Actuating mechanism based on cam connecting rod

Abstract

The utility model belongs to the technical field of mechanical transmission devices, and discloses an actuating mechanism based on a cam and a connecting rod, the actuating mechanism comprises a driving piece, a gear assembly, a cam piece and a connecting rod piece, the gear assembly is provided with a power input end and a power output end, and the power input end is connected with a driving shaft of the driving piece; the cam piece is connected with the power output end; one end of the connecting rod piece abuts against the cam piece, and the other end of the connecting rod piece abuts against a lock catch piece of the opening and closing mechanism. Two buffering limiting pieces are arranged on the outer side of the driving piece in the sliding direction of the connecting rod piece in a spaced mode, and the two buffering limiting pieces are used for limiting the rotating angle of the cam piece. The actuating mechanism is short in stroke, capable of well meeting the requirement for a compact space, high in reliability and low in impact noise.

Description

Technical Field

[0001] This utility model relates to the field of mechanical transmission device technology, and in particular to an actuator based on a cam link. Background Technology

[0002] Currently, there are various forms of opening and closing mechanisms commonly used in the industry (such as car door locks). Traditional hinge structures have long strokes, making them difficult to meet the requirements of compact spaces; electromagnetic drive devices are costly and suffer from electromagnetic interference; and spring return mechanisms are prone to fatigue failure and lack reliability. In addition, the above three structures also suffer from significant impact noise during mechanical limiting. Utility Model Content

[0003] The purpose of this invention is to provide an actuator based on a cam linkage, which has a short stroke, can better meet the requirements of compact space, and has high reliability and low impact noise.

[0004] To achieve this objective, the present invention adopts the following technical solution:

[0005] An actuator based on a cam link includes: a drive member; a gear assembly having a power input end and a power output end, the power input end being connected to the drive shaft of the drive member; a cam member connected to the power output end; and a link member, one end of which abuts against the cam member, and the other end of which abuts against a locking member of an opening and closing mechanism; wherein: along the sliding direction of the link member, two spaced-apart buffer limiters are provided on the outer side of the drive member, the two buffer limiters being used to limit the rotation angle of the cam member.

[0006] In some embodiments, the cam-linkage-based actuator further includes a mounting housing, which is fitted onto the drive member and used for fixed connection with an external structure, and two buffer limiting members are disposed on the mounting housing.

[0007] In some specific embodiments, the mounting housing is provided with two spaced-apart mounting portions, each mounting portion having a mounting hole, and the buffer limiting member includes an elastic rubber plug inserted into the mounting hole.

[0008] In some specific embodiments, the cam-linkage-based actuator further includes a reset elastic element, which is sleeved on the linkage member. One end of the reset elastic element abuts against the mounting housing, and the other end abuts against the external structure.

[0009] In some specific embodiments, the mounting housing, the cam component, and the connecting rod component are all made of plastic.

[0010] In some embodiments, the gear assembly includes: a drive gear sleeved on the drive shaft of the drive member; an internal gear ring fixedly disposed relative to the drive gear and located radially outward of the drive gear; a planet carrier rotatably mounted radially inward of the internal gear ring; and a first planetary gear rotatably mounted on the planet carrier and meshing with the internal gear ring and the drive gear; wherein the drive gear is the power input end, and the planet carrier is in transmission engagement with the cam member.

[0011] In some specific embodiments, the planetary carrier is provided with a gear section; the gear assembly further includes: an output frame, which is spaced apart from the planetary carrier along the axial direction of the drive shaft; an output shaft, one end of which is connected to the output frame and the other end of which is fixedly connected to the cam member; and a second planetary gear, which is rotatably mounted on the output frame and meshes with the gear section.

[0012] In some more specific embodiments, the gear assembly further includes a fixed base connected to the drive housing of the drive member and used to fix the internal gear ring; wherein,

[0013] One of the fixed base and the internal gear ring is provided with an insertion groove, and the other of the fixed base and the internal gear ring is provided with an insertion protrusion, which can be inserted into the insertion groove.

