Mechanical actuating device

Abstract

The utility model discloses a mechanical actuating device which comprises a machine shell, a linear actuating mechanism, a rotary actuating mechanism, a power output component and a gas driving mechanism. The linear actuating mechanism comprises two iron cores, magnetic pole pairs and a circuit board, the two iron cores are arranged at intervals in the longitudinal direction, the magnetic pole pairs are arranged between the two iron cores, each magnetic pole pair comprises two permanent magnets which are arranged at intervals in the longitudinal direction, the circuit board is arranged between the two permanent magnets, the board face of the circuit board is etched to form a winding, and after being powered on, the winding is wound on the circuit board. The winding is driven by the magnetic pole pair and drives the circuit board to linearly translate along the vertical direction; the rotary actuating mechanism is provided with a rotary output shaft; the power output component is coaxially connected with the rotary output shaft and is fixedly connected with the circuit board, and a channel is formed in the power output component in a penetrating manner; the air driving mechanism comprises an air conveying pipeline communicated with the channel. According to the utility model, the volume of the whole machine is reduced, and the application limitation of the whole machine is reduced; and the diversity of the overall use functions of the mechanical actuating device is enriched.

Description

Technical Field

[0001] This utility model relates to the field of mechanical actuation mechanism technology, specifically to a mechanical actuation device. Background Technology

[0002] A linear rotary actuator is a device that converts some form of input energy into a combination of linear and rotary motion. This type of actuator has wide applications in many fields, such as industrial automation, robotics, and aerospace.

[0003] However, existing linear-rotary actuators generally combine linear and rotary actuators arbitrarily. Especially when electromagnetic actuators are involved, the winding of electromagnetic windings and other components can lead to a larger overall structural size, which may limit the application scenarios and reduce its versatility. Utility Model Content

[0004] The main purpose of this invention is to propose a mechanical actuation device that aims to solve the problem of excessively large structural dimensions that may exist in traditional linear rotary actuation mechanisms.

[0005] To achieve the above objectives, this utility model proposes a mechanical actuation device, comprising:

[0006] The housing has an internal mounting cavity, and the housing has a first through hole communicating with the mounting cavity.

[0007] A linear actuation mechanism is disposed within the mounting cavity. The linear actuation mechanism includes two iron cores, a pair of magnetic poles, and a circuit board. Each iron core extends vertically in an elongated shape, and the two iron cores are arranged longitudinally at intervals. The pair of magnetic poles is disposed between the two iron cores, and an even number of them are arranged vertically in sequence. Each pair of magnetic poles includes two permanent magnets arranged longitudinally at intervals. The circuit board is disposed between the two permanent magnets. The surface of the circuit board is etched to form windings. The number of windings is half the number of magnetic pole pairs. When the circuit board is powered on, the windings are driven by the pair of magnetic poles, which in turn causes the circuit board to move linearly vertically.

[0008] A rotary actuator having a rotary output shaft rotatably disposed about an axis extending vertically;

[0009] A power output component is movably disposed at the first through hole. The power output component is coaxially connected to the rotary output shaft and fixedly connected to the circuit board, so that it can be driven by the circuit board and the rotary output shaft to perform linear translation along the vertical direction and rotation about an axis extending vertically. The power output component has a channel passing through it; and...

[0010] A driving mechanism is arranged in the casing and comprises a gas conveying pipeline, which is connected in communication with the channel and used to drive gas to flow through the channel.

[0011] Optionally, the linear driving mechanisms are arranged in sequence along the longitudinal direction.

[0012] The mechanical driving device further comprises a first connecting member, which is connected and fixed to the circuit boards in the linear driving mechanisms to drive the circuit boards to translate synchronously after being powered.

[0013] Optionally, the rotary driving mechanism is arranged at a lateral side of the linear driving mechanisms, and the first through hole is arranged at a vertical side of the rotary driving mechanism.

[0014] The mechanical driving device further comprises a cylindrical shell, which is movably arranged along the vertical direction between the rotary driving mechanism and the first through hole, and the cylindrical shell is connected and fixed to the circuit boards. The cylindrical shell is provided with a mounting hole along the vertical direction, and the power output component at least extends into the mounting hole and is connected to the rotary output shaft through a shaft coupling. The power output component is fixed along the vertical direction relative to the cylindrical shell and is rotatably arranged about an axis extending along the vertical direction.

[0015] Optionally, the power output component comprises an extending section extending into the mounting hole.

[0016] The mechanical driving device further comprises a sealing ring, which is arranged in the mounting hole and sealingly sleeved on the outer periphery of the extending section. The sealing ring forms a translational constraint along the vertical direction and a rotational freedom along the circumferential direction between the cylindrical shell and the power output component.

[0017] Optionally, the sealing ring is arranged in at least two intervals along the vertical direction.

[0018] The through hole forms a first aperture through the side wall of the extending section, the first aperture is located between the two sealing rings, and the first aperture is arranged in at least two intervals along the circumferential direction of the power output component.

