Mechanical actuator

Abstract

The utility model discloses a mechanical actuator. The mechanical actuator comprises a linear driving assembly, a transmission assembly, an adapter assembly, a rotary driving assembly, an output shaft and a shell, the linear driving assembly, the transmission assembly, the adapter assembly and the rotary driving assembly are all installed in the shell, and a through hole corresponding to the output shaft is formed in the shell; the rotary driving assembly comprises a rotary driving part, the rotary driving part is used for driving the output shaft to rotate, a rotating shaft of the linear driving assembly is perpendicular to the output shaft, and the linear driving assembly and the rotary driving assembly are arranged in the axial direction of the output shaft at intervals; the switching assembly is located between the linear driving assembly and the rotary driving assembly in the axial direction of the output shaft, the transmission assembly and the switching assembly are located on the same side of the output shaft, the switching assembly is connected with the transmission assembly and the output shaft, and the transmission assembly is connected with a rotary shaft of the linear driving assembly. The linear driving assembly can drive the switching assembly to linearly move through the transmission assembly and drive the output shaft to stretch out of or retract into the shell through the through hole.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of actuator, especially a kind of mechanical actuator. BACKGROUND

[0002] In order to realize intelligent automation, robot replaces person, mechanical linear rotary actuator needs to be able to execute vacuum taking and placing material, lifting action, rotating action when working.The mechanical linear rotary actuator in prior art is usually realized lifting and rotation by two sets of control devices of lifting, rotating and by ball screw plus motor mode, resulting in insufficient modular degree of device, large volume, and high cost of ball screw, small lead, difficult to cope with some high-speed, low-cost scenarios. SUMMARY

[0003] The utility model embodiment provides a kind of mechanical actuator to solve at least one of the above technical problems.

[0004] The utility model embodiment provides a kind of mechanical actuator to solve at least one of the above technical problems.

[0005] The rotating drive component includes rotating drive piece, the output shaft is partially placed in the rotating drive piece, the rotating drive piece is used to drive the output shaft rotation, the rotating shaft of the linear drive component is vertically arranged with the output shaft, the linear drive component and the rotating drive component are spaced apart along the axial direction of the output shaft, the adapter component is located between the linear drive component and the rotating drive component along the axial direction of the output shaft, the transmission component and the adapter component are located on the same side of the output shaft, the adapter component connects the transmission component and the output shaft, the transmission component is connected with the rotating shaft of the linear drive component, the linear drive component can drive the adapter component linear motion by the transmission component, drive the output shaft to extend or retract the shell by the through hole.

[0006] In the above mechanical actuator, the linear drive component can drive the adapter component linear motion by the transmission component, the adapter component can drive the rotating drive piece and the output shaft to move, so that the output shaft extends or retracts the shell through the through hole, and the rotating drive piece can drive the output shaft to rotate, thereby realizing linear motion and rotary motion of the mechanical actuator, improving the modular degree of device, facilitating multi-scene application.

[0007] In some embodiments, the transmission assembly comprises two first transmission members and a second transmission member, the two first transmission members are respectively arranged at two ends of the second transmission member, one of the first transmission members is connected with the rotating shaft of the linear driving assembly, the rotating driving assembly is arranged close to the other first transmission member, the adapter assembly is connected with the second transmission member and the rotating driving member; the linear driving assembly can drive one of the first transmission members to rotate, so that the two first transmission members drive the second transmission member to move, and the second transmission member drives the adapter assembly to move, so that the adapter assembly drives the rotating driving member and the output shaft to move in the first direction of the mechanical actuator.

[0008] In some embodiments, the output shaft is a hollow shaft, the mechanical actuator comprises a gas pipe and a rotary joint, the rotary joint is arranged between the output shaft and the gas pipe, and one end of the output shaft is rotationally connected with the gas pipe through the rotary joint.

[0009] In some embodiments, the mechanical actuator further comprises a fixed plate, the fixed plate is fixedly connected with the housing, the linear driving assembly and the rotating driving assembly are arranged on one side of the fixed plate, and the transmission assembly is arranged on the other side of the fixed plate, and the rotating shaft of the linear driving assembly penetrates through the fixed plate and is connected with the transmission assembly.

