Rotary actuator and robot

Abstract

The application belongs to the technical field of automation production and relates to a rotary actuator and a mechanical arm. The rotary actuator comprises a support, a power output, a component of a bearing of a force and a bearing assembly. The support is provided with an assembly space, and the power output is installed in the assembly space. The power output has a rotating shaft, the rotating shaft extends to the assembly space and is connected with the bearing assembly. The component of the bearing of the force is sleeved on the rotating shaft, one end of the component of the bearing of the force abuts against the bearing assembly, and the other end abuts against the support. When a target object is placed on the bearing assembly, a load force generated by the target object is transmitted to the component of the bearing of the force through the bearing assembly, and the component of the bearing of the force decomposes the load force generated by the target object into an axial load force and a radial load force and transmits the axial load force and the radial load force to the support. The rotary actuator adopts a relatively low-price air cylinder as the power output, so that driving of a large-weight carrier can be realized, and cost reduction can be facilitated on the basis of ensuring efficient and stable operation of the rotary actuator.

Description

Technical Field

[0001] This application relates to the field of automated production technology, and in particular to a rotary actuator and a robotic arm. Background Technology

[0002] The end effector of a robotic arm typically requires a mounting carrier and is driven by cylinders to perform functions such as gripping, handling, and assembling materials. However, for heavier carriers (such as magnetic carriers weighing 9kg-12kg), the end effector of a robotic arm often needs to be driven by a motor with greater output power and load capacity, resulting in an increase in the overall size and cost of the robotic arm. Utility Model Content

[0003] In view of this, it is necessary to provide a rotary actuator and a robot to improve the technical problems of existing rotary actuators being difficult to apply to heavy-duty vehicles and having high costs.

[0004] One embodiment of this application provides a rotary actuator. The rotary actuator is applied to a robotic arm. The rotary actuator includes a support, a power output component, a force-shaping bearing assembly, and a support assembly for carrying a target object. The support is configured to be mounted on the robotic arm. The support has an assembly space in which the power output component is mounted. The power output component has a rotating shaft that extends into the assembly space and connects to the support assembly, enabling the power output component to drive the support assembly to rotate. The force-shaping bearing assembly is sleeved on the rotating shaft, with one end abutting against the support assembly and the other end abutting against the support. The force-shaping bearing assembly is configured to decompose the load force generated by the target object and transmit the decomposed load force to the support when the support assembly carries the target object.

[0005] When the target object is placed on the bearing assembly, the load force generated by the target object is transmitted to the force-distributing bearing assembly through the bearing assembly. The force-distributing bearing assembly decomposes the load force generated by the target object into axial load force and radial load force, and then transmits the decomposed axial load force and radial load force to the support. Through the cooperation of the bearing assembly, combined bearings, and support, the load force generated by the target object can be transmitted and decomposed, thereby reducing the load force borne by the power output components located in the assembly space. The rotary actuator uses a low-cost cylinder as the power output component, which can drive heavy loads, thus meeting the needs of heavy loads and helping to reduce costs while ensuring the efficient and stable operation of the rotary actuator.

[0006] In some embodiments of this application, the force-shaping bearing assembly includes a fixed flange, a pressure plate, and a combined bearing. The fixed flange, pressure plate, and combined bearing are all fitted onto the rotating shaft. The fixed flange is fixedly connected to a bracket, and the pressure plate is connected to a load-bearing component. The pressure plate has a first sub-groove on the side facing the fixed flange, and the fixed flange has a second sub-groove on the side facing the pressure plate; the first and second sub-grooves together form a mounting groove. The combined bearing is installed within the mounting groove and is configured to simultaneously withstand radial and axial loads.

[0007] In some embodiments of this application, the support assembly includes a support plate and an electromagnet mounted on the support plate. The support plate is mounted on a pressure plate and connected to a rotation shaft. The electromagnet is configured to attract the target object.

[0008] Technicians can precisely grasp and release target objects simply by controlling the energization and de-energization of the electromagnet; that is, it attracts when energized and releases when de-energized. By using electromagnetic adsorption, not only is the response speed fast and the control precise, but technicians can also adjust the current of the electromagnet as needed to adjust the strength of the adsorption force on the target object, which helps to ensure that the target object is stably fixed to the support plate, thereby improving the processing accuracy and quality of the target object.

