected to the portion of the pressure deformation portion 310 in front of the first cavity 311.

[0041] As Figure 4As shown, the pressure deformation part 310 is structured such that its shape resembles an S shape. When the reaction force of the material suction shaft 410 is transmitted through the connecting seat 400 to the connection between the connecting seat 400 and the pressure deformation part 310, the pressure deformation part 310 deforms under the action of the reaction force. The strain gauge 320 detects this deformation and feeds back the information to the control device 500, and the control device 500 controls the position of the mover 210 in the front - rear direction according to the information.

[0042] Specifically, the pressure deformation part 310 can also adopt other shapes under the condition that the strain gauge 320 can detect the deformation of the pressure deformation part 310 and the control device 500 can control the position of the mover 210 in the front - rear direction according to the deformation information. For example, the middle part of the pressure deformation part 310 has a through - cavity with upper and lower openings, and strain gauges 320 are provided on the front and rear sides of the through - cavity. When the pressure deformation part 310 is stressed, the middle part of the pressure deformation part 310 deforms, the strain gauge 320 detects this deformation and feeds back the information to the control device 500, and the control device 500 controls the position of the mover 210 in the front - rear direction according to the information.

[0043] In some embodiments of the present utility model, as Figure 1 、 2 shown, it further includes a magnetic spring 600. The magnetic spring 600 includes a magnetic shaft 610 and a magnetic sleeve 620. The magnetic sleeve 620 is installed in the outer shell 100 and is located in front of or behind the sliding seat 300. One end of the magnetic shaft 610 is connected to the sliding seat 300, and the other end of the magnetic shaft 610 is movably arranged in the magnetic sleeve 620 in the front - rear direction.

[0044] By adopting the magnetic spring 600, compared with ordinary mechanical springs, the magnetic spring 600 can overcome the interference of the mechanical spring on the pushing and pulling force as the stroke increases.

[0045] In some embodiments of the present utility model, as Figure 1 shown, the control device 500 is arranged in the outer shell 100, so as to integrate the control device 500, the linear drive structure 200, the sliding seat 300, the connecting seat 400 and the drive structure 420 in the outer shell 100, without the need for an external control device 500, which is convenient for controlling the forward and backward movement of the material suction shaft 410.

[0046] Specifically, the control device 500 can also be arranged outside the outer shell 100.

[0047] In a further embodiment of the present utility model, as Figure 1 、 2As shown, it further includes a board seat 350 located inside the outer shell 100. The board seat 350 is fixedly connected to the sliding seat 300. The control device 500 is located on the left side of the board seat 350. A transition circuit board 351 is provided on the board seat 350. The transition circuit board 351 is electrically connected to the strain gauge 320 through a data line, and the transition circuit board 351 is electrically connected to the control device 500 through a flexible cable 352.

[0048] By providing the transition circuit board 351 and the flexible cable 352, and the flexible cable 352 has wear resistance, the sliding seat 300 can reciprocate multiple times, improving the service life of the actuator.

[0049] In some embodiments of the present invention, as Figure 1 、 5 As shown in FIGS. 6 and 7, a rotation cavity 430 is provided inside the connection seat 400. A part of the material suction shaft 410 is installed in the rotation cavity 430. Two bearings 440 spaced along the front-rear direction and two seals 450 spaced along the front-rear direction are provided between the side wall of the material suction shaft 410 and the side wall of the rotation cavity 430. The two seals 450 are located between the two bearings 440. A gas flow cavity 460 is formed by enclosing the two seals 450, a part of the side wall of the material suction shaft 410 and a part of the side wall of the rotation cavity 430. The material suction shaft 410 has a hollow cavity 411 communicating with the gas flow cavity 460. The front end of the material suction shaft 410 has an air hole 412 communicating with the hollow cavity 411. An air port 110 is provided on the outer shell 100. The air port 110 is communicated with the gas flow cavity 460 through a pipeline 111.

[0050] Through the air port 110, the pipeline 111, the gas flow cavity 460, the hollow cavity 411 and the air hole 412, when air is pumped through the air port 110, the gas sequentially passes through the air hole 412, the hollow cavity 411, the gas flow cavity 460 and the pipeline 111, and then is discharged from the air port 110. Furthermore, the air hole 412 can suck the material, realizing the suction of the material by the material suction shaft 410.

[0051] In a further embodiment of the present invention, as Figure 6 As shown in FIG., a washer 470 is provided between the bearing 440 and the seal 450. By providing the washer 470, it is ensured that the seal 450 will not be damaged by the rotation of the outer ring of the bearing 440, improving the service life of the seal 450.

[0052] In a further embodiment of the present invention, as Figure 1 、 7As shown in FIGS. 8, there is a convex portion 120 protruding upward inside the outer shell 100. A gas communication cavity 130 is provided inside the convex portion 120. One end of the gas communication cavity 130 is communicated with the pipeline 111, and the other end of the gas communication cavity 130 is communicated with the air port 110. The convex portion 120 is located on the right side of the sliding seat 300. A first anti-collision rubber 700 is provided at the position of the sliding seat 300 corresponding to the convex portion 120, so that the convex portion 120 can serve as both a limiting structure for the sliding seat 300 and a gas communication cavity 130 for gas circulation, making the structure inside the outer shell 100 compact.

[0053] Specifically, as Figure 9 shown, a connecting member 800 is installed at the rear side of the sliding seat 300, and the first anti-collision rubber 700 and the magnetic shaft 610 are installed at the rear side of the connecting rod 800.

