Actuating mechanism

Abstract

The utility model relates to the field of pneumatics, in particular to an actuating mechanism with high reliability, a first channel and a piston cavity are arranged in an isolated mode, the first channel is located on a piston rod, two ports of the first channel are located on the piston rod, and a negative pressure port of a vacuum generator is communicated with one port of the first channel. The use of rubber pipes is reduced, the risk of interference of the rubber pipes to the action of the executing mechanism is reduced, and the reliability of the executing mechanism is improved.

Description

Technical Field

[0001] This utility model relates to the field of pneumatics, specifically to an actuator. Background Technology

[0002] In automated equipment, cylinders are often used in conjunction with other pneumatic structures. The cylinders are used to move the positions of the other specified pneumatic structures. The air circuits between the other specified pneumatic structures need to be isolated from the air circuits driving the cylinders. Therefore, the air circuits between the other specified pneumatic structures need to be connected separately.

[0003] In an actuator requiring vacuuming, the piston rod of a cylinder moves a suction cup to a corresponding position. The suction cup needs to be connected to a vacuum generator, which provides suction to the suction cup, enabling it to pick up objects. The suction cup and vacuum generator are connected via a plastic tube. The suction cup is located on the piston rod of the cylinder. As the piston rod moves, the suction cup moves with it. The plastic tube needs to be of sufficient length to accommodate changes in the relative positions of the suction cup and the vacuum generator. During piston rod movement, the shape of the plastic tube changes. During the operation of automated equipment, there is a risk that the plastic tube may entangle and interfere with the movement of the cylinder, causing equipment interruption. Therefore, reliability needs improvement. Utility Model Content

[0004] To solve the above-mentioned technical problems, this utility model provides an actuator with high reliability.

[0005] An actuator includes a housing and a piston assembly. The actuator includes a piston chamber, and the piston assembly includes a piston head assembly and a piston rod. The piston head assembly is located in the piston chamber and is slidable along the inner wall of the housing. A portion of the piston rod is located outside the piston chamber. The actuator includes a first channel for evacuating a vacuum. The first channel is isolated from the piston chamber and is located on the piston rod. Two ports of the first channel are located on the piston rod. The actuator includes a vacuum generator, and the negative pressure port of the vacuum generator is connected to one port of the first channel.

[0006] This actuator is isolated from the piston chamber by a first channel. The first channel is located on the piston rod, and its two ports are located on the piston rod. The negative pressure port of the vacuum generator is connected to one port of the first channel. Compared with the prior art, the connection between the negative pressure port of the vacuum generator and one port of the first channel is more reliable, thus improving the reliability of the actuator. Attached Figure Description

[0007] Figure 1 This is a cross-sectional view and a pneumatic schematic diagram of the first embodiment of the actuator;

[0008] Figure 2A cross-sectional view and aerodynamic schematic diagram of the second implementation of the actuator;

[0009] Figure 3 for Figure 1 and Figure 2 An enlarged view of region A in the diagram;

[0010] Figure 4 for Figure 2 A magnified view of region B in the middle.

[0011] Figure label:

[0012] 1. Shell 1, first cover 11, second channel 111, second cover 12, third channel 121, main body 13; piston chamber 2;

[0013] Piston assembly 3, piston head assembly 31, piston head 311, fourth sealing part 312, piston rod 32, first end 321, second end 322, first port 3231, second port 3232, blind hole 3233, first bypass hole 3234, first section 324, second section 325;

[0014] First channel 9; first sealing part 5, second sealing part 6, third sealing part 7;

[0015] Sleeve section 8, first hole 81, second bypass hole 82, third opening 83;

[0016] Vacuum generator 02, positive pressure port 021, negative pressure port 022;

[0017] First valve 04, valve inlet 055042, valve outlet 041, second valve 05, first working port 051, second working port 052, first exhaust port 053, second exhaust port 054, inlet 055. Detailed Implementation

[0018] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] An implementing mechanism, reference Figures 1-4 The actuator includes a housing and a piston assembly. The actuator includes a piston chamber. The piston assembly includes a piston head assembly and a piston rod. The piston head assembly is located in the piston chamber and is slidable along the inner wall of the housing. A portion of the piston rod is located outside the piston chamber. The actuator includes a first channel for vacuuming. The first channel is isolated from the piston chamber and is located on the piston rod. Two ports of the first channel are located on the piston rod. The actuator includes a vacuum generator. The negative pressure port of the vacuum generator is connected to one port of the first channel.