[0019] The side wall of the cylindrical shell is provided with a gas conveying hole, and the gas conveying pipeline is connected in communication with the gas conveying hole.

[0020] Optionally, the extending section is recessed in the side wall of each first aperture to cooperatively define an annular cavity with the inner wall of the cylindrical shell, and the annular cavity is in communication with the gas conveying hole and each first aperture.

[0021] Optionally, the casing comprises a bottom end shell plate provided with the first through hole.

[0022] The mechanical actuating device further comprises an elastic member, which is arranged outside the barrel shell and clamped between the barrel shell and the bottom end shell plate.

[0023] Optionally, the mechanical actuating device further comprises a second connecting member connected between the circuit board and the barrel shell.

[0024] One of the shell and the second connecting member is provided with a sliding convex, and the other is provided with a sliding groove, the sliding convex and / or the sliding groove are vertically elongated, and the sliding convex and the sliding groove are in sliding connection.

[0025] Optionally, the gas driving mechanism comprises a gas source device, which is externally arranged on the shell.

[0026] The shell is further provided with a second through hole communicating with the mounting cavity, one section of the gas pipeline is in communication connection with the gas source device, and the other section extends into the mounting cavity through the second through hole and is in communication connection with the channel of the power output component.

[0027] The gas source device is used to form negative pressure or positive pressure at the gas pipeline and the channel.

[0028] Optionally, the inner cavity wall of the shell is provided with a wiring groove, and the mechanical actuating device further comprises a wire pressing member, which is arranged on opposite sides of the wiring groove in the slot width direction, one section of the wire pressing member is fixedly connected with the shell, and the other section is elastically movably arranged in the direction close to or away from the inner cavity wall of the shell.

[0029] In the technical scheme, the shell reserves sufficient space in the mounting cavity, and the linear actuating mechanism, the rotary actuating mechanism, the power output component and the gas driving mechanism are orderly and compactly integrated together, which helps to reduce the space occupation of the whole machine to a certain extent. Compared with the setting of the traditional electromagnetic coil, the linear actuating mechanism is etched with a winding on the circuit board, which not only makes the winding forming simpler, but also greatly reduces the volume of the linear actuating mechanism, finally helps to reduce the volume of the whole machine and reduce the application limitation of the whole machine. The gas driving mechanism drives the gas to flow through the gas pipeline and the channel, which can form positive pressure or negative pressure at the channel, so that the power output component not only has linear displacement output and rotary output, but also can complete cleaning or picking up of the target object under the action of positive pressure or negative pressure, which helps to enrich the use function diversity of the mechanical actuating device as a whole, so that the mechanical actuating device as a whole is more universal and practical. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced as follows. Obviously, the drawings in the following description only constitute some embodiments of the present application, and other drawings can also be obtained according to the structures shown in the drawings without creative labor for those skilled in the art.

[0031] Figure 1 A three-dimensional schematic view of an embodiment of the mechanical actuating device provided by the present application;

[0032] Figure 2 A three-dimensional schematic view of the mechanical actuating device in the embodiment of the present application; Figure 1 A three-dimensional schematic view of the mechanical actuating device in the embodiment of the present application;

[0033] Figure 3 A three-dimensional schematic view of the linear actuating mechanism in the embodiment of the present application; Figure 1 A three-dimensional schematic view of the linear actuating mechanism in the embodiment of the present application;

[0034] Figure 4 A three-dimensional schematic view of the linear actuating mechanism in the embodiment of the present application; Figure 3 A three-dimensional schematic view of the linear actuating mechanism in the embodiment of the present application;

[0035] Figure 5 A three-dimensional schematic view of the linear actuating mechanism in the embodiment of the present application; Figure 3 A three-dimensional schematic view of the linear actuating mechanism in the embodiment of the present application;

[0036] Figure 6 A three-dimensional schematic view of the linear actuating mechanism in the embodiment of the present application; Figure 1 A three-dimensional schematic view of the linear actuating mechanism in the embodiment of the present application;

[0037] Figure 7 A three-dimensional schematic view of the linear actuating mechanism in the embodiment of the present application; Figure 6 A three-dimensional schematic view of the linear actuating mechanism in the embodiment of the present application;

[0038] Figure 8 A three-dimensional schematic view of the linear actuating mechanism in the embodiment of the present application; Figure 6 A three-dimensional schematic view of the linear actuating mechanism in the embodiment of the present application;

[0039] Figure 9 A three-dimensional schematic view of the linear actuating mechanism in the embodiment of the present application; Figure 1 A three-dimensional schematic view of the linear actuating mechanism in the embodiment of the present application.