[0014] In some optional embodiments, the gear assembly further includes an internal gear housing fitted onto the fixed base. The internal gear housing has a mounting cavity. The fixed base, the drive gear, the internal gear ring, the planet carrier, the output carrier, and the second planetary gear are all disposed in the mounting cavity. One end of the output shaft is located inside the mounting cavity, and the other end of the output shaft extends out of the mounting cavity.

[0015] In some alternative embodiments, at least one bearing is provided between the output shaft and the inner wall of the mounting cavity.

[0016] The beneficial effects of the cam-linkage-based actuator of this utility model are as follows: In actual operation, the driving component can drive the gear assembly to rotate. Power is input from the power input end of the gear assembly and then output from the power output end. Since the cam component is installed at the power output end of the gear assembly, the cam component can rotate under the drive of the gear assembly to push the linkage component to move. During the movement of the linkage component, it can drive the locking component to lock or unlock, thereby realizing the opening and closing of the external opening and closing mechanism. The actuator of this embodiment employs a cam-linkage structure, which is simple in structure, reliable in operation, easy to design, and capable of realizing complex motion laws. It also boasts advantages such as smooth operation and high reliability. Furthermore, the contact between the cam and the link reduces wear, achieving high-precision motion. Using a gear assembly as the transmission component improves the compactness of the actuator, making it suitable for environments with limited space. Two spaced-apart buffer limiters are provided on the outer side of the drive component to limit the rotation angle of the cam. These buffer limiters limit the rotational stroke of the cam, achieving high-precision control of the locking component's stroke while saving space. Additionally, they reduce noise caused by impacts, resulting in lower noise levels during operation of the actuator of this embodiment.

[0017] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] Figure 1 This is an assembly diagram of the cam-linkage-based actuator and its external structure according to an embodiment of the present invention.

[0019] Figure 2 This is a schematic diagram of the cam component of the cam-linkage actuator in the first extreme position according to an embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of the cam component of the cam-linkage actuator in the second extreme position according to an embodiment of the present invention;

[0021] Figure 4 This is a cross-sectional view of the cam-linkage-based actuator according to an embodiment of the present invention.

[0022] Figure 5 This is a partial structural schematic diagram of the cam-linkage-based actuator according to an embodiment of the present invention.

[0023] Figure label:

[0024] 10. Actuator; 100. Drive unit; 200. Gear assembly; 210. Drive gear; 220. Internal gear ring; 221. Insertion protrusion; 230. Planetary carrier; 231. Gear section; 240. First planetary gear; 250. Output frame; 260. Output shaft; 270. Second planetary gear; 280. Fixed base; 281. Insertion groove; 290. Internal gear housing; 291. Mounting cavity; 300. Cam component; 400. Connecting rod component; 410. Anti-rotation component; 500. Mounting housing; 510. Mounting part; 520. Mounting ear; 530. Guide groove; 540. Anti-rotation groove; 600. Buffer limit component; 700. Reset elastic component; 800. Bearing; 20. External structure; 30. Locking component. Detailed Implementation

[0025] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0026] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0027] In the description of this embodiment, the terms "upper," "lower," "left," "right," "front," and "rear," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0028] This utility model discloses an actuator 10 based on a cam linkage (hereinafter referred to as actuator 10 for ease of description), see reference. Figures 1 to 5As shown, the actuator 10 of this embodiment includes a drive member 100, a gear assembly 200, a cam member 300, and a connecting rod member 400. The gear assembly 200 has a power input end and a power output end. The power input end is connected to the drive shaft of the drive member 100, the cam member 300 is connected to the power output end, one end of the connecting rod member 400 abuts against the cam member 300, and the other end is used to abut against the locking member 30 of the opening and closing mechanism. Wherein, along the sliding direction of the connecting rod member 400, two buffer limiting members 600 are provided on the outer side of the drive member 100 at intervals. The two buffer limiting members 600 are used to limit the rotation angle of the cam member 300. Understandably, in actual operation, the drive component 100 can drive the gear assembly 200 to rotate. Power is input from the power input end of the gear assembly 200 and output from the power output end. Since the cam component 300 is installed at the power output end of the gear assembly 200, the cam component 300 can rotate under the drive of the gear assembly 200 to push the connecting rod component 400 to move. During the movement of the connecting rod component 400, it can drive the locking component 30 to lock or unlock, thereby realizing the opening and closing of the external opening and closing mechanism. The actuator 10 of this embodiment uses a cam 300 and a connecting rod 400, which has the advantages of simple structure, reliable operation, easy design, ability to realize complex motion laws, smooth operation and high reliability. The contact between the cam 300 and the connecting rod 400 can reduce wear and achieve high-precision motion. The use of a gear assembly 200 as a transmission component helps to improve the structural compactness of the actuator 10, so that the actuator 10 can be used in environments with relatively compact space. Two buffer limiters 600 are provided on the outer side of the drive member 100 at intervals. The two buffer limiters 600 are used to limit the rotation angle of the cam 300. The buffer limiters 600 can limit the rotation stroke of the cam 300, realize high-precision control of the stroke of the locking member 30, and save space. On the other hand, they can reduce the abnormal noise caused by impact, so that the actuator 10 of this embodiment has low noise during operation.