[0009] In some embodiments of this application, the rotary actuator further includes an angle limiting member and a buffer limiting member. The angle limiting member is mounted on the support plate, and the buffer limiting member is mounted on the bracket. The buffer limiting member is configured to abut against the angle limiting member when the support plate rotates relative to the bracket to a preset position, thereby constraining the relative position of the support plate and the bracket.

[0010] By combining the angle limiting component and the buffer limiting component, the rotation angle of the bearing plate can be constrained while buffering the bearing plate. This reduces the risk of damage caused by the bearing plate colliding with the bracket due to excessive impact force or excessive rotation angle caused by the power output component driving the bearing plate to rotate. This helps to improve the stability of the rotary actuator operation and extend the service life of the rotary actuator.

[0011] In some embodiments of this application, the buffer limiting member includes a bushing, a push rod, and an elastic element. The bushing is mounted on a bracket, and the push rod is movably inserted through the bushing in a direction perpendicular to the rotation axis. The elastic element is installed between the push rod and the bushing, with one end of the elastic element abutting against the bushing and the other end abutting against the push rod.

[0012] In some embodiments of this application, the rotary actuator further includes a clamping assembly mounted on a bracket. The clamping assembly is configured to, together with a buffer limiter, clamp an angle limiter when the support plate rotates relative to the bracket to a preset position.

[0013] When the support plate rotates relative to the bracket to the preset position, the clamping assembly, together with the buffer limiting component, clamps the angle limiting component, ensuring that the support plate remains in the preset position. The clamping assembly not only reduces the risk of the support plate not rotating into its intended position but also reduces the risk of springback, thus improving the rotational accuracy of the actuator.

[0014] In some embodiments of this application, the clamping assembly includes a drive member and a clamping block. The drive member is mounted on a bracket, and the clamping block is mounted on the output end of the drive member. The clamping block has a first position and a second position and is configured to switch between the first position and the second position under the action of the drive member. When the clamping block is in the first position, it is configured to avoid the angle limiting member during the rotation of the support plate relative to the bracket. When the clamping block is in the second position, it is configured to clamp the angle limiting member together with the buffer limiting member to constrain the relative position of the support plate and the bracket.

[0015] In some embodiments of this application, the support assembly further includes a positioning element mounted on the support plate. The positioning element is configured to cooperate with the positioning portion of the target object.

[0016] By setting up positioning components, not only can the target object be accurately grasped, reducing the positional deviation between the target object and the support plate, but the target object can also be limited, reducing the risk of the target object shifting or falling off during the rotation of the support component.

[0017] In some embodiments of this application, the support assembly further includes a sensor mounted on the support plate. The sensor is configured to detect a target object to determine the load-bearing state of the support plate.

[0018] By setting up sensors, the load-bearing status of the support plate can be monitored in real time. For example, whether there is a target object on the support plate, and whether the target object is in the correct position. This helps to achieve more accurate picking and placing of the target object and improve the intelligence level of the rotary actuator.

[0019] One embodiment of this application provides a robotic arm. The robotic arm includes a multi-axis robotic arm and a rotary actuator as described in any of the above embodiments. The rotary actuator is mounted on the multi-axis robotic arm.

[0020] The aforementioned robotic arm employs the rotary actuator described above. When the target object is placed on the bearing assembly, the load force generated by the target object is transmitted to the force-shaping bearing assembly through the bearing assembly. The force-shaping bearing assembly decomposes the load force generated by the target object into axial and radial load forces, and then transmits these decomposed axial and radial load forces to the support. Through the cooperation of the bearing assembly, combined bearings, and support, the load force generated by the target object can be transmitted and decomposed, thereby reducing the load force borne by the power output components located in the assembly space. The rotary actuator uses a relatively inexpensive cylinder as the power output component, which can drive heavy-duty vehicles, thus meeting the needs of heavy-duty vehicles. This helps to reduce the cost of the robotic arm while ensuring the efficient and stable operation of the rotary actuator. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of a rotary actuator provided in one embodiment of this application; Figure 2 This is a schematic diagram of the structure of the rotary actuator and the magnet carrier after assembly in one embodiment of this application; Figure 3 yes Figure 2 The diagram shows the structure of the rotary actuator and the magnetic carrier when the magnetic carrier is in its initial position. Figure 4 yes Figure 2 The diagram shows the structure of the rotary actuator and the magnetic carrier when the magnetic carrier is in the preset position. Figure 5 yes Figure 1 A sectional view of the structure shown after being cut along line V-V; Figure 6 yes Figure 5 An exploded view of the force-shaping bearing assembly in the structure shown. Figure 7 This is a schematic diagram of the rotary actuator when the intermediate pressure block is in the first position, according to an embodiment of this application. Figure 8 This is a schematic diagram of the rotary actuator when the pressure block is in the second position, according to an embodiment of this application.