[0010] In some embodiments, the adapter assembly comprises a connecting block, a mounting plate and a bracket, one end of the connecting block is connected with the transmission assembly, the other end of the connecting block is connected with the side of the mounting plate, the mounting plate is located on the same side of the fixed plate as the rotating driving assembly, the bracket is connected with the mounting plate, and the rotating driving member is connected with the bracket.

[0011] In some embodiments, the mechanical actuator further comprises a guide member, the guide member is located on the same side of the fixed plate as the linear driving assembly, the guide member is connected with the fixed plate, and the coiled portion of the gas pipe is arranged in the guide member; and / or, the mechanical actuator further comprises a positioning block, the positioning block is connected with the fixed plate, the positioning block is provided with a positioning groove, and the lower end of the coiled portion of the gas pipe is arranged in the positioning groove.

[0012] In some embodiments, a sliding block and a sliding rail are arranged between the mounting plate and the fixed plate, the sliding block is connected with the mounting plate, the sliding rail is connected with the fixed plate, and the sliding block is slidingly connected with the sliding rail; and / or, the mechanical actuator further comprises a suspension assembly, one end of the suspension assembly is connected with the mounting plate, and the gas pipe penetrates through the other end of the suspension assembly.

[0013] In some embodiments, a position sensor is arranged between the mounting plate and the fixing plate, and is used to detect the sliding position of the mounting plate.

[0014] In some embodiments, the mechanical actuator comprises a circuit board and an electric connecting wire, the circuit board is arranged on the mounting plate, a circuit mounting groove is formed on the fixing plate, part of the position sensor is arranged in the circuit mounting groove, part of the electric connecting wire is arranged in the circuit mounting groove, and the electric connecting wire is connected with the circuit board, an external circuit and the position sensor.

[0015] In some embodiments, the mechanical actuator comprises an elastic member, one end of the elastic member is connected to the fixing plate, and the other end of the elastic member is connected to the mounting plate, and the elastic member is arranged along the axial direction of the output shaft.

[0016] The additional aspects and advantages of the present application will be partially given in the following description, partially will become obvious from the following description, or will be understood by the practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0017] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

[0018] Figure 1 is a structural schematic diagram of a mechanical actuator of an embodiment of the present application;

[0019] Figure 2 is a partial structural explosion schematic diagram of a mechanical actuator of an embodiment of the present application;

[0020] Figure 3 is one of partial structural schematic diagrams of a mechanical actuator of an embodiment of the present application;

[0021] Figure 4 is the second of partial structural schematic diagrams of a mechanical actuator of an embodiment of the present application;

[0022] Figure 5 is the third of partial structural schematic diagrams of a mechanical actuator of an embodiment of the present application.

[0023] Reference Signs:

[0024] 100, mechanical actuator; 10, linear drive assembly; 12, rotary drive assembly; 14, housing; 16, rotary drive; 18, output shaft; 19, through hole; 20, linear drive; 21, transmission assembly; 22, first transmission; 24, second transmission; 26, adapter assembly; 28, air pipe; 30, rotary joint; 32, air nozzle; 34, fixed plate; 38, rotating shaft; 40, upper shell; 42, lower shell; 50, connecting block; 52, mounting plate; 54, bracket; 56, suspension assembly; 58, avoiding groove; 60, connecting plate; 62, limiting block; 64, limiting groove; 66, guide; 68, mounting block; 70, mounting groove; 72, positioning block; 74, positioning groove; 76, sliding block; 78, sliding rail; 80, position sensor; 82, circuit board; 84, circuit mounting groove; 86, electric connection line; 88, first sensing element; 90, second sensing element; 92, elastic element; 94, first connecting screw; 96, second connecting screw; T, backshaped part of air pipe. DETAILED DESCRIPTION

[0025] The embodiments of the present application will be described in detail below, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only, and are used only for explaining the present application, and cannot be understood as a limitation of the present application.

[0026] In the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0027] In the description of the present application, it should be noted that, unless otherwise specifically specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrally connected. It can be mechanically connected, or it can be electrically connected. It can be directly connected, or it can be indirectly connected through an intermediate medium. It can be the communication or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0028] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature can include that the first and second features are in direct contact, or can include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature is "on", "above" and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature is "under", "below" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0029] The disclosure herein provides many different embodiments or examples for implementing different structures of the present application. For the purpose of simplifying the disclosure of the present application, the components and settings of specific examples are described herein. Of course, they are only examples and the purpose is not to limit the present application. In addition, the present application can repeatedly refer to numbers and / or letters in different examples, and such repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the present application provides examples of various specific processes and materials, but those skilled in the art can realize the application of other processes and / or the use of other materials.