[0040] Explanation of the reference signs:

[0041] 100 case; 101 mounting cavity; 110 top end shell plate; 111 second through hole; 112 third through hole; 120 bottom end shell plate; 121 first through hole; 130 wiring slot; 200 linear actuating mechanism; 210 core; 220 magnetic pole pair; 221 first permanent magnet; 222 second permanent magnet; 230 circuit board; 231 winding; 240 mounting support; 250 cushion block; 300 rotary actuating mechanism; 310 main body; 320 rotary output shaft; 400 power output component; 401 passage; 410 insertion section; 411 first orifice; 420 protruding section; 421 second orifice; 510 gas conveying pipeline; 520 connector; 610 first connecting piece; 620 second connecting piece; 630 barrel shell; 631 mounting hole; 632 gas conveying hole; 633 annular cavity; 640 sliding convex; 650 sliding groove; 710 sealing ring; 720 elastic member; 730 wire pressing member; 740 encoder; 750 electrical component; 760 sleeve; 770 coupling.

[0042] The implementation, functional features and advantages of the utility model will be further described with reference to the drawings in combination with embodiments. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the utility model will be clearly and completely described in combination with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0044] It should be noted that if the embodiments of the utility model involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement condition, etc. between components in a certain specific posture (as shown in the drawings). If the specific posture changes, the directional indications also change accordingly.

[0045] In addition, if the description of "first", "second" and the like is involved in the embodiments of the utility model, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included at least one of the features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel schemes. For example, "A and / or B" includes A scheme, or B scheme, or A and B scheme. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the protection scope required by the utility model.

[0046] Please refer to Figures 1 to 9 The mechanical actuating device provided by the utility model can be used independently as a product. Alternatively, the mechanical actuating device provided by the utility model can be combined with any other suitable device to form a system or equipment for application.

[0047] For the convenience of understanding, in the following embodiments, the mechanical actuating device is taken as an example to be explained, which has two vertical, horizontal and longitudinal directions approximately perpendicular to each other. Among them, when the mechanical actuating device is actually applied, the vertical direction approximately corresponds to the direction of gravity, which has opposite upward and downward directions. The longitudinal and horizontal directions are any two directions on the horizontal plane. Among them, the longitudinal direction has opposite front and rear directions. The horizontal direction has opposite left and right directions.

[0048] Specifically, the mechanical actuating device comprises a casing 100, a linear actuating mechanism 200, a rotary actuating mechanism 300, a power output component 400 and a gas driving mechanism.

[0049] The inside of the casing 100 forms a mounting cavity 101. The casing 100 is provided with a first through hole 121 communicating with the mounting cavity 101.

[0050] The linear actuating mechanism 200 is arranged in the mounting cavity 101. The linear actuating mechanism 200 comprises two iron cores 210, a magnetic pole pair 220 and a circuit board 230. Each iron core 210 extends along the vertical direction. The two iron cores 210 are arranged in the longitudinal direction. The magnetic pole pair 220 is arranged between the two iron cores 210, and an even number of magnetic pole pairs 220 are arranged in the vertical direction. Each magnetic pole pair 220 comprises two permanent magnets arranged in the longitudinal direction. The circuit board 230 is arranged between the two permanent magnets. The surface of the circuit board 230 is etched to form a winding 231. The number of windings 231 is half of the number of magnetic pole pairs 220. After the circuit board 230 is powered, the winding 231 is driven by the magnetic pole pair 220 and drives the circuit board 230 to move linearly along the vertical direction.

[0051] The rotating actuating mechanism 300 comprises a main body 310 and a rotating output shaft 320 rotatably arranged along a vertical axis.

[0052] The power output component 400 is movably arranged in the first through hole 121. The power output component 400 is coaxially connected with the rotating output shaft 320 and is fixedly connected with the circuit board 230, so as to be driven by the circuit board 230 and the rotating output shaft 320 to move linearly in the vertical direction and rotate along the vertical axis. The power output component 400 is provided with a channel 401.

[0053] The gas driving mechanism is arranged in the casing 100. The gas driving mechanism comprises a gas conveying pipeline 510. The gas conveying pipeline 510 is in communication with the channel 401 and is used to drive gas to flow through the channel 401.

[0054] In the technical scheme, the casing 100 reserves sufficient space in the mounting cavity 101, so that the linear actuating mechanism 200, the rotating actuating mechanism 300, the power output component 400 and the gas driving mechanism are orderly and compactly integrated together, which helps to reduce the space occupation of the whole machine to a certain extent. Compared with the traditional electromagnetic coil, the linear actuating mechanism 200 is etched with the winding 231 on the circuit board 230, which not only makes the forming of the winding 231 simpler, but also greatly reduces the volume of the linear actuating mechanism 200, finally helps to reduce the volume of the whole machine and reduce the application limitation of the whole machine. The gas driving mechanism drives gas to flow through the gas conveying pipeline 510 and the channel 401, so as to form positive pressure or negative pressure at the channel 401, so that the power output component 400 has linear displacement output and rotation output, and can complete cleaning or picking up of the target object under the action of positive pressure or negative pressure, which helps to enrich the use function diversity of the whole mechanical actuating device, so that the whole mechanical actuating device is more universal and practical.