[0022] Explanation of key component symbols: 100. Rotary actuator; 10. Bearing assembly; 11. Bearing plate; 12. Electromagnet; 13. Positioning component; 14. Sensor; 20. Bracket; 21. Assembly space; 30. Power output component; 31. Rotary shaft; 40. Component bearing assembly; 41. Fixed flange; 42. Pressure plate; 43. Combined bearing; 44. Mounting slot; 441. First sub-slot; 442. Second sub-slot; 50. Angle limiter; 60. Limiting buffer; 61. Bushing; 62. Push rod; 70. Clamping assembly; 71. Drive component; 72. Pressure block; 200. Target / magnet carrier. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0025] This application provides a rotary actuator. The rotary actuator is applied to a robotic arm. The rotary actuator includes a support, a power output component, a force-shaping bearing assembly, and a support assembly for carrying a target object. The support is configured to be mounted on the robotic arm. The support has an assembly space, in which the power output component is mounted. The power output component has a rotating shaft that extends into the assembly space and connects to the support assembly, enabling the power output component to drive the support assembly to rotate. The force-shaping bearing assembly is sleeved on the rotating shaft, with one end abutting against the support assembly and the other end abutting against the support. The force-shaping bearing assembly is configured to decompose the load force generated by the target object and transmit the decomposed load force to the support when the support assembly carries the target object.

[0026] When the target object is placed on the bearing assembly, the load force generated by the target object is transmitted to the force-sharing bearing assembly through the bearing plate. The force-sharing bearing assembly decomposes the load force generated by the target object into axial load force and radial load force, and then transmits the decomposed axial load force and radial load force to the bracket. Through the cooperation of the bearing plate, combined bearing, and bracket, the load force generated by the target object can be transferred and decomposed, thereby reducing the load force borne by the power output component located in the assembly space. The rotary actuator uses a low-cost cylinder as the power output component, which can drive heavy loads, thus meeting the requirements of heavy loads. This helps to reduce costs while ensuring the efficient and stable operation of the rotary actuator.

[0027] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0028] Please refer to the following: Figure 1 and Figure 2 One embodiment of this application provides a rotary actuator 100. The rotary actuator 100 is applied to a robotic arm (not shown). The rotary actuator 100 includes a load-bearing assembly 10, a support 20, a power output component 30, and a force-shaping bearing assembly 40.

[0029] In some embodiments, the support component 10 is used to support the target object 200. The target object 200 can be a magnetic carrier, which is constructed of metal. The rotary actuator 100 performs functions such as gripping, handling, and assembling the material through the magnetic carrier 200. Understandably, when the robot needs to grip the material, the rotary actuator 100 drives the magnetic carrier 200 to rotate to a preset angle to grip the material.

[0030] Please refer to the following: Figure 3 and Figure 4 For example, the initial angle of the magnetic carrier 200 is 0°, and the preset angle of the magnetic carrier 200 is 180°. When the robot arm needs to grasp material, the rotary actuator 100 drives the magnetic carrier 200 to rotate from 0° to 180°. At this time, the magnetic carrier 200 is able to grasp the material.

[0031] In other embodiments, the target object 200 can also be other suitable devices. For example, the supporting component 10 can directly support the material, and the rotation angle range of the magnetic carrier 200 can also be other values. This application does not limit this, and those skilled in the art can choose according to the actual situation. For ease of explanation, the target object 200 will be the magnetic carrier 200 as an example below.

[0032] Please refer to the following: Figure 1 , Figure 2 and Figure 5 In some embodiments, the support 20 is mounted on the robot arm, and the support 20 has an assembly space 21. The power output component 30 is mounted in the assembly space 21. The power output component 30 has a rotation shaft 31 that extends into the assembly space 21 and is connected to the support assembly 10 so that the power output component 30 can drive the support assembly 10 to rotate.