[0020] This actuator, with its isolation between the first channel and the piston chamber, has the first channel located on the piston rod. Two ports of the first channel are located on the piston rod, and the negative pressure port of the vacuum generator is connected to one port of the first channel. Compared with the prior art, this reduces the use of rubber tubing, lowers the risk of interference from the rubber tubing to the actuator's operation, and improves the reliability of the actuator.

[0021] Defined as the first direction, during the movement of piston assembly 3 along the first direction, the portion of piston rod 32 located outside piston chamber 2 gradually increases in size in the direction of movement of piston assembly 3. The direction of movement of piston assembly 3 from the first stroke position to the second stroke position is the first direction.

[0022] In the first embodiment, see Figure 1 and Figure 3 The actuator includes a cylinder, which includes a housing 1. The housing 1 includes a first cover 11, a second cover 12, and a main body 13. At least a portion of the main body 13 is cylindrical, and the inner wall of the main body 13 extends in a first direction or the opposite direction. The cylinder includes a piston chamber 2 and a piston assembly 3. The piston assembly 3 includes a piston head assembly 31 and a piston rod 32. The piston head assembly 31 is located in the piston chamber 2, and during the movement of the piston assembly 3, the piston head assembly 31 and the inner wall of the main body 13 slide in engagement.

[0023] In the direction of movement of the piston assembly 3, the first cover 11 and the second cover 12 are located at the two ends of the main body 13, respectively. Compared with the piston assembly 3 being in the second stroke position, when the piston assembly 3 is in the first stroke position, the piston head assembly 31 is closer to the first cover 11, and compared with the piston assembly 3 being in the first stroke position, when the piston assembly 3 is in the second stroke position, the piston head assembly 31 is closer to the second cover 12. At least one of the first cover 11 and the second cover 12 and the main body 13 are separate structures. In this embodiment, the first cover 11 and the second cover 12 are separate structures from the main body 13, and the first cover 11 and the second cover 12 are respectively limited or fixed to the main body 13. Of course, as other embodiments, one of the first cover 11 and the second cover 12 can be integral with the main body 13, and the other of the first cover 11 and the second cover 12 can be limited or fixed to the main body 13. For example, the first cover 11 and the main body 13 are integral structures, and the second cover 12 and the main body 13 are separate structures, and the second cover 12 and the main body 13 are limited or fixed. This will not be elaborated here.

[0024] The housing 1 includes a second channel 111 and a third channel 121. Specifically, the first cover 11 includes the second channel 111, and the second cover 12 includes the third channel 121. The second channel 111 and the third channel 121 are respectively connected to the piston chamber 2. The piston head assembly 31 includes a piston head 311 and a fourth sealing part 312. The fourth sealing part 312 and the piston head 311 are mutually limiting. The fourth sealing part 312 is located between the piston head 311 and the inner wall of the main body 13. The piston head assembly 31 isolates the second channel 111 and the third channel 121. When gas enters the piston chamber 2 through the second channel 111, it acts on one side of the piston head 311, pushing the piston assembly 3 to move in the first direction. Gas on the other side of the piston assembly 3 is discharged from the piston chamber 2 through the third channel 121. When gas enters the piston chamber 2 through the third channel 121, it acts on one side of the piston head 311, pushing the piston assembly 3 to move in the opposite direction of the first direction. Gas on the other side of the piston assembly 3 is discharged from the piston chamber 2 through the second channel 111.

[0025] The piston rod 32 is located in the hole of the second cover 12 and passes through the second cover 12. The cylinder includes a first sealing part 5, which is sleeved on the piston rod 32. The first sealing part 5 and the second cover 12 are mutually limiting. The first sealing part 5 is located between the inner wall of the housing 1 and the outer peripheral wall of the piston rod 32, so as to achieve the sealing of the piston chamber 2 and the external space of the housing 1 at the first sealing part 5.