[0030] Please refer to Figures 1 to 3 The mechanical actuator 100 of the embodiment of the present application comprises a linear driving assembly 10, a transmission assembly 21, an adapter assembly 26, a rotary driving assembly 12, an output shaft 18 and a housing 14, the linear driving assembly 10, the transmission assembly 21, the adapter assembly 26 and the rotary driving assembly 12 are all installed in the housing 14, the housing 14 is provided with a through hole 19 corresponding to the output shaft 18; the rotary driving assembly 12 comprises a rotary driving piece 16, the rotary driving piece 16 is used for driving the output shaft 18 to rotate, the rotary shaft 38 of the linear driving assembly 10 is vertically arranged with the output shaft 18, the linear driving assembly 10 and the rotary driving assembly 12 are arranged in the axial direction of the output shaft 18, the adapter assembly 26 is located between the linear driving assembly 10 and the rotary driving assembly 12 in the axial direction of the output shaft 18, the transmission assembly 21 and the adapter assembly 26 are located on the same side of the output shaft 18, the adapter assembly 26 connects the transmission assembly 21 and the output shaft 18, the transmission assembly 21 is connected with the rotary shaft 38 of the linear driving assembly 10, the linear driving assembly 10 can drive the adapter assembly 26 to move linearly through the transmission assembly 21, and drive the output shaft 18 to extend out of or retract into the housing 14 through the through hole 19.

[0031] The linear driving assembly 10 can drive the adapter assembly 26 to move linearly through the transmission assembly 21, the adapter assembly 26 can drive the rotary driving member 16 and the output shaft 18 to move, so that the output shaft 18 extends out of or retracts into the housing 14 through the through hole 19, and the rotary driving member 16 can drive the output shaft 18 to rotate, thereby realizing linear motion and rotary motion of the mechanical executor 100, improving the modular degree of the device, and facilitating multi-scene application.

[0032] Specifically, the robot can include the mechanical executor 100. The mechanical executor 100 in the embodiment of the utility model can execute linear motion and rotary motion to carry out vacuum material taking and placing. The rotary driving member 16 includes a hollow shaft motor, the output shaft 18 can pass through the rotary driving member 16, and the rotary driving member 16 can drive the output shaft 18 to rotate. The linear driving assembly 10 includes a linear driving member 20, and the output shaft 18 of the linear driving member 20 is connected with the transmission assembly 21. The linear driving member 20 includes a rotary motor.

[0033] In Figure 3 , the axial direction of the output shaft 18 is the same as the length direction L of the mechanical executor 100. In an embodiment, the linear driving assembly 10 can drive the adapter assembly 26 to move linearly through the transmission assembly 21, the adapter assembly 26 can drive the rotary driving member 16 and the output shaft 18 to move along the length direction L of the mechanical executor 100, so that the output shaft 18 extends out of or retracts into the housing 14 through the through hole 19, and the rotary driving member 16 can drive the output shaft 18 to rotate, thereby realizing linear motion and rotary motion of the mechanical executor 100, improving the modular degree of the device, and facilitating multi-scene application.

[0034] Please refer to Figure 2 and Figure 3 , the transmission assembly 21 includes two first transmission members 22 and a second transmission member 24, the two first transmission members 22 are respectively arranged at two ends of the second transmission member 24, the output shaft 18 of the linear driving assembly 10 is connected with one of the first transmission members 22, the rotary driving assembly 12 is arranged close to the other first transmission member 22, and the adapter assembly 26 is connected with the second transmission member 24 and the rotary driving member 16; the linear driving assembly 10 can drive one of the first transmission members 22 to rotate, so that the two first transmission members 22 cooperate to drive the second transmission member 24 to move, the second transmission member 24 drives the adapter assembly 26 to move, so that the adapter assembly 26 drives the rotary driving member 16 and the output shaft 18 to move along the first direction of the mechanical executor 100.

[0035] Thus, the rotation of the output shaft 18 is driven by the rotary driving component 16 to achieve the rotary motion of the mechanical actuator 100. The linear driving component 20 drives one of the first transmission components 22 to rotate, and the two first transmission components 22 drive the second transmission component 24 to move, and the second transmission component 24 drives the adapter assembly 26 to move, so that the adapter assembly 26 drives the rotary driving component 16 and the output shaft 18 to move in the first direction of the mechanical actuator 100 to achieve the linear motion of the mechanical actuator 100.