[0033] Understandably, when the magnet carrier 200 is assembled to the bearing assembly 10, the power output component 30 drives the bearing assembly 10 to rotate from the initial position to the preset position through the rotating shaft 31, thereby driving the magnet carrier 200 to rotate from the initial position to the preset position.

[0034] It is worth noting that the aforementioned initial position specifically refers to the position of the magnet carrier 200 when it is at an initial angle of 0°, and the aforementioned preset position specifically refers to the position of the magnet carrier 200 when it is at a preset angle of 180°.

[0035] In some embodiments, the force-shaping bearing assembly 40 is sleeved on the rotating shaft 31, with one end of the force-shaping bearing assembly 40 abutting against the bearing assembly 10 and the other end abutting against the bracket 20. The force-shaping bearing assembly 40 is configured to decompose the load force generated by the magnet carrier 200 when the bearing assembly 10 carries the magnet carrier 200, and to transmit the decomposed load force to the bracket 20.

[0036] Understandably, when the magnet carrier 200 is placed on the bearing assembly 10, the load force generated by the magnet carrier 200 is transmitted to the force-shaping bearing assembly 40 through the bearing assembly 10. The force-shaping bearing assembly 40 decomposes the load force generated by the magnet carrier 200 into axial (specifically, the axial direction of the rotation shaft 31) load force and radial (specifically, the axial direction perpendicular to the rotation shaft 31) load force, and transmits the decomposed axial load force and radial load force to the support 20.

[0037] By cooperating with the load-bearing component 10, the combined bearing 43, and the bracket 20, the load force generated on the magnet carrier 200 can be distributed and reduced, thereby decreasing the load force borne by the power output component 30 located in the assembly space 21. The rotary actuator 100 does not need to use an expensive motor as the power output component 30; instead, it uses a less expensive cylinder as the power output component 30, thus enabling the drive of heavy-duty carriers (i.e., meeting the requirements of heavy-duty carriers). This helps to reduce costs while ensuring the efficient and stable operation of the rotary actuator 100.

[0038] Please refer to the following: Figure 1 , Figure 5 and Figure 6 In some embodiments, the force-shaping bearing assembly 40 includes a fixed flange 41, a pressure plate 42, and a combined bearing 43. The fixed flange 41, pressure plate 42, and combined bearing 43 are all sleeved on the rotating shaft 31. The fixed flange 41 is fixedly connected to the bracket 20, and the pressure plate 42 is connected to the load-bearing assembly 10.

[0039] The pressure plate 42 has a first sub-groove 441 on the side facing the fixed flange 41, and the fixed flange 41 has a second sub-groove 442 on the side facing the pressure plate 42. The first sub-groove 441 and the second sub-groove 442 together form the mounting groove 44. The combined bearing 43 is installed in the mounting groove 44 and is configured to withstand both radial and axial loads simultaneously.

[0040] Understandably, when the magnet carrier 200 is placed on the bearing assembly 10, the load force generated by the magnet carrier 200 is transmitted to the pressure plate 42 through the bearing assembly 10, and the pressure plate 42 transmits the load force to the combined bearing 43. Since the combined bearing 43 is constructed to withstand both radial and axial loads simultaneously, it can decompose the load force into axial and radial load forces, and transmit the decomposed axial and radial load forces to the fixed flange 41, which then transmits the decomposed axial and radial load forces to the bracket 20.

[0041] By setting up the fixed flange 41, pressure plate 42 and combined bearing 43, the load force generated by the magnet carrier 200 can be decomposed while reducing the overall volume of the rotary actuator 100, making the structure of the rotary actuator 100 more compact and conducive to miniaturization design.

[0042] In some embodiments, the combined bearing 43 is a combination bearing of needle rollers and thrust ball bearings. In other embodiments, the combined bearing 43 may also be other suitable bearing structures, as long as they can meet the requirement of simultaneously bearing radial and axial loads. This application does not limit this, and those skilled in the art can choose according to the actual situation.

[0043] Please refer to the following: Figure 1 and Figure 2 In some embodiments, the support assembly 10 includes a support plate 11 and an electromagnet 12 mounted on the support plate 11. The support plate 11 is mounted on a pressure plate 42 and connected to a rotating shaft 31. The electromagnet 12 is configured to attract the magnetic carrier 200 to achieve assembly between the magnetic carrier 200 and the rotary actuator 100. A technician can precisely grasp and release the magnetic carrier 200 by controlling the energization and de-energization of the electromagnet 12; that is, energization activates engagement, and de-energization activates release.