[0055] The specific form of the casing 100 is not limited. For example, Figures 1 to 9 As described above, the casing 100 generally comprises a shell and a cover (not shown in the drawings). The shell forms the mounting cavity 101 with an open front end. The cover is detachably mounted on the shell. The cover can be opened and closed to open the opening. The shell has a top end shell plate 110 and a bottom end shell plate 120 in the vertical direction, two side shell plates in the horizontal direction, and a back plate in the longitudinal direction. The linear actuating mechanism 200, the rotating actuating mechanism 300 and the gas driving mechanism can be arranged on the back plate. The first through hole 121 can be formed in the bottom end shell plate 120.

[0056] The linear actuator 200 can be a voice coil motor. The space between the two cores 210 in the linear actuator 200 defines an assembly space. The two permanent magnets in the magnetic pole pair 220 can be a first permanent magnet 221 and a second permanent magnet 222, respectively. The first permanent magnet 221 and the second permanent magnet 222 each extend vertically and are arranged opposite each other in the longitudinal direction. The space between the first permanent magnet 221 and the second permanent magnet 222 defines a translation space. The circuit board 230 is translationally movable in the translation space.

[0057] The magnetic field lines of the magnetic pole pair 220 are in the longitudinal direction. When the circuit board 230 is energized, the winding 231 is subjected to an Ampere force to drive the linear reciprocating motion of the circuit board 230. The use of the circuit board 230 can greatly reduce the volume of the entire machine, so as to be applied to occasions with limited space, and can also reduce the gap between the first permanent magnet 221 and the second permanent magnet 222, thereby improving the power density of the entire machine. The winding 231 is directly etched on the circuit board 230, which is more convenient and efficient in production and can effectively reduce the cost. In addition, by setting the number of windings 231 to be half of the number of magnetic pole pairs 220, the internal space of the motor can be maximized to achieve the best working state of the motor.

[0058] Please refer to Figures 3 to 5 In the present embodiment, the circuit board 230 is a multi-layer structure in which the circuit layers and the insulating layers (not shown) are alternately arranged in the longitudinal direction. The winding 231 is etched on each circuit layer. Therefore, the more the number of circuit layers, the more the number of turns of the winding 231, and the higher the thrust density. The circuit layers and the insulating layers are both provided with vias, and the plurality of windings 231 are connected through the vias. The plurality of windings 231 are all etched in the same direction, clockwise or counterclockwise, and the adjacent two layers of windings 231 are connected through the vias.

[0059] Specifically, taking the clockwise etching as an example, on the first circuit layer, the winding 231 is etched clockwise from the starting point to the inside, reaches the inside, and then reaches the second circuit layer through the via on the first circuit layer, and then etched outward from the via as the starting point, reaches the outside, and then reaches the next circuit layer through the via on the second circuit layer, and then etched inward, and so on, until the winding 231 is etched on each circuit layer.

[0060] Further, the winding 231 can have a winding shape substantially same as the outer profile of the circuit board 230 during the winding process. For example, when the circuit board 230 has a rectangular shape, the winding 231 is substantially wound in a rectangular shape. The winding 231 substantially includes a first wire group having a single wire body arranged on each of the vertical sides of the winding 231 and extending along a horizontal direction. The first wire group corresponds to each of the magnetic pole pairs 220 and is arranged in the corresponding magnetic pole pair 220, so that the winding 231 can always achieve an optimal working state and the motor has a better and more stable thrust.

[0061] After assembly, the magnetic pole pairs 220 can be arranged in at least two along the vertical direction. The two first wire groups of the same winding 231 are arranged corresponding to the adjacent two magnetic pole pairs 220, respectively. With the above structure, the overall volume of the linear motion mechanism 200 can be minimized.

[0062] When a certain amount of direct current is supplied to the circuit board 230, due to the opposite current directions of the two first wire groups of the winding 231, the two first wire groups are located at positions with opposite magnetic field directions, and the two first wire groups are subjected to the same direction of Ampere force, thereby generating effective linear motion. By controlling the on-off and direction of the current in the winding 231, the start-stop and adjustment of the motion direction of the circuit board 230 can be controlled.

[0063] The number of windings 231 can be at least two. Each winding 231 is connected in series or parallel. The first wire groups of the magnetic pole pairs 220 correspond to the plurality of windings 231 one by one, so as to multiply the thrust of the motor.

[0064] In addition, the number of the iron cores 210 can be at least two. Each group of the iron cores 210 is provided with at least two magnetic pole pairs 220. In this way, the magnetic pole pairs 220 can be stacked in the longitudinal direction, thereby multiplying the thrust of the motor. Correspondingly, the number of the circuit boards 230 is also at least two. The projections of the magnetic pole pairs 220 in the longitudinal direction in each assembly space are completely overlapped, so that the plurality of circuit boards 230 can move synchronously, thereby improving the stability of the motor drive.