[0026] In this embodiment, the first channel 9 includes a first opening 3231 and a second opening 3232. In the extending direction of the piston rod 32, the piston rod 32 has a first end 321 and a second end 322. The second end 322 is away from the piston head assembly 31 relative to the first end 321. The first opening 3231 is located at the second end 322, and the second opening 3232 is located on the outer peripheral wall of the piston rod 32. This makes it easier to place the first channel 9 outside the piston cavity 2, which is beneficial for achieving the isolation between the first channel 9 and the piston cavity 2.

[0027] The first channel 9 includes a blind hole 3233 and a first bypass hole 3234. The blind hole 3233 extends from the second end 322 toward the first end 321. The port of the blind hole 3233 is the first opening 3231. The first bypass hole 3234 penetrates the wall corresponding to the blind hole 3233 and the outer wall of the piston rod 32. The second opening 3232 is one port of the first bypass hole 3234. The first opening 3231 and the second opening 3232 are the two ports of the first channel 9. The relative positions of the first opening 3231 and the second opening 3232 remain unchanged during the movement of the piston rod 32, making the structure more stable.

[0028] Furthermore, the second port 3232 is located at the first axial position of the piston rod 32, and the first sealing part 5 is located at the second axial position of the piston rod 32. The first axial position is located in the first direction of the second axial position. Thus, the first port 3231 and the second port 3232 are the two ports of the first channel 9, that is, the first channel 9 is located outside the piston cavity 2, realizing the isolation between the first channel 9 and the piston cavity 2. More specifically, when the piston assembly 3 is located at the first stroke position, the first axial position is located in the first direction of the second axial position. During the process of the piston assembly 3 moving from the first stroke position along the first direction towards the second stroke position, the size of the part of the piston rod 32 located outside the piston cavity 2 gradually increases in the direction of movement of the piston assembly 3. During the movement of the piston assembly 3, the first channel 9 is always located outside the piston cavity 2, realizing the isolation between the first channel 9 and the piston cavity 2.

[0029] More specifically, the minimum flow area of ​​a single first bypass hole 3234 is smaller than the minimum flow area of ​​a blind hole 3233, and the number of first bypass holes 3234 is at least two, compared to the number of one first bypass hole 3234. The minimum throttling area of ​​the first channel 9 can be increased by having at least two first bypass holes 3234, thereby increasing the flow rate of the first channel 9.

[0030] In this embodiment, the vacuum generator 02 is located on the piston rod 32, and the negative pressure port 022 and the second port 3232 of the vacuum generator 02 are opposite to each other; the actuator includes a suction cup assembly (not shown in the figure), the suction cup assembly and the second end 322 are limited or fixed, the suction cup assembly includes a suction channel (not shown in the figure), the suction cup assembly and the piston rod 32 are limited or fixed, and one port of the first channel 9 is connected to the suction channel. That is, in this embodiment, the suction cup assembly and the negative pressure port of the vacuum generator are connected through the first channel, which reduces the use of rubber tubes, reduces the risk of the rubber tubes interfering with the operation of the actuator, and improves the reliability of the actuator.

[0031] More specifically, the piston rod 32 includes a first segment 324 and a second segment 325, the diameter of which is larger than the diameter of the first segment 324, and the first channel 9 is located in the second segment 325. This allows for a larger flow area of ​​the blind orifice 3233, a greater number of first bypass orifices 3234, and an increased flow rate in the first channel 9.

[0032] In the second embodiment, see Figures 2 to 4The actuator includes a cylinder, which includes a housing 1. The housing 1 includes a first cover 11, a second cover 12, and a main body 13. At least a portion of the main body 13 is cylindrical, and the inner wall of the main body 13 extends in a first direction or the opposite direction. The cylinder includes a piston chamber 2 and a piston assembly 3. The piston assembly 3 includes a piston head assembly 31 and a piston rod 32. The piston head assembly 31 is located in the piston chamber 2, and during the movement of the piston assembly 3, the piston head assembly 31 and the inner wall of the main body 13 slide in engagement.