[0044] By employing electromagnetic adsorption, not only is the response speed fast and the control precise, but technicians can also adjust the current of the electromagnet 12 as needed to adjust the magnitude of the adsorption force on the magnetic carrier 200, which helps to ensure that the magnetic carrier 200 is stably fixed on the support plate 11, thereby improving the processing accuracy and quality of the magnetic carrier 200.

[0045] In other embodiments, the carrier plate 11 may also adopt other structures such as snap-fit ​​to achieve assembly with the magnet carrier 200. This application does not limit this, and those skilled in the art can choose according to the actual situation.

[0046] In some embodiments, the magnet carrier 200 is made entirely of metal, and the electromagnet 12 can achieve the assembly between the magnet carrier 200 and the rotary actuator 100 by adsorbing or releasing the entire magnet carrier 200.

[0047] In some embodiments, the magnet carrier 200 is made of non-metallic material, and a magnet component (not shown) is embedded inside the magnet carrier 200. The electromagnet 12 achieves the assembly between the magnet carrier 200 and the rotary actuator 100 by attracting the magnet component.

[0048] Please refer to the following: Figure 1 , Figure 7 and Figure 8 In some embodiments, the rotary actuator 100 further includes an angle limiting member 50 and a buffer limiting member 60. The angle limiting member 50 is mounted on the support plate 11, and the buffer limiting member 60 is mounted on the bracket 20. The buffer limiting member 60 is configured to abut against the angle limiting member 50 when the support plate 11 rotates relative to the bracket 20 to a preset position, thereby constraining the relative position of the support plate 11 and the bracket 20.

[0049] For example, in the initial state, the magnet carrier 200 is in the initial position. When the robot arm needs to grasp material, the power output component 30 drives the support plate 11 to rotate from 0° to 180° (that is, the support plate 11 rotates to the preset position), thereby driving the magnet carrier 200 to rotate from 0° to 180°. When the power output component 30 drives the support plate 11 to rotate to the preset position, the buffer limit component 60 abuts against the angle limit component 50 to buffer the support plate 11 while preventing it from continuing to rotate.

[0050] By cooperating with the angle limiting component 50 and the buffer limiting component 60, the rotation angle of the bearing plate 11 can be constrained while buffering the bearing plate 11. This reduces the risk of the bearing plate 11 colliding with the bracket 20 and being damaged due to excessive impact force or excessive rotation angle caused by the power output component 30 driving the bearing plate 11 to rotate. This helps to improve the stability of the rotary actuator 100 and extend its service life.

[0051] In some embodiments, the buffer limiting member 60 includes a bushing 61, a push rod 62, and an elastic member (not shown). The bushing 61 is mounted on the bracket 20, and the push rod 62 is movably inserted through the bushing 61 in a direction perpendicular to the rotation axis 31. The elastic member is installed between the push rod 62 and the bushing 61, with one end of the elastic member abutting against the bushing 61 and the other end abutting against the push rod 62.

[0052] Understandably, when the power output component 30 drives the support plate 11 to rotate relative to the bracket 20 to a preset position, the angle limiting component 50 abuts against the top rod 62. Due to the inertia of the power output component 30, the support plate 11 will continue to rotate due to inertia.

[0053] At this time, the push rod 62 gradually retracts to the bushing 61 under the action of the angle limiting member 50, and presses against the elastic member. The elastic member undergoes elastic deformation, generating elastic potential energy. The bearing plate 11 stops rotating under the resistance of the elastic potential energy, that is, the bearing plate 11 is buffered and limited.

[0054] In other embodiments, the buffer limiting member 60 may also be other suitable structures, which are not limited in this application, and those skilled in the art can choose according to the actual situation.

[0055] Please refer to the following: Figure 1 , Figure 7 and Figure 8 In some embodiments, the rotary actuator 100 further includes a clamping assembly 70 mounted on the bracket 20. The clamping assembly 70 is configured to, together with the buffer limiter 60, clamp the angle limiter 50 when the support plate 11 rotates relative to the bracket 20 to a preset position. When the support plate 11 rotates relative to the bracket 20 to the preset position, the clamping assembly 70 and the buffer limiter 60 clamp the angle limiter 50 together to keep the support plate 11 always in the preset position.