[0036] In particular, in some embodiments, the first transmission component 22 comprises a belt wheel, and the second transmission component 24 comprises a belt. The rotary shaft 38 of the linear driving component 20 is connected to one of the first transmission components 22, and the other first transmission component 22 is rotatably connected to other structures of the mechanical actuator 100. The second transmission component 24 is arranged in the first direction of the mechanical actuator 100, and the two first transmission components 22 are arranged at the two ends of the second transmission component 24, respectively. The rotary driving assembly 12 is arranged at the end of the second transmission component 24 away from the linear driving component 20. Figure 3 In one embodiment, the rotary driving component 16 is connected to the output shaft 18 to drive the output shaft 18 to rotate to achieve the rotary motion of the mechanical actuator 100, which can make the structure of the mechanical actuator 100 more compact.

[0037] In one embodiment, the linear driving component 20 drives one of the first transmission components 22 to rotate, and the two first transmission components 22 drive the second transmission component 24 to move, and the second transmission component 24 drives the adapter assembly 26 to move, so that the adapter assembly 26 drives the rotary driving component 16 and the output shaft 18 to move in the first direction of the mechanical actuator 100 to achieve the linear motion of the mechanical actuator 100, which can have the effect of low noise. The first direction of the mechanical actuator 100 can be the length direction L of the mechanical actuator 100.

[0038] It can be understood that in other embodiments, the first transmission component 22 and the second transmission component 24 can be arranged in the transmission mode of belt wheel and belt, or in the transmission mode of gear rack and guide rail, or in the transmission mode of bevel gear and screw nut, or in the transmission mode of worm gear and screw nut, etc.

[0039] Please refer to

[0040] and Figure 2 In some embodiments, the output shaft 18 is a hollow shaft, the mechanical actuator 100 comprises an air pipe 28 and a rotary joint 30, the rotary joint 30 is arranged between the output shaft 18 and the air pipe 28, and one end of the output shaft 18 is rotatably connected to the air pipe 28 through the rotary joint 30. The output shaft 18 is partially arranged in the rotary driving component 16. Figure 3

[0041] ​Thus, the output shaft 18 can realize vacuum taking and placing of materials and facilitate rotation of the output shaft 18.

[0042] Specifically, the output shaft 18 can be a hollow shaft, i.e., the output shaft 18 is hollow along the axial direction. One end of the rotary joint 30 is fixedly connected with the air pipe 28, and the other end is rotatably connected with the output shaft 18. The mechanical executor 100 comprises an air nozzle 32, which can be arranged on the housing 14 near one end of the linear driving member 20 and located outside the housing 14. The air nozzle 32 can be connected with the air pipe 28 through a connecting pipe (not shown in the figure) and can be connected with an air pump. One end of the output shaft 18 can pass through the housing 14.

[0043] In one embodiment, the air nozzle 32 can provide vacuum negative pressure, which is then transmitted to the output shaft 18 through the air pipe 28 and the rotary joint 30. The output shaft 18 can suck the materials, so that the output shaft 18 can realize vacuum taking and placing of materials and facilitate rotation of the output shaft 18.

[0044] It should be noted that the air pipe 28 can be a flexible pipe, which is soft and easy to bend and pull.

[0045] Please refer to Figure 2 and Figure 3 In some embodiments, the mechanical executor 100 comprises a fixed plate 34, which is fixedly connected with a housing 36. The linear driving assembly 10 and the rotary driving assembly 12 are arranged on one side of the fixed plate 34, and the transmission assembly 21 is arranged on the other side of the fixed plate 34. The rotation shaft 38 of the linear driving assembly 10 passes through the fixed plate 34 and is connected with one of the first transmission members 22.

[0046] Thus, the structure can be compact and stable.

[0047] Specifically, the fixed plate 34 extends along the length direction L of the mechanical executor 100. The housing 36 comprises an upper housing 40 and a lower housing 42. The upper housing 40 is connected to one side of the fixed plate 34, and the lower housing 42 is connected to the other side of the fixed plate 34. The linear driving member 20 and the rotary driving member 16 can be located in the space surrounded by the upper housing 40 and the fixed plate 34, and the first transmission member 22 and the second transmission member 24 can be located in the space surrounded by the lower housing 42 and the fixed plate 34, so that the structure can be compact and stable. In addition, one end of the output shaft 18 can pass through the upper housing 40.