[0033] In the direction of movement of the piston assembly 3, the first cover 11 and the second cover 12 are located at the two ends of the main body 13, respectively. Compared with the piston assembly 3 being in the second stroke position, when the piston assembly 3 is in the first stroke position, the piston head assembly 31 is closer to the first cover 11, and compared with the piston assembly 3 being in the first stroke position, when the piston assembly 3 is in the second stroke position, the piston head assembly 31 is closer to the second cover 12. At least one of the first cover 11 and the second cover 12 and the main body 13 are separate structures. In this embodiment, the first cover 11 and the second cover 12 are separate structures from the main body 13, and the first cover 11 and the second cover 12 are respectively limited or fixed to the main body 13. Of course, as other embodiments, one of the first cover 11 and the second cover 12 can be integral with the main body 13, and the other of the first cover 11 and the second cover 12 can be limited or fixed to the main body 13. For example, the first cover 11 and the main body 13 are integral structures, and the second cover 12 and the main body 13 are separate structures, and the second cover 12 and the main body 13 are limited or fixed. This will not be elaborated here.

[0034] The housing 1 includes a second channel 111 and a third channel 121. Specifically, the first cover 11 includes the second channel 111, and the second cover 12 includes the third channel 121. The second channel 111 and the third channel 121 are respectively connected to the piston chamber 2. The piston head assembly 31 includes a piston head 311 and a fourth sealing part 312. The fourth sealing part 312 and the piston head 311 are mutually limiting. The fourth sealing part 312 is located between the piston head 311 and the inner wall of the main body 13. The piston head assembly 31 isolates the second channel 111 and the third channel 121. When gas enters the piston chamber 2 through the second channel 111, it acts on one side of the piston head 311, pushing the piston assembly 3 to move in the first direction. Gas on the other side of the piston assembly 3 is discharged from the piston chamber 2 through the third channel 121. When gas enters the piston chamber 2 through the third channel 121, it acts on one side of the piston head 311, pushing the piston assembly 3 to move in the opposite direction of the first direction. Gas on the other side of the piston assembly 3 is discharged from the piston chamber 2 through the second channel 111.

[0035] The piston rod 32 is located in the hole of the second cover 12 and passes through the second cover 12. The cylinder includes a first sealing part 5, which is sleeved on the piston rod 32. The first sealing part 5 and the second cover 12 are mutually limiting. The first sealing part 5 is located between the inner wall of the housing 1 and the outer peripheral wall of the piston rod 32, thereby achieving a sealing arrangement between the piston chamber 2 and the external space of the housing 1 at the second cover 12.

[0036] The first channel 9 includes a first opening 3231 and a second opening 3232. In the extending direction of the piston rod 32, the piston rod 32 has a first end 321 and a second end 322. The second end 322 is away from the piston head assembly 31 relative to the first end 321. The first opening 3231 is located at the second end 322, and the second opening 3232 is located on the outer peripheral wall of the piston rod 32. This makes it easier to place the first channel 9 outside the piston cavity 2, which is beneficial for achieving the isolation between the conduction channel 323 and the piston cavity 2.

[0037] The first channel 9 includes a blind hole 3233 and a first bypass hole 3234. The blind hole 3233 extends from the second end 322 toward the first end 321. The port of the blind hole 3233 is the first opening 3231. The first bypass hole 3234 penetrates the wall corresponding to the blind hole 3233 and the outer wall of the piston rod 32. The second opening 3232 is one port of the first bypass hole 3234. More specifically, the second opening 3232 is located at the first axial position of the piston rod 32, and the first sealing part 5 is located at the second axial position of the piston rod 32. The first axial position is located in the first direction of the second axial position. In this way, the guiding channel 323 is located outside the piston cavity 2, realizing the isolation between the first channel 9 and the piston cavity 2.

[0038] More specifically, when the piston assembly 3 is in the first stroke position, the first axial position is in the first direction of the second axial position. As the piston assembly 3 moves from the first stroke position toward the second stroke position along the first direction, the size of the piston rod 32 located outside the piston cavity 2 gradually increases in the direction of piston assembly 3 movement. During the movement of the piston assembly 3, the first channel 9 is always located outside the piston cavity 2, thus achieving the isolation between the conduction channel 323 and the piston cavity 2.