[0029] refer to Figure 2 As shown, the actuator 10 also includes a mounting housing 500, which is fitted onto the drive component 100 and used for fixed connection with the external structure 20. Two buffer limiting members 600 are disposed on the mounting housing 500. It can be understood that the added mounting housing 500 serves two purposes: firstly, it protects the drive component 100, and secondly, it facilitates the fixed connection between the actuator 10 and the external structure 20. Since the drive component 100 is a standard part of a motor or rotary cylinder, placing the buffer limiting members 600 on the mounting housing 500 eliminates the need for secondary processing of the drive component 100, thus preventing damage to the drive component 100 during secondary processing.

[0030] Optional, see reference Figure 2As shown, the mounting housing 500 is provided with mounting ears 520, and connecting bolts pass through the mounting ears 520 to fix the mounting housing 500 to the external structure 20. Using connecting bolts to fix the mounting housing 500 facilitates the installation and disassembly of the entire actuator 10 and the external structure 20, making the actuator 10 easier to use. It also improves the stability of the actuator 10, ensuring that the locking element 30 can move stably under the drive of the connecting rod 400. Optionally, multiple mounting ears 520 are provided, arranged around the outer contour of the mounting housing 500. This improves the installation stability of the actuator 10 and the external structure 20. Of course, in other embodiments of this invention, the mounting housing 500 can also be fixed to the external structure 20 by other methods such as snap-fit ​​connection, adhesive bonding, riveting connection, or fixing pin connection, and is not limited to the connecting bolt fixing method of this embodiment.

[0031] Optionally, the mounting housing 500 is further provided with a guide groove 530, and the connecting rod 400 passes through the guide groove 530. The guide groove 530 can restrict the sliding direction of the connecting rod 400 and prevent the connecting rod 400 from tilting. Further optionally, the mounting housing 500 is also provided with an anti-rotation groove 540 that cooperates with the guide groove 530, and the connecting rod 400 is provided with an anti-rotation part 410 that cooperates with the anti-rotation groove 540. Thus, the connecting rod 400 can be prevented from rotating relative to the mounting housing 500, ensuring that the connecting rod 400 can stably drive the locking member 30 to move.

[0032] refer to Figure 2 As shown, the mounting housing 500 has two spaced-apart mounting portions 510, each with a mounting hole. The buffer limiting member 600 includes an elastic rubber plug inserted into the mounting hole. It is understood that using an elastic rubber plug inserted into the mounting hole as the buffer limiting member 600 not only limits the rotation angle of the cam member 300 but also enhances the buffering capacity of the buffer limiting member 600, thereby further reducing the operating noise generated by the actuator 10 during operation. Furthermore, for different locking requirements of the latching member 30, elastic rubber plugs of different sizes and shapes can be selected to allow the cam member 300 to have different rotation angles, thus enabling the actuator 10 of this embodiment to meet the usage requirements of different opening and closing mechanisms.

[0033] refer to Figure 2As shown, the actuator 10 also includes a reset elastic element 700, which is sleeved on the connecting rod 400. One end of the reset elastic element 700 abuts against the mounting housing 500, and the other end abuts against the external structure 20. It can be understood that the added reset elastic element 700 can drive the connecting rod 400 to automatically reset when the cam 300 reverses, facilitating the next triggering. It should be noted that, depending on the opening and closing mechanism, the reset elastic element 700 may not be provided, and the connecting rod 400 may also reset under the reaction force of the locking element 30.