[0048] Please refer to Figure 3 and Figure 4In some embodiments, the adapter assembly 26 includes a connecting block 50, a mounting plate 52 and a bracket 54, one end of the connecting block 50 is connected to the second transmission member 24, the other end of the connecting block 50 is connected to one side of the mounting plate 52, the mounting plate 52 is located on the same side of the fixed plate 34 as the rotary drive assembly 12, the bracket 54 is connected to the mounting plate 52, and the rotary drive member 16 is connected to the bracket 54. The mechanical actuator 100 includes a suspension assembly 56, one end of the suspension assembly 56 is connected to the mounting plate 52, and the air pipe 28 is arranged through the other end of the suspension assembly 56.

[0049] In this way, the rotary drive assembly 12 can be moved along the length direction L of the mechanical actuator 100 by the cooperation of the connecting block 50, the mounting plate 52 and the bracket 54, and one end of the air pipe 28 connected to the mounting plate 52 can be moved together with the rotary drive assembly 12, while achieving stable connection of the air pipe 28 and the rotary joint 30 during movement and avoiding interference.

[0050] Specifically, the upper surface of the fixed plate 34 can be provided with an avoiding slot 58 along the L direction, and the connecting block 50 can be arranged through the avoiding slot 58. One end of the connecting block 50 can be connected to the middle position of one side of the second transmission member 24, and the other end can be connected to one side of the mounting plate 52 and close to the position away from one end of the rotary drive assembly 12. The bracket 54 is connected to the mounting plate 52 and located away from one end of the connecting block 50. The suspension assembly 56 is arranged on the mounting plate 52 close to one end of the connecting block 50. The suspension assembly 56 includes a connecting plate 60 and a limiting block 62, one end of the connecting plate 60 is fixedly connected to the mounting plate 52, the limiting block 62 is connected to the other end of the connecting plate 60, and the connecting plate 60 is arranged between the limiting block 62 and the mounting plate 52. The limiting block 62 is provided with a limiting slot 64 on the side connected to the connecting plate 60, and the air pipe 28 can be arranged through the limiting slot 64. Through the cooperation of the limiting slot 64 and the connecting plate 60, the air pipe 28 can be positioned and limited.

[0051] Please refer to Figure 3 and Figure 4 In some embodiments, the mechanical actuator 100 further includes a guide member 66, the guide member 66 is located on the same side of the fixed plate 34 as the linear drive assembly 10, the guide member 66 is connected to one side of the fixed plate 34, and the meandering portion T of the air pipe 28 is arranged in the guide member 66.

[0052] In this way, the guide member 66 realizes the guidance of the air pipe 28 through the space in the guide member 66, avoiding interference between the air pipe 28 and other components.

[0053] Specifically, the guide 66 can be similar to a U shape, and one end of the opening can be connected to the fixed plate 34. The guide 66 can be connected to one side of the linear driving member 20 and located between the linear driving member 20 and the rotary driving member 16. In an embodiment, the curved portion T of the air pipe 28 is arranged in the guide 66, and the air pipe 28 can be guided through the space in the guide 66 to avoid interference with other components.

[0054] Optionally, one side of the guide 66 is provided with a mounting block 68 connected to the fixed plate 34, and the guide 66 can be mounted on the fixed plate 34 through the mounting block 68. The side of the mounting block 68 close to the fixed plate 34 can be provided with a mounting groove 70, and a part of the air pipe 28 can pass through the mounting groove 70. The mounting groove 70 can position and limit the part of the air pipe 28.

[0055] Please refer to Figure 3 and Figure 4 In some embodiments, the mechanical executor 100 includes a positioning block 72 connected to the fixed plate 34, and the positioning block 72 is provided with a positioning groove 74. The lower end of the curved portion T of the air pipe 28 is arranged in the positioning groove 74.

[0056] In this way, the air pipe 28 can be further prevented from interfering, and the smoothness of the movement of the air pipe 28 can be improved.