[0039] In this embodiment, to increase the gas flow rate, the actuator includes a sleeve portion 8, at least a portion of which is located in a first direction of the housing 1. The sleeve portion 8 and the housing 1 are limited or fixedly disposed. The sleeve portion 8 includes a first hole 81. There is a gap between the wall portion corresponding to the first hole 81 and the outer wall of the piston rod 32, and the gap between the wall portion corresponding to the first hole 81 and the outer wall of the piston rod 32 is connected to the first channel 9.

[0040] Such an actuator, through the gap between the wall corresponding to the first hole 81 and the outer wall of the piston rod 32 and the first channel 9, increases the flow area of ​​the first channel 9, and this embodiment can increase the flow rate of the first channel 9.

[0041] Specifically, the sleeve portion 8 is cylindrical or substantially cylindrical, and a portion of the second cover 12 is located in the first hole 81 of the sleeve portion 8. The second cover 12 and the corresponding wall portion of the first hole 81 are limited. The actuator includes a second sealing portion 6. At least a portion of the second cover 12 is cylindrical and located in the first hole 81. The second sealing portion 6 is located between the second cover 12 and the corresponding wall portion of the first hole 81, thereby achieving a seal between the sleeve portion 8 and the housing 1, i.e., the gap between the wall portion of the first hole 81 and the outer wall of the piston rod 32, i.e., the sealing arrangement between the first channel 9 and the outside at the second sealing portion 6. The actuator includes a third sealing portion 7. The third sealing portion 7 and the sleeve portion 8 are provided. The third sealing portion 7 is sleeved on the piston rod 32 and is located between the inner wall of the sleeve portion 8 and the piston rod 32, thereby achieving a seal between the sleeve portion 8 and the piston rod 32, i.e., the gap between the wall portion of the first hole 81 and the outer wall of the piston rod 32. The gap between the wall portion of the first hole 81 and the outer wall of the piston rod 32 is connected to the first channel.

[0042] More specifically, the sleeve portion has a second bypass hole 82, which penetrates the outer wall of the sleeve portion and the wall portion corresponding to the first hole 81. The second bypass hole 82 includes a third port 83, which is one port of the second bypass hole 82. The third port 83 is located on the outer wall of the sleeve portion. The vacuum generator 02 is located in the sleeve portion 8. The negative pressure port 022 of the vacuum generator 02 is opposite to the third port 83. The radial dimension of the outer peripheral wall of the sleeve portion is larger than the radial dimension of the piston rod, which facilitates the installation of the vacuum generator.

[0043] The actuator includes a suction cup assembly (not shown in the figure), with the suction cup assembly and a second end 322 positioned or fixed. The suction cup assembly includes a suction channel, and the suction cup assembly and piston rod 32 are positioned or fixed. One port of the first channel 9 is connected to the suction channel. That is, in this embodiment, the suction cup assembly and the negative pressure port of the vacuum generator are connected through the gap between the wall corresponding to the first channel and the first hole 81 and the outer wall of the piston rod 32. Compared with the prior art, this reduces the use of rubber tubing, lowers the risk of interference from the rubber tubing to the actuator's operation, and improves the reliability of the actuator. More specifically, the wall corresponding to the suction channel and the second end 322 can be mechanically connected, welded, or fixed.

[0044] See Figures 1 to 4In the two embodiments described above, the actuator further includes a first valve 04 and a second valve 05. The first valve 04 can be a two-position, two-way valve, having a valve inlet 055 / 042 and a valve outlet 041. The valve outlet 041 is connected to the positive pressure port 021 of the vacuum generator 02. The second valve 05 includes a first exhaust port 053, a second exhaust port 054, a first working port 051, a second working port 052, and an inlet 055. The first working port 051 is connected to the second channel 111, and the second working port 052 is connected to the third channel 121. When the valve stem of the second valve 05 is in the first position, the air inlet 055 and the first working port 051 are connected, the first working port 051 and the first exhaust port 053 are disconnected, the second working port 052 and the air inlet 055 are disconnected, and the second working port 052 and the second exhaust port 054 are connected; when the valve stem of the second valve 05 is in the second position, the air inlet 055 and the first working port 051 are disconnected, the first working port 051 and the first exhaust port 053 are connected, the second working port 052 and the air inlet 055 are connected, and the second working port 052 and the second exhaust port 054 are disconnected.