[0034] Optionally, the mounting housing 500, cam component 300, and connecting rod component 400 are all made of plastic. Using plastic for the mounting housing 500, cam component 300, and connecting rod component 400 can reduce the overall manufacturing cost of the actuator 10 and facilitate a lightweight design of the actuator 10.

[0035] refer to Figure 4 As shown, the gear assembly 200 includes a drive gear 210, an internal gear ring 220, a planetary carrier 230, and a first planetary gear 240. The drive gear 210 is sleeved on the drive shaft of the drive member 100. The internal gear ring 220 is fixedly disposed relative to the drive gear 210 and is located on the radial outer side of the drive gear 210. The planetary carrier 230 is rotatably mounted on the radial inner side of the internal gear ring 220. The first planetary gear 240 is rotatably mounted on the planetary carrier 230 and meshes with the internal gear ring 220 and the drive gear 210. The drive gear 210 is the power input end, and the planetary carrier 230 is in transmission cooperation with the cam member 300. Understandably, in actual operation, the drive component 100 drives the drive gear 210 to rotate. During the rotation of the drive gear 210, the first planetary gear 240 rotates relative to its axis and also revolves within the internal gear ring 220, thereby driving the planet carrier 230 to rotate. Since the planet carrier 230 is in transmission engagement with the cam component 300, the cam component 300 can rotate directly during the rotation of the planet carrier 230. Compared to a multi-external gear meshing structure, the gear assembly 200 in this embodiment adopts a planetary gear structure, which stably reduces the speed while reducing the overall size of the gear assembly 200, thus facilitating the miniaturization design of the actuator 10.

[0036] Further optional, see reference Figure 4As shown, the planetary carrier 230 is provided with a gear section 231. The gear assembly 200 also includes an output frame 250, an output shaft 260, and a second planetary gear 270. The output frame 250 is spaced apart from the planetary carrier 230 along the axial direction of the drive shaft. One end of the output shaft 260 is connected to the output frame 250, and the other end is fixedly connected to the cam member 300. The second planetary gear 270 is rotatably mounted on the output frame 250 and meshes with the gear section 231. It can be understood that during actual operation, when the first planetary gear 240 drives the planetary carrier 230 to rotate, the gear section 231 can drive the second planetary gear 270 to rotate relative to the gear section 231. The second planetary gear 270 can then drive the output frame 250 to rotate, thereby causing the output shaft 260 to rotate. The output shaft 260 is fixedly connected to the cam member 300, thus driving the cam member 300 to rotate. Compared to the planetary carrier 230 being directly connected to the cam component 300, the added second planetary gear 270 can further reduce the rotational speed of the cam component 300, thereby avoiding the working noise caused by the excessively fast movement speed of the cam component 300.

[0037] It should be noted that the cam component 300 has a fixing hole, through which a fixing bolt passes and connects to the output shaft 260. This connection method ensures the stability of the connection between the cam component 300 and the output shaft 260, preventing the cam component 300 from rotating relative to the output shaft 260. The output frame 250 has a shaft hole for mounting the output shaft 260, and the shaft hole has a first anti-rotation surface. The output shaft 260 has a second anti-rotation surface that abuts against the first anti-rotation surface. Thus, while ensuring a stable connection between the output frame 250 and the output shaft 260, rotation of the output shaft 260 relative to the output frame 250 is prevented.

[0038] refer to Figure 4 As shown, the gear assembly 200 also includes a fixed base 280, which is connected to the drive housing of the drive component 100 and is used to fix the internal gear ring 220. The fixed base 280 has an insertion groove 281, and the internal gear ring 220 has an insertion protrusion 221, which can be inserted into the insertion groove 281. It is understood that when installing the internal gear ring 220, inserting the insertion protrusion 221 into the insertion groove 281 facilitates the connection between the fixed base 280 and the internal gear ring 220, and prevents the internal gear ring 220 from rotating relative to the fixed base 280. To improve the connection stability between the fixed base 280 and the internal gear ring 220, there can be multiple insertion grooves 281 and insertion protrusions 221. Of course, in other embodiments of this invention, the fixed base 280 is provided with insertion protrusions 221, and the internal gear ring 220 is provided with insertion grooves 281.