[0057] Specifically, the positioning block 72 can be arranged between the mounting plate 52 and the guide 66. The side of the positioning block 72 connected to the fixed plate 34 is provided with the positioning groove 74, and the lower end of the curved portion T of the air pipe 28 is arranged in the positioning groove 74. In this way, the air pipe 28 can be further prevented from interfering, and the smoothness of the movement of the air pipe 28 can be improved.

[0058] Please refer to Figure 3 In some embodiments, a sliding block 76 and a sliding rail 78 are arranged between the mounting plate 52 and the fixed plate 34. The sliding block 76 is connected to the mounting plate 52, the sliding rail 78 is connected to the fixed plate 34, and the sliding block 76 and the sliding rail 78 are in sliding connection.

[0059] In this way, the mounting plate 52 can move linearly along the length direction L of the mechanical executor 100 through the cooperation of the sliding block 76 and the sliding rail 78.

[0060] Specifically, the bottom of the mounting plate 52 can be provided with two sliding blocks 76 arranged at intervals along the L direction. The sliding rail 78 can be arranged on the fixed plate 34 corresponding to the sliding blocks 76. In an embodiment, the mounting plate 52 can be driven to move linearly along the length direction L of the mechanical executor 100 through the sliding connection of the sliding block 76 and the sliding rail 78.

[0061] Please refer to Figure 5In some embodiments, a position sensor 80 is arranged between the mounting plate 52 and the fixed plate 34, and is used to detect the sliding position of the mounting plate 52.

[0062] In this way, the sliding position of the mounting plate 52 can be detected.

[0063] Specifically, the position sensor 80 includes a contact sensor and a non-contact sensor. The contact sensor detects the position by physical contact, while the non-contact sensor detects the position by electromagnetic, optical or other non-physical contact.

[0064] Optionally, the position sensor 80 can be a limit switch, which can detect the limit positions of both ends of the mounting plate 52, so as to control the operation of other components.

[0065] Please refer to Figure 5 In some embodiments, the mechanical actuator 100 further includes a circuit board 82 and an electric connection wire 86. The circuit board 82 is arranged on the mounting plate 52, and the fixed plate 34 is provided with a circuit mounting groove 84. Part of the position sensor 80 is arranged in the circuit mounting groove 84, and part of the electric connection wire 86 is arranged in the circuit mounting groove 84. The electric connection wire 86 connects the circuit board 82, an external circuit (not shown) and the position sensor 80.

[0066] In this way, the circuit board 82 can control the operation of the position sensor 80, and can also receive the position information of the mounting plate 52 retrieved by the position sensor 80.

[0067] Specifically, the circuit board 82 can be arranged on the mounting plate 52 close to one end of the suspension assembly 56. The fixed plate 34 is provided with the circuit mounting groove 84 on the side facing the mounting plate 52. The position sensor 80 includes a first sensing member 88 and a second sensing member 90. The first sensing member 88 is arranged on the side of the mounting plate 52 opposite to the connecting block 50. Part of the second sensing member 90 is arranged in the circuit mounting groove 84, and the other part of the second sensing member 90 is arranged on the fixed plate 34. In one embodiment, the electric connection wire 86 connects the circuit board 82, the external circuit (not shown) and the position sensor 80. The circuit board 82 can control the operation of the position sensor 80, and can also receive the position information of the mounting plate 52 retrieved by the position sensor 80.

[0068] Please refer to Figure 3 In some embodiments, the mechanical actuator 100 includes an elastic member 92. One end of the elastic member 92 is connected to the fixed plate 34, and the other end of the elastic member 92 is connected to the mounting plate 52. The elastic member 92 is arranged along the axial direction of the output shaft 18.

[0069] In this way, the reset or gravity compensation of the mounting plate 52 can be facilitated.

[0070] Specifically, the elastic member 92 comprises a spring. The mechanical actuator 100 comprises a first connecting screw 94 and a second connecting screw 96, the first connecting screw 94 is arranged on the top of the mounting block 68, and the second connecting screw 96 is arranged on the mounting plate 52. In the axial direction of the output shaft 18, that is, in the length direction L of the mechanical actuator 100, one end of the elastic member 92 is buckled to the first connecting screw 94, and the other end of the elastic member 92 is buckled to the second connecting screw 96, thereby facilitating the reset or gravity compensation of the mounting plate 52.