[0065] Further, the magnetic pole pairs 220 can further include four third permanent magnets. Two of the four third permanent magnets are arranged on the vertical sides of the first permanent magnets 221, and the remaining two are arranged on the vertical sides of the second permanent magnets 222. Each first permanent magnet 221 and the two third permanent magnets adjacent thereto form a Halbach array, and each second permanent magnet 222 and the two third permanent magnets adjacent thereto form a Halbach array. The special arrangement of the permanent magnets with different magnetization directions can make the magnetic field generated by the permanent magnets converge to one side of the permanent magnets, thereby obtaining an ideal one-sided magnetic field, which can significantly improve the magnetic aggregation effect and effectively enhance the thrust of the motor.

[0066] Specifically, in the embodiment, the first permanent magnet 221 and the second permanent magnet 222 are both rectangular structures, the first permanent magnet 221 and the second permanent magnet 222 are identical in structure, and the vertical dimension of the first permanent magnet 221 and the second permanent magnet 222 is greater than the dimension of the third permanent magnet, and the longitudinal dimension of the first permanent magnet 221 and the second permanent magnet 222 is the same as the dimension of the third permanent magnet. The magnetization direction of the first permanent magnet 221 and the second permanent magnet 222 is parallel to the longitudinal direction, the magnetization direction of the third permanent magnet is parallel to the vertical direction, and points to the center of the first permanent magnet 221.

[0067] In addition, the linear actuator 200 further comprises two mounting brackets 240 connected between the two iron cores 210. The two mounting brackets 240 are respectively arranged at the vertical two ends of the two iron cores 210. After being connected, the two mounting brackets 240 maintain the assembly between the two iron cores 210 more stable.

[0068] Further, the linear actuator 200 further comprises a pad 250. The pad 250 is arranged on the side of the mounting bracket 240 facing the assembly space. And the pad 250 is arranged corresponding to at least the circuit board 230. The pad 250 is made of elastic material. In this way, when the circuit board 230 translates along the vertical direction to be close to the mounting bracket 240, the pad 250 elastically abuts against the circuit board 230, which can buffer the translation movement of the circuit board 230, avoiding rigid collision between the circuit board 230 and the mounting bracket 240, and causing structural damage to the circuit board 230 and the mounting bracket 240.

[0069] In addition, according to actual needs, the linear actuator 200 is arranged in at least two along the longitudinal direction. The specific structure of at least one of the two linear actuators 200 can be arranged according to any embodiment as described above.

[0070] It should be noted that the two linear actuators 200 can be directly composed of three iron cores 210 arranged in sequence along the longitudinal direction. And each two adjacent iron cores 210 define an assembly space. At least one magnetic pole pair 220 and a circuit board 230 are arranged in each assembly space according to actual needs.

[0071] Alternatively, the linear actuator 200 can be composed of four iron cores 210 arranged in sequence along the longitudinal direction. The two iron cores 210 in the middle are integrally formed. Alternatively, the two iron cores 210 in the middle are connected in a detachable or non-detachable manner after being separately formed. The two iron cores 210 on the two sides of the longitudinal direction are respectively spaced apart from the two iron cores 210 in the middle and respectively define an assembly space. At least one magnetic pole pair 220 and a circuit board 230 are arranged in each assembly space according to actual needs.

[0072] Similarly, the two mounting brackets 240 on the same side of the two linear actuating mechanisms 200 can be integrally formed. Alternatively, the two mounting brackets 240 on the same side of the two linear actuating mechanisms 200 can be connected in a detachable or non-detachable manner after being separately formed.

[0073] Based on the above, the structures of the magnetic pole pairs 220, the circuit boards 230 and other components in each linear actuating mechanism 200 are kept substantially the same. In this way, the movements of the circuit boards 230 in each linear actuating mechanism 200 can be kept substantially the same. Then, the mechanical actuating device further comprises a first connecting member 610. The first connecting member 610 connects and fixes the circuit boards 230 in each linear actuating mechanism 200, so that the circuit boards 230 are connected in linkage and translated synchronously after being powered on. The first connecting member 610 and the circuit boards 230 are connected in a detachable or non-detachable manner.

[0074] The rotary actuating mechanism 300 is arranged on the lateral side of the linear actuating mechanism 200. Correspondingly, the power output component 400 is arranged on the lateral side of the linear actuating mechanism 200. At this time, the first connecting member 610 can be arranged as much as possible along the lateral direction to the direction of approaching the rotary actuating mechanism 300, so as to facilitate the connection between the first connecting member 610 and the power output component 400.

[0075] Then, the first through hole 121 is arranged on the vertical side of the rotary actuating mechanism 300. For example, when the rotary output shaft 320 of the rotary actuating mechanism 300 extends downward along the vertical direction, the first through hole 121 can be arranged on the bottom end shell plate 120.