[0054] Specifically, as Figure 1 shown, the control device 500, the plate seat 350, the magnetic spring 600, the convex portion 120, and the driving structure 420 are arranged in sequence along the left-right direction of the outer shell 100, and the linear driving structure 200, the sliding seat 300, and the connecting seat 400 are arranged in sequence along the left-right direction of the outer shell 100, making the structure inside the outer shell 100 compact.

[0055] In some embodiments of the present utility model, as Figure 9 shown, it further includes a magnetic grating ruler 353 and a fixing seat 354. The magnetic grating ruler 353 is installed on one side of the plate seat 350, and the fixing seat 354 is installed between the plate seat 350 and the control device 500. An encoder read head 355 is installed on the fixing seat 354. The encoder read head 355 is used to read the information on the magnetic grating ruler 353 and feedback it to the control device 500. When the sliding seat 300 moves, the encoder read head 355 reads the signal of the magnetic grating ruler 353 and feeds it back to the control device 500, so as to know the moving position of the material suction shaft 410, improve the position control accuracy of the movement of the material suction shaft 410, and complete high-precision and closed-loop control; specifically, an origin sensing stop piece 356 is installed at the rear side of the encoder read head 355.

[0056] In some embodiments of the present utility model, as Figure 9 shown, a second anti-collision rubber 360 is installed on the front side of the sliding seat 300 to prevent the sliding seat 300 from colliding with the inner side wall of the outer shell 100.

[0057] In the description of this specification, the descriptions referring to terms such as "some embodiments" or "it is conceivable that" mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.

[0058] Although the embodiments of the present utility model have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present utility model, and the scope of the present utility model is defined by the claims and their equivalents.

Claims

1. An actuator, characterized in that, Comprising: A housing; A linear drive structure installed inside the housing, the linear drive structure including a mover and a stator for driving the mover to move back and forth; A sliding seat movably installed inside the housing and connected to the mover, the sliding seat including a pressure deformation part, and a strain gauge for detecting the strain of the pressure deformation part is provided on the pressure deformation part; A connecting seat located inside the housing and installed on the pressure deformation part, a rotatable material suction shaft and a drive structure for driving the material suction shaft to rotate are installed on the connecting seat, and the material suction shaft can extend outside the housing; A control device electrically connected to the stator and the strain gauge respectively.

2. The actuator according to claim 1, characterized in that: The sliding seat further includes a connecting part connected to the mover, and a plurality of the pressure deformation parts are provided, and the plurality of pressure deformation parts are arranged at intervals in the front-back direction and connected to the connecting part.

3. The actuator according to claim 2, wherein: The strain gauges on the plurality of pressure deformation parts are all connected to data lines electrically connected to the control device, and a channel for placing the data lines is provided on the sliding seat, and the data lines on the plurality of strain gauges are all arranged on the channel.

4. The actuator according to claim 2 or 3, characterized in that: The pressure deformation part has a first cavity, an installation cavity and a second cavity arranged at intervals in the front-back direction and penetrating in the up-down direction. The first cavity extends in the left-right direction and penetrates the left side wall of the pressure deformation part, the second cavity extends in the left-right direction and penetrates the right side wall of the pressure deformation part, the installation cavity is located between the first cavity and the second cavity, and the strain gauges are attached to the front and back side walls of the installation cavity. At least the rear end of the pressure deformation part is connected to the connecting part, and the connecting seat is connected to the part of the pressure deformation part in front of the first cavity.

5. The actuator according to claim 1, characterized in that: It further includes a magnetic spring, the magnetic spring including a magnetic shaft and a magnetic sleeve, the magnetic sleeve is installed inside the housing and located in front of or behind the sliding seat, one end of the magnetic shaft is on the sliding seat, and the other end of the magnetic shaft is movably arranged in the magnetic sleeve in the front-back direction.

6. The actuator according to claim 1, characterized in that: The control device is arranged inside the housing.

7. The actuator according to claim 6, characterized in that: It further includes a board seat located inside the housing, the board seat is fixedly connected to the sliding seat, the control device is located on one side of the board seat, a transition circuit board is provided on the board seat, the transition circuit board is electrically connected to the strain gauge, and the transition circuit board is electrically connected to the control device through a wiring harness.

8. The actuator according to claim 1, wherein: A rotation cavity is provided inside the connecting seat, a part of the material suction shaft is installed in the rotation cavity, two bearings arranged at intervals in the front-back direction and two seals arranged at intervals in the front-back direction are provided between the side wall of the material suction shaft and the side wall of the rotation cavity. The two seals are located between the two bearings, and the two seals, a part of the side wall of the material suction shaft and a part of the side wall of the rotation cavity enclose a gas flow cavity. The material suction shaft has a hollow cavity communicated with the gas flow cavity, the front end of the material suction shaft has an air hole communicated with the hollow cavity, and an air port is provided on the housing, and the air port is communicated with the gas flow cavity through a pipeline.

9. The actuator according to claim 8, characterized in that: A washer is provided between the bearing and the seal.

10. The actuator according to claim 8, characterized in that: The housing has a convex portion that protrudes upward. The convex portion has a gas communication cavity. One end of the gas communication cavity is in communication with the pipeline, and the other end of the gas communication cavity is in communication with the air port. The convex portion is located to the right of the sliding seat.

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