[0039] It should be noted that the fixed base 280 can be connected to the drive housing of the drive component 100 by any of the following methods: snap-fit ​​connection, screw connection, fixing pin connection, adhesive bonding, and welding.

[0040] refer to Figure 4 As shown, the gear assembly 200 also includes an internal gear housing 290, which is fitted onto the fixed base 280. The internal gear housing 290 has a mounting cavity 291. The fixed base 280, the driving gear 210, the internal gear ring 220, the planetary carrier 230, the output carrier 250, and the second planetary gear 270 are all located in the mounting cavity 291. One end of the output shaft 260 is located inside the mounting cavity 291, and the other end of the output shaft 260 extends out of the mounting cavity 291. It can be understood that the fixed base 280, the driving gear 210, the internal gear ring 220, the planetary carrier 230, the output carrier 250, and the second planetary gear 270 are all located in the mounting cavity 291. The internal gear housing 290 serves to protect the fixed base 280, the driving gear 210, the internal gear ring 220, the planetary carrier 230, the output carrier 250, and the second planetary gear 270, preventing external contaminants from entering the meshing gap of the gears, thereby reducing the service life of the gears. It should be noted that the fixed base 280 can be connected to the fixed base 280 by any of the following methods: snap-fit ​​connection, screw connection, or fixing pin connection.

[0041] Optionally, at least one bearing 800 is provided between the output shaft 260 and the inner wall of the mounting cavity 291. It is understood that the added bearing 800 can reduce wear between the output shaft 260 and the inner wall of the mounting cavity 291, thereby extending the service life of the entire actuator 10. In embodiments of this invention, the specific type of bearing 800 can be selected according to actual needs, and the specific type of bearing 800 is not limited here.

[0042] The actuator 10 in this embodiment has the following advantages:

[0043] First: The structure of the cam 300 and the connecting rod 400 is simple, reliable, easy to design, can realize complex motion patterns, and the mechanism runs smoothly and has high reliability.

[0044] Second: The contact between the cam 300 and the connecting rod 400 can reduce wear and achieve high-precision motion;

[0045] Third: The output shaft 260 of the gear assembly 200 and the cam component 300 are fixed together by fixing bolts, which improves the connection stability of the cam component 300;

[0046] Fourth: The housing 500 is equipped with a buffer limiter 600, which saves space and reduces operating noise.

[0047] Fifth, the cam component 300, connecting rod component 400, and mounting housing 500 are all made of plastic, which is low-cost and applicable.

[0048] In the description of this specification, references to terms such as "some embodiments," "other embodiments," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0049] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A cam link based actuator, characterized by, The utility model relates to a drive gear (100) and a gear assembly (200) are connected, and the gear assembly (200) is connected with the cam (300), and the cam (300) is connected with the connecting rod (400), and the connecting rod (400) is connected with the lock catch (30) of the opening and closing mechanism. The utility model relates to a drive gear (100) and a gear assembly (200) are connected, and the gear assembly (200) is connected with the cam (300), and the cam (300) is connected with the connecting rod (400), and the connecting rod (400) is connected with the lock catch (30) of the opening and closing mechanism. The utility model relates to a drive gear (100) and a gear assembly (200) are connected, and the gear assembly (200) is connected with the cam (300), and the cam (300) is connected with the connecting rod (400), and the connecting rod (400) is connected with the lock catch (30) of the opening and closing mechanism. The utility model relates to a drive gear (100) and a gear assembly (200) are connected, and the gear assembly (200) is connected with the cam (300), and the cam (300) is connected with the connecting rod (400), and the connecting rod (400) is connected with the lock catch (30) of the opening and closing mechanism. The utility model relates to a drive gear (100) and a gear assembly (200) are connected, and the gear assembly (200) is connected with the cam (300), and the cam (300) is connected with the connecting rod (400), and the connecting rod (400) is connected with the lock catch (30) of the opening and closing mechanism. The utility model relates to a drive gear (100) and a gear assembly (200) are connected, and the gear assembly (200) is connected with the cam (300), and the cam (300) is connected with the connecting rod (400), and the connecting rod (400) is connected with the lock catch (30) of the opening and closing mechanism.