[0076] The mechanical actuating device further comprises a barrel shell 630. The barrel shell 630 is movably arranged between the rotary actuating mechanism 300 and the first through hole 121 along the vertical direction. The barrel shell 630 is connected and fixed with the circuit board 230. The barrel shell 630 is hollow and has a mounting hole 631 extending along the vertical direction. At least the power output component 400 extends into the mounting hole 631 and is connected with the rotary output shaft 320 through the shaft coupling 770. The power output component 400 is fixed along the vertical direction relative to the barrel shell 630 and is rotatably arranged around the axis extending along the vertical direction.

[0077] Specifically, the rotary output shaft 320 can be located outside the barrel shell 630 and suspended above the barrel shell 630. The power output component 400 extends downward through the mounting hole 631 and extends upward to be connected with the rotary output shaft 320. Alternatively, the rotary output shaft 320 can partially extend downward into the mounting hole 631. The power output component 400 partially extends upward into the mounting hole 631 and is connected with the rotary output shaft 320.

[0078] For the sake of understanding, in the following embodiments, the power output component 400 is arranged to include an insertion section 410 which extends into the mounting hole 631, and an extension section 420 which extends out of the mounting hole 631.

[0079] The insertion section 410 of the power output component 400 and the rotating output shaft 320 can be connected through a coupling 770. When the connection between the rotating output shaft 320 and the insertion section 410 is located within the mounting hole 631, further, a window can be formed in the cylinder shell 630 corresponding to the position of the connection between the rotating output shaft 320 and the insertion section 410 in the longitudinal and / or transverse direction. The window is in communication with the mounting hole 631. The window at least exposes the connection between the rotating output shaft 320 and the insertion section 410, i.e. the coupling 770. This facilitates the visual operation of the connection between the rotating output shaft 320, the insertion section 410 and the coupling 770.

[0080] As described above, the cylinder shell 630 and the power output component 400 are kept relatively fixed. The cylinder shell 630 / power output component 400 and the rotating output shaft 320 have a translational freedom in the vertical direction. The cylinder shell 630 / power output component 400 and the machine housing 100 have a translational freedom in the vertical direction and a rotational freedom about an axis extending in the vertical direction. For this purpose, in a further aspect, the mechanical actuating device further comprises a sealing ring 710 which is arranged in the mounting hole 631 and which is sleeved on the outer periphery of the insertion section 410, the sealing ring 710 forming a translational constraint in the vertical direction and a rotational freedom in the circumferential direction between the cylinder shell 630 and the power output component 400. The sealing ring 710 is generally made of an elastic material. The sealing ring 710 is arranged around the entire periphery of the outer periphery of the insertion section 410. When the sealing ring 710 is sleeved on the outer periphery of the insertion section 410, the sealing ring 710 is arranged radially outward of the outer periphery of the insertion section 410 to sufficiently fill the gap between the outer periphery of the insertion section 410 and the inner wall of the mounting hole 631.

[0081] Next, the sealing ring 710 is spaced apart in the vertical direction by at least two. For example Figures 6 to 8 As shown, the sealing ring 710 can be spaced apart in the vertical direction by four. The through hole penetrates the side wall of the insertion section 410 to form a first aperture 411. The through hole penetrates the side wall and / or the end wall of the extension section to form a second aperture 421. The first aperture 411 is located between two sealing rings 710. The first aperture 411 is spaced apart in the circumferential direction of the power output component 400 by at least two. The side wall of the cylinder shell 630 is provided with a gas inlet hole 632. The gas inlet pipe 510 is connected in communication with the gas inlet hole 632. In this way, during the rotation of the power output component 400 relative to the cylinder shell 630, each first aperture 411 is sequentially connected in communication with the gas inlet hole 632, which helps to improve the stability of the communication between the gas inlet pipe 510 and the through hole.

[0082] Further, the side wall of the extending section 410 is concave to define the annular cavity 633 together with the inner wall of the barrel 630. The annular cavity 633 is in communication with the gas outlet 632 and the first orifices 411. In this way, the annular cavity 633 can be pre-filled with a certain amount of gas. This helps to ensure that the first orifices 411 and the gas outlet 632 are always in communication through the annular cavity 633 during the rotation of the power output component 400 relative to the barrel 630.

[0083] The gas driving mechanism comprises a gas source device. The gas source device is externally arranged on the casing 100. In this way, the gas driving mechanism can occupy as little space as possible in the installation cavity 101, so that the linear actuating mechanism 200 and the rotary actuating mechanism 300 can be arranged more compactly in the installation cavity 101. The casing 100 is further provided with a second through hole 111 in communication with the installation cavity 101. One end of the gas delivery pipeline 510 is arranged as an external connector 520. The connector 520 is convenient for being connected to the gas source device, and the other end of the gas delivery pipeline 510 extends into the installation cavity 101 through the second through hole 111 and is connected to the passage 401 of the power output component 400. Specifically, the second through hole 111 can be arranged at the top end plate 110 as described above. The gas source device is used to form negative pressure or positive pressure at the gas delivery pipeline 510 and the passage 401.