[0045] The second valve 05 can be a two-position five-way valve. When the valve stem of the second valve 05 is in the first position, the inlet 055 and the first working port 051 are connected, the first working port 051 and the first exhaust port 053 are disconnected, the second working port 052 and the inlet 055 are disconnected, and the second working port 052 and the second exhaust port 054 are connected. Gas enters the piston chamber 2 through the inlet 055, the first working port 051 and the second channel 111. The gas acts on one side of the piston head 311, pushing the piston assembly 3 to move in the first direction. 1. Gas on the other side is discharged through the third channel 121, the second working port 052, and the second exhaust port 054; after the piston assembly 3 moves from the first stroke position to the second stroke position, it stops moving, and the suction cup contacts the object to be sucked. The first valve 04 is activated, and gas enters the vacuum generator 02 through the valve inlet 055 / 042, the valve outlet 041, and the positive pressure port 021 of the vacuum generator 02, so that the suction cup has a large suction force to suck up the object to be sucked, realizing the suction cup sucking up the object to be sucked; the second valve 05... When the valve stem switches from the first position to the second position, the inlet 055 and the first working port 051 are disconnected, the first working port 051 and the first exhaust port 053 are connected, the second working port 052 and the inlet 055 are connected, and the second working port 052 and the second exhaust port 054 are disconnected. Gas enters the piston chamber 2 through the inlet 055, the second working port 052 and the third channel 121. The gas acts on one side of the piston head 311, pushing the piston assembly 3 to move in the opposite direction of the first direction. Gas on the other side of the piston head 311 passes through... The second channel 111, the first working port 051 and the first exhaust port 053 discharge; during the process of the piston assembly 3 moving from the second stroke position to the first stroke position, the suction cup can pick up the object and move it to the designated position together with the piston rod 32. After the piston assembly 3 stops moving from the second stroke position to the first stroke position, the first valve 04 can be closed to stop the gas from entering the vacuum generator 02 through the positive pressure port 021 of the vacuum generator 02, thereby reducing the suction force of the first channel 9, removing the moved object and completing the object grabbing.

[0046] The above examples illustrate the principles and implementation methods of this utility model. The descriptions of these embodiments are merely for the purpose of helping to understand the method and core ideas of this utility model. It should be noted that those skilled in the art can make various improvements and modifications to this utility model without departing from its principles, and these improvements and modifications also fall within the protection scope of this utility model.

Claims

1. An actuator comprising a housing (1) and a piston assembly (3), the actuator comprising a piston chamber (2), characterized in that, The piston assembly (3) comprises a piston head assembly (31) and a piston rod (32), the piston head assembly (31) is located in the piston cavity (2), and the piston head assembly (31) can slide along the inner wall of the shell (1); Part of the piston rod (32) is located outside the piston cavity (2), the actuator comprises a first channel (9) for vacuumizing, the first channel (9) is isolated from the piston cavity (2), the first channel (9) is located in the piston rod (32), and two ports of the first channel (9) are located in the piston rod (32); The actuator comprises a vacuum generator (02), and a negative pressure port (022) of the vacuum generator (02) is communicated with one port of the first channel (9).

2. The actuator of claim 1, wherein, The first channel (9) comprises a first port (3231) and a second port (3232), and the piston rod (32) has a first end (321) and a second end (322) in the extension direction of the piston rod (32). The second end (322) is away from the piston head assembly (31) relative to the first end (321), the first port (3231) is located at the second end (322), and the second port (3232) is located at the outer peripheral wall of the piston rod (32).