[0056] By setting the clamping component 70, not only can the risk of the bearing plate 11 not rotating into position be reduced, but the risk of the bearing plate 11 springing back can also be reduced, which is beneficial to further improving the rotational accuracy of the rotary actuator 100.

[0057] In some embodiments, the clamping assembly 70 includes a drive member 71 and a clamping block 72. The drive member 71 is mounted on the bracket 20, and the clamping block 72 is mounted on the output end of the drive member 71. The clamping block 72 has a first position and a second position, and is configured to switch to the first position or the second position under the action of the drive member 71.

[0058] When the pressure block 72 is in the first position, it is configured to avoid the angle limiting member 50 during the rotation of the support plate 11 relative to the bracket 20, reducing the risk of interference between the angle limiting member 50 and the pressure block 72. When the pressure block 72 is in the second position, it is configured to clamp the angle limiting member 50 together with the buffer limiting member 60 to constrain the relative position of the support plate 11 and the bracket 20.

[0059] In some embodiments, the support assembly 10 further includes a positioning member 13 mounted on the support plate 11. The positioning member 13 is configured to cooperate with a positioning portion of the magnet carrier 200. Exemplarily, the support plate 11 is provided with a positioning pin (not shown), and the magnet carrier 200 is provided with a positioning hole (not shown). When the magnet carrier 200 is assembled onto the rotary actuator 100, the positioning pin is inserted into the positioning hole.

[0060] By setting the positioning element 13, not only can the magnet carrier 200 be accurately gripped, reducing the positional deviation between the magnet carrier 200 and the support plate 11, but the magnet carrier 200 can also be limited, reducing the risk of the magnet carrier 200 shifting or falling off during the rotation of the support component 10.

[0061] In other embodiments, the positioning element 13 may also be other suitable structures, which are not limited in this application. Those skilled in the art can choose according to the actual situation.

[0062] Please refer to the following: Figure 1 and Figure 2 In some embodiments, the support assembly 10 further includes a sensor 14 mounted on the support plate 11. The sensor 14 is configured to detect the magnet carrier 200 to determine the load-bearing state of the support plate 11.

[0063] By setting up sensor 14, the bearing status of the support plate 11 can be monitored in real time. For example, whether the support plate 11 has a magnetic carrier 200, whether the position of the magnetic carrier 200 is correct, etc., which is conducive to achieving more accurate picking and placing of the magnetic carrier 200 and improving the intelligence level of the rotary actuator 100.

[0064] For example, sensor 14 is a photoelectric sensor 14. The transmitting head of the photoelectric sensor 14 is mounted on one edge of the support plate 11, and the receiving head of the photoelectric sensor 14 is mounted symmetrically on the other side, so that the emitted light beam passes horizontally across the surface above the support plate 11 without contacting the support plate 11 itself. If the receiving head of the photoelectric sensor 14 does not receive a light signal, it indicates that there is a magnetic carrier 200 on the support plate 11. If the receiving head of the photoelectric sensor 14 receives a light signal, it indicates that there is no magnetic carrier 200 on the support plate 11.

[0065] In other embodiments, other suitable sensors 14 may be used. At the same time, multiple sensors 14 may be combined to detect the placement posture of the magnet carrier 200. This application does not limit this, and those skilled in the art can choose according to the actual situation.

[0066] One embodiment of this application provides a robotic arm (not shown). The robotic arm includes a multi-axis robotic arm (not shown) and a rotary actuator 100 as described in any of the above embodiments. The rotary actuator 100 is mounted on the multi-axis robotic arm. When the magnet carrier 200 is placed on the support assembly 10, the load force generated by the magnet carrier 200 is transmitted to the force-shaping bearing assembly 40 through the support assembly 10. The force-shaping bearing assembly 40 decomposes the load force generated by the magnet carrier 200 into an axial load force and a radial load force, and transmits the decomposed axial load force and radial load force to the support 20.