[0084] When the gas source device can form negative pressure at the gas delivery pipeline 510 and the passage 401, it can also form negative pressure at the second orifice 421. At this time, the power output component 400 can be used to adsorb the target object by negative pressure, which is equivalent to an adsorption mechanism. In this way, the power output component 400 can be used to perform any suitable transfer operation on the target object adsorbed by it.

[0085] When the gas source device can form positive pressure at the gas delivery pipeline 510 and the passage 401, it can also form positive pressure at the second orifice 421. At this time, the power output component 400 can be used to blow away the target object by positive pressure, which is equivalent to a cleaning mechanism. In this way, the power output component 400 can be used to clean the environment around it. In addition, the formation of positive pressure at the second orifice 421 can also achieve the output of gas. The output gas can also be used for other purposes, such as heat dissipation, refrigeration, and air blowing of other target objects.

[0086] Of course, the above application of the gas driving device and the power output component 400 is not limited, and any arrangement can be made according to actual needs. When the gas source device can form negative pressure and positive pressure at the gas delivery pipeline 510 and the passage 401, the positive pressure and the negative pressure can be applied alternatively.

[0087] In addition, the mechanical actuating device further comprises an elastic member 720, which is arranged outside the barrel 630 and clamped between the barrel 630 and the bottom end shell plate 120. The elastic member 720 can buffer and elastically support the vertical translation movement of the barrel 630.

[0088] Further, the mechanical actuating device further comprises a bearing connected between the casing 100 and the extended section 420 of the power output component 400. In addition, the mechanical actuating device further comprises a sleeve 760 connected to the outside of the casing 100, which is arranged at the bottom end shell plate 120, for example, and corresponds to the first through hole 121. The sleeve 760 can be at least partially passed through the extended section 420 and can play a certain protection role. At this time, one end of the elastic member 720 can be fixed to the bottom end of the barrel 630, and the other end can be connected to the bearing, for example. This makes the elastic member 720 also play a certain role in balancing gravity. The elastic member 720 can support the gravity of the bearing suspended below the elastic member 720 and ensure the stability of the bearing.

[0089] The mechanical actuating device further comprises a second connecting member 620 connected between the circuit board 230 and the barrel 630. The second connecting member 620 can be integrally formed with the barrel 630, for example. Alternatively, the second connecting member 620 can be connected to the barrel 630 in a detachable or non-detachable manner after being separately formed.

[0090] The second connecting member 620 extends from the lateral side of the barrel 630 towards the linear actuating mechanism 200. After assembly, the first connecting member 610 and the second connecting member 620 can directly abut each other. Alternatively, at least part of the first connecting member 610 and the second connecting member 620 can be sequentially stacked in the longitudinal direction and then connected in a detachable manner.

[0091] One of the casing 100 and the second connecting member 620 is provided with a slide convex 640, and the other is provided with a slide groove 650. The slide convex 640 and / or the slide groove 650 extend in the vertical direction, and the slide convex 640 and the slide groove 650 are in sliding connection. The slide groove 650 and the slide convex 640 are arranged to provide accurate guidance for the vertical translation of the power output component 400 and ensure the stability of the translation process.

[0092] In addition, the mechanical actuating device can further comprise at least one electrical component 750. The electrical component 750 is used to assist the normal operation of the functions of the linear actuating mechanism 200, the rotary actuating mechanism 300, and the gas driving mechanism, etc. described above. The type is not limited, which can be but is not limited to a control board, a line board, an electrical connector, a connecting cable, etc. The casing 100 can be further provided with a third through hole 112. The third through hole 112 can be used to expose and install an electrical connector, for example.

[0093] The electrical component 750 can also be, for example, various sensors. Specifically, it can be, for example, an encoder 740 arranged at the linear actuating mechanism 200 and / or the rotary actuating mechanism 300.

[0094] The inner cavity wall of the casing 100 is provided with a wire slot 130. The wire slot 130 can be used for routing the above-mentioned, for example, gas supply pipeline 510 and / or connecting cable, etc. The mechanical actuating device further comprises a wire pressing member 730. The wire pressing member 730 is arranged across the opposite sides of the wire slot 130 in the slot width direction. One section of the wire pressing member 730 is fixedly connected with the casing 100, and the other section is elastically movably arranged in the direction of approaching and moving away from the inner cavity wall of the casing 100. In this way, when an external force is applied to the wire pressing member 730, the wire pressing member 730 can be partially bent and raised, so as to allow the above-mentioned, for example, gas supply pipeline 510 or connecting cable to be arranged in the wire slot 130. Then, the external force is removed, and the raised section of the wire pressing member 730 can be elastically reset and pressed at the slot opening of the wire slot 130, so as to limit the gas supply pipeline 510 or connecting cable from being pulled out of the wire slot 130.