2. The cam link based actuator of claim 1, wherein, The utility model relates to a drive gear (100) and a gear assembly (200) are connected, and the gear assembly (200) is connected with the cam (300), and the cam (300) is connected with the connecting rod (400), and the connecting rod (400) is connected with the lock catch (30) of the opening and closing mechanism.

3. The cam link based actuator of claim 2, wherein, The utility model relates to a drive gear (100) and a gear assembly (200) are connected, and the gear assembly (200) is connected with the cam (300), and the cam (300) is connected with the connecting rod (400), and the connecting rod (400) is connected with the lock catch (30) of the opening and closing mechanism.

4. The cam link based actuator of claim 2, wherein, The utility model relates to a drive gear (100) and a gear assembly (200) are connected, and the gear assembly (200) is connected with the cam (300), and the cam (300) is connected with the connecting rod (400), and the connecting rod (400) is connected with the lock catch (30) of the opening and closing mechanism.

5. The cam link based actuator of claim 2, wherein, The utility model relates to a drive gear (100) and a gear assembly (200) are connected, and the gear assembly (200) is connected with the cam (300), and the cam (300) is connected with the connecting rod (400), and the connecting rod (400) is connected with the lock catch (30) of the opening and closing mechanism.

6. Cam lever based actuator according to any of claims 1-5, characterized in that, The utility model relates to a drive gear (100) and a gear assembly (200) are connected, and the gear assembly (200) is connected with the cam (300), and the cam (300) is connected with the connecting rod (400), and the connecting rod (400) is connected with the lock catch (30) of the opening and closing mechanism. The utility model relates to a drive gear (100) and a gear assembly (200) are connected, and the gear assembly (200) is connected with the cam (300), and the cam (300) is connected with the connecting rod (400), and the connecting rod (400) is connected with the lock catch (30) of the opening and closing mechanism. The utility model relates to a drive gear (100) and a gear assembly (200) are connected, and the gear assembly (200) is connected with the cam (300), and the cam (300) is connected with the connecting rod (400), and the connecting rod (400) is connected with the lock catch (30) of the opening and closing mechanism. The utility model relates to a drive gear (100) and a gear assembly (200) are connected, and the gear assembly (200) is connected with the cam (300), and the cam (300) is connected with the connecting rod (400), and the connecting rod (400) is connected with the lock catch (30) of the opening and closing mechanism. The utility model relates to a drive gear (100) and a gear assembly (200) are connected, and the gear assembly (200) is connected with the cam (300), and the cam (300) is connected with the connecting rod (400), and the connecting rod (400) is connected with the lock catch (30) of the opening and closing mechanism. ​ 7. The cam link based actuator of claim 6, wherein, ​ ​ ​ ​ ​ 8. The cam link based actuator of claim 7, wherein, The gear assembly (200) further comprises a fixing base (280) connected with a driving shell of the driving member (100) and used for fixing the inner gear ring (220); wherein, One of the fixing base (280) and the inner gear ring (220) is provided with a plug-in groove (281), and the other of the fixing base (280) and the inner gear ring (220) is provided with a plug-in protrusion (221), the plug-in protrusion (221) being capable of being plugged in the plug-in groove (281).

9. The cam link based actuator of claim 8, wherein, The gear assembly (200) further comprises an inner gear shell (290) sleeved on the fixing base (280), the inner gear shell (290) having a mounting cavity (291), the fixing base (280), the driving gear (210), the inner gear ring (220), the planet carrier (230), the output carrier (250) and the second planet gear (270) all being arranged in the mounting cavity (291), one end of the output shaft (260) being located in the mounting cavity (291), and the other end of the output shaft (260) being arranged to pass out of the mounting cavity (291).

10. The cam link based actuator of claim 9, wherein, At least one bearing (800) is arranged between the output shaft (260) and an inner side wall of the mounting cavity (291).

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