3. The actuator of claim 2, wherein, The first channel (9) comprises a blind hole (3233) and a first bypass hole (3234), the blind hole (3233) extends from the second end (322) to the first end (321), the port of the blind hole (3233) is the first port (3231), and the first bypass hole (3234) penetrates the corresponding wall of the blind hole (3233) and the outer side wall of the piston rod (32). The second port (3232) is one port of the first bypass hole (3234).

4. An actuator according to claim 2 or 3, wherein The actuator comprises a first sealing portion (5), the first sealing portion (5) is sleeved on the piston rod (32), the first sealing portion (5) is located between the inner wall of the shell (1) and the outer peripheral wall of the piston rod (32), and a first direction is defined. During movement of the piston assembly (3) in the first direction, the size of the part of the piston rod (32) located outside the piston cavity (2) in the moving direction of the piston assembly (3) gradually increases; The second port (3232) is located at a first axial position of the piston rod (32), the first sealing portion (5) is located at a second axial position of the piston rod (32), and the first axial position is located in the first direction of the second axial position.

5. An actuator according to any one of claims 2 to 4, wherein The vacuum generator (02) is located in the piston rod (32), and the negative pressure port (022) of the vacuum generator (02) is opposite to the second port (3232).

6. The actuator of claim 5, wherein, The piston rod (32) comprises a first section (324) and a second section (325), the diameter of the second section (325) is greater than that of the first section (324), and the first channel (9) is located in the second section (325).

7. An actuator according to any one of claims 2 to 4, wherein Definition, first direction; the part of the piston rod (32) outside the piston cavity (2) gradually increases in size in the direction of movement of the piston assembly (3) during movement of the piston assembly (3) in the first direction; the actuator includes a sleeve portion (8), at least part of the sleeve portion (8) is located in the first direction of the housing (1), the sleeve portion (8) and the housing (1) are limit set or fixed set, the sleeve portion (8) includes a first hole (81), the corresponding wall part between the first hole (81) and the outer wall of the piston rod (32) has a gap, and the gap between the corresponding wall part of the first hole (81) and the outer wall of the piston rod (32) and the first channel (9) are communicated.

8. The actuator of claim 7, wherein, The sleeve portion has a second bypass hole (82), the second bypass hole (82) penetrates the outer wall of the sleeve portion (8) and the corresponding wall part of the first hole (81), the second bypass hole (82) includes a third port (83), the third port (83) is one end of the second bypass hole (82), the third port (83) is located on the outer wall of the sleeve portion, the vacuum generator (02) is located in the sleeve portion (8), the negative pressure port (022) of the vacuum generator (02) and the third port (83) are opposite.

9. An actuator according to any one of claims 2 to 7, characterised in that, The actuator includes a suction cup assembly, the suction cup assembly and the second end portion (322) are limit set or fixed set, the suction cup assembly includes a suction channel, the suction cup assembly and the piston rod (32) are limit set or fixed set, one end of the first channel (9) and the suction channel are communicated.

10. The actuator of claim 9, wherein, The shell (1) includes a second channel (111) and a third channel (121), the second channel (111) and the third channel (121) are communicated with the piston cavity (2) respectively, the piston head assembly (31) and the inner wall of the shell (1) are slidingly fitted, and the second channel (111) and the third channel (121) are cut off, the actuator includes a first valve (04) and a second valve (05), the first valve (04) has a valve gas outlet (041), the valve gas outlet (041) is communicated with the positive pressure port (021) of the vacuum generator (02), the second valve (05) includes a first exhaust port (053), a second exhaust port (054), a first working port (051), a second working port (052) and an air inlet (055), the first working port (051) is communicated with the second channel (111), the second working port (052) is communicated with the third channel (121), when the valve rod of the second valve (05) is located at a first position, the air inlet (055) is communicated with the first working port (051), the first working port (051) is disconnected with the first exhaust port (053), the second working port (052) is disconnected with the air inlet (055), and the second working port (052) is communicated with the second exhaust port (054); when the valve rod of the second valve (05) is located at a second position, the air inlet (055) is disconnected with the first working port (051), the first working port (051) is communicated with the first exhaust port (053), the second working port (052) is communicated with the air inlet (055), and the second working port (052) is disconnected with the second exhaust port (054).

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