[0071] In the description of the present specification, the description referring to the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" and the like means 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 application. In the present specification, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0072] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A mechanical actuator, characterized by The mechanical actuator comprises a linear driving assembly, a transmission assembly, an adapter assembly, a rotary driving assembly, an output shaft and a shell, the linear driving assembly, the transmission assembly, the adapter assembly and the rotary driving assembly are all installed in the shell, and the shell is provided with a through hole corresponding to the output shaft; The rotary driving assembly comprises a rotary driving member, the output shaft is partially arranged in the rotary driving member, the rotary driving member is used for driving the output shaft to rotate, the rotary shaft of the linear driving assembly is arranged vertically to the output shaft, the linear driving assembly and the rotary driving assembly are arranged in the axial direction of the output shaft, the adapter assembly is located between the linear driving assembly and the rotary driving assembly in the axial direction of the output shaft, the transmission assembly and the adapter assembly are located on the same side of the output shaft, the adapter assembly is connected with the transmission assembly and the output shaft, the transmission assembly is connected with the rotary shaft of the linear driving assembly, the linear driving assembly can drive the adapter assembly to move linearly through the transmission assembly, and the output shaft is driven to extend out of or retract into the shell through the through hole.

2. The mechanical actuator of claim 1, wherein, The transmission assembly comprises two first transmission members and a second transmission member, the two first transmission members are arranged at two ends of the second transmission member respectively, the rotary shaft of the linear driving assembly is connected with one of the first transmission members, and the rotary driving assembly is arranged close to the other first transmission member. The linear driving assembly can drive one of the first transmission members to rotate, so that the two first transmission members cooperate to drive the second transmission member to move, the second transmission member drives the adapter assembly to move, so that the adapter assembly drives the rotary driving member and the output shaft to move in the first direction of the mechanical actuator.

3. The mechanical actuator of claim 1, wherein, The output shaft is a hollow shaft, the mechanical actuator comprises a gas pipe and a rotary joint, the rotary joint is arranged between the output shaft and the gas pipe, and one end of the output shaft is rotationally connected with the gas pipe through the rotary joint.

4. The mechanical actuator of claim 3, wherein, The mechanical actuator further comprises a fixed plate, the fixed plate is fixedly connected with the shell, the linear driving assembly and the rotary driving assembly are arranged on one side of the fixed plate, and the transmission assembly is arranged on the other side of the fixed plate, the rotary shaft of the linear driving assembly passes through the fixed plate and is connected with the transmission assembly.

5. The mechanical actuator of claim 4, wherein, The adapter assembly comprises a connecting block, a mounting plate and a support, one end of the connecting block is connected with the transmission assembly, the other end of the connecting block is connected to the side of the mounting plate, the mounting plate and the rotary driving assembly are located on the same side of the fixed plate, the support is connected to the mounting plate, and the rotary driving member is connected to the support.

6. The mechanical actuator of claim 4, wherein, The mechanical actuator further comprises a guide member, the guide member is located on the same side of the fixed plate as the linear driving assembly, the guide member is connected to the fixed plate, and the meandering portion of the gas pipe is arranged in the guide member; and / or, The mechanical executor further comprises a positioning block connected to the fixed plate, the positioning block is provided with a positioning groove, and the lower end of the trachea return-shaped part is arranged in the positioning groove.

7. The mechanical actuator of claim 5, wherein, The mounting plate and the fixed plate are provided with a sliding block and a sliding rail, the sliding block is connected to the mounting plate, the sliding rail is connected to the fixed plate, and the sliding block is in sliding connection with the sliding rail; and / or the mechanical executor further comprises a suspension assembly, one end of the suspension assembly is connected to the mounting plate, and the trachea is arranged through the other end of the suspension assembly.

8. The mechanical actuator of claim 5, wherein, The mounting plate and the fixed plate are provided with a position sensor, and the position sensor is used for detecting the sliding position of the mounting plate.

9. The mechanical actuator of claim 8, wherein, The mechanical executor further comprises a circuit board and an electric connection line, the mounting plate is provided with the circuit board, the fixed plate is provided with a circuit installation groove, part of the position sensor is arranged in the circuit installation groove, part of the electric connection line is arranged in the circuit installation groove, and the electric connection line is connected to the circuit board, an external circuit and the position sensor.

10. The mechanical actuator of claim 5, wherein, The mechanical executor comprises an elastic member, one end of the elastic member is connected to the fixed plate, the other end of the elastic member is connected to the mounting plate, and the elastic member is arranged along the axial direction of the output shaft.

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