[0095] The above-mentioned is only the preferred embodiment of the present application, and does not limit the patent range of the present application. Any equivalent structural transformation, direct / indirect application in other related technical fields, or the like, which is made under the utility model concept of the present application, by using the content of the present application specification and drawings, is included in the patent protection range of the present application.

Claims

1. A mechanical actuation device, characterized in that, include: The housing has an internal mounting cavity, and the housing has a first through hole communicating with the mounting cavity. A linear actuation mechanism is disposed within the mounting cavity. The linear actuation mechanism includes two iron cores, a pair of magnetic poles, and a circuit board. Each iron core extends vertically in an elongated shape, and the two iron cores are arranged longitudinally at intervals. The pair of magnetic poles is disposed between the two iron cores, and an even number of them are arranged vertically in sequence. Each pair of magnetic poles includes two permanent magnets arranged longitudinally at intervals. The circuit board is disposed between the two permanent magnets. The surface of the circuit board is etched to form windings. The number of windings is half the number of magnetic pole pairs. When the circuit board is powered on, the windings are driven by the pair of magnetic poles, which in turn causes the circuit board to move linearly vertically. A rotary actuator having a rotary output shaft rotatably disposed about an axis extending vertically; A power output component is movably disposed at the first through hole. The power output component is coaxially connected to the rotary output shaft and fixedly connected to the circuit board, so that it can be driven by the circuit board and the rotary output shaft to perform linear translation along the vertical direction and rotation about an axis extending vertically. The power output component has a channel passing through it; and... An air-driving mechanism is disposed in the housing and includes an air supply line connected to the channel and used to drive gas to flow through the channel.

2. The mechanical actuation device as described in claim 1, characterized in that, At least two linear actuators are arranged sequentially along the longitudinal direction; The mechanical actuation device further includes a first connector, which connects and fixes the circuit board in each of the linear actuation mechanisms so that, after being powered on, each of the circuit boards moves synchronously.

3. The mechanical actuation device as described in claim 1, characterized in that, The rotary actuator is located on the lateral side of the linear actuator, and the first through hole is located on the vertical side of the rotary actuator. The mechanical actuation device further includes a cylindrical shell, which is vertically movably installed between the rotary actuation mechanism and the first through hole, and the cylindrical shell is connected and fixed to the circuit board. The cylindrical shell is vertically provided with a mounting hole, at least the power output component extends into the mounting hole and is connected to the rotary output shaft through a coupling. The power output component is vertically fixed relative to the cylindrical shell and is rotatably arranged about an axis extending vertically.

4. The mechanical actuation device as described in claim 3, characterized in that, The power output component includes an extension section that extends into the mounting hole; The mechanical actuation device also includes a sealing ring, which is disposed in the mounting hole and sealed to the outer periphery of the extension section. The sealing ring forms a vertical translational constraint and a circumferential rotational degree of freedom between the cylindrical shell and the power output component.

5. The mechanical actuation device as described in claim 4, characterized in that, At least two sealing rings are arranged at vertical intervals; The through hole penetrates the side wall of the extension section to form a first opening. The first opening is located between the two sealing rings, and at least two first openings are sequentially spaced apart along the circumference of the power output component. The side wall of the cylinder shell is provided with an air supply hole, and the air supply pipeline is connected to the air supply hole.

6. The mechanical actuation device as described in claim 5, characterized in that, The extension section has recessed sidewalls for each of the first orifices, which together with the inner wall of the shell define an annular cavity, the annular cavity connecting the air inlet and each of the first orifices.

7. The mechanical actuation device as described in claim 3, characterized in that, The housing includes a bottom shell plate with the first through hole; The mechanical actuation device also includes an elastic element, which is disposed outside the cylindrical shell and sandwiched between the cylindrical shell and the bottom end plate.

8. The mechanical actuation device as described in claim 3, characterized in that, The mechanical actuation device further includes a second connector, which is connected between the circuit board and the cylindrical shell; One of the housing and the second connector is provided with a sliding protrusion, and the other is provided with a sliding groove. The sliding protrusion and / or the sliding groove extend vertically in an elongated shape, and the sliding protrusion and the sliding groove are slidably connected.

9. The mechanical actuation device as described in claim 1, characterized in that, The air-driving mechanism includes an air source device, which is externally mounted on the housing. The housing is also provided with a second through hole that connects to the mounting cavity. One end of the air supply pipeline is connected to the air source device, and the other end extends into the mounting cavity through the second through hole and is connected to the channel of the power output component. The gas source device is used to create negative or positive pressure in the gas pipeline and the channel.

10. The mechanical actuation device as claimed in claim 1, characterized in that, The inner wall of the housing is provided with a wiring groove. The mechanical actuation device also includes a wire pressing member. The wire pressing member is arranged across the wiring groove on opposite sides in the groove width direction. One end of the wire pressing member is fixedly connected to the housing, and the other end is flexibly movable in the direction close to and away from the inner wall of the housing.

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