[0067] The aforementioned robotic arm employs the rotary actuator 100. Through the cooperation of the load-bearing component 10, the combined bearing 43, and the bracket 20, the load force transmitted to the magnetic carrier 200 can be distributed, thereby reducing the load force borne by the power output component 30 located within the assembly space 21. The rotary actuator 100 uses a relatively inexpensive cylinder as the power output component 30, enabling the drive of heavy-duty carriers, thus meeting the requirements of heavy-duty carriers. This helps to reduce the cost of the robotic arm while ensuring the efficient and stable operation of the rotary actuator 100.

[0068] Furthermore, those skilled in the art should recognize that the above embodiments are merely illustrative of this application and are not intended to limit this application. Any appropriate changes and variations made to the above embodiments within the essential spirit and scope of this application fall within the scope of this application's disclosure.

Claims

1. A rotary actuator, applied to a robotic arm, characterized in that, The rotary actuator includes a bracket, a power output component, a force-sharing bearing assembly, and a load-bearing assembly for carrying a target object. The bracket is configured to be mounted on the manipulator and has an assembly space. The power output component is mounted in the assembly space. The power output component has a rotating shaft that extends into the assembly space and is connected to the load-bearing assembly, so that the power output component can drive the load-bearing assembly to rotate. The force-shaping bearing assembly is sleeved on the rotating shaft, with one end of the force-shaping bearing assembly abutting against the bearing assembly and the other end abutting against the bracket; the force-shaping bearing assembly is configured to decompose the load force generated by the target object and transmit the decomposed load force to the bracket when the bearing assembly carries the target object.

2. The rotary actuator according to claim 1, characterized in that, The force-shaping bearing assembly includes a fixed flange, a pressure plate, and a combined bearing. The fixed flange, the pressure plate, and the combined bearing are all sleeved on the rotating shaft. The fixed flange is fixedly connected to the bracket, and the pressure plate is connected to the load-bearing assembly. The pressure plate has a first sub-groove on the side facing the fixed flange, and the fixed flange has a second sub-groove on the side facing the pressure plate. The first sub-groove and the second sub-groove together form a mounting groove. The combined bearing is installed in the mounting groove and is configured to withstand both radial and axial loads simultaneously.

3. The rotary actuator according to claim 2, characterized in that, The supporting component includes a support plate and an electromagnet mounted on the support plate. The support plate is mounted on the pressure plate and connected to the rotating shaft. The electromagnet is configured to attract the target object.

4. The rotary actuator according to claim 3, characterized in that, The rotary actuator further includes an angle limiting component and a buffer limiting component, the angle limiting component being mounted on the bearing plate and the buffer limiting component being mounted on the bracket; The buffer limiting member is configured to abut against the angle limiting member when the support plate rotates relative to the bracket to a preset position, so as to constrain the relative position of the support plate and the bracket.

5. The rotary actuator according to claim 4, characterized in that, The buffer limiting component includes a bushing, a push rod, and an elastic element. The bushing is installed on the bracket. The push rod is movably inserted through the bushing in a direction perpendicular to the rotation axis. The elastic element is installed between the push rod and the bushing, with one end of the elastic element abutting against the bushing and the other end abutting against the push rod.

6. The rotary actuator according to claim 5, characterized in that, The rotary actuator further includes a clamping assembly mounted on the bracket. The clamping assembly is configured to clamp the angle limiting member together with the buffer limiting member when the bearing plate rotates relative to the bracket to a preset position.

7. The rotary actuator according to claim 6, characterized in that, The clamping assembly includes a driving member and a clamping block. The driving member is mounted on the bracket, and the clamping block is mounted on the output end of the driving member. The clamping block has a first position and a second position and is configured to switch to the first position or the second position under the action of the driving member. When the pressure block is in the first position, the pressure block is configured to avoid the angle limiting member during the rotation of the support plate relative to the bracket; when the pressure block is in the second position, the pressure block is configured to clamp the angle limiting member together with the buffer limiting member to constrain the relative position of the support plate and the bracket.

8. The rotary actuator according to claim 3, characterized in that, The supporting component further includes a positioning element, which is mounted on the supporting plate and configured to cooperate with the positioning part of the target object.

9. The rotary actuator according to claim 8, characterized in that, The support assembly also includes a sensor mounted on the support plate, the sensor being configured to detect the target object in order to determine the load-bearing state of the support plate.

10. A robotic arm, characterized in that, It includes a multi-axis robotic arm and a rotary actuator as described in any one of claims 1 to 9, the rotary actuator being mounted on the multi-axis robotic arm.

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