Actuator

Abstract

An actuator, comprising a driving component (1), a transmission component (2) and an output component (3). The transmission component (2) comprises a main gear (21) and an auxiliary gear (22), wherein the main gear (21) meshes with the auxiliary gear (22); and the driving component (1) is connected to the main gear (21). The output component (3) comprises a sleeve (31) and an output rod (32), wherein the sleeve (31) has a sleeve cavity (311); the output rod (32) is at least partially located in the sleeve cavity (311); the sleeve (31) is in threaded connection with the output rod (32); and one end of the sleeve (31) is connected to the auxiliary gear (22).

Description

Actuator Technical Field

[0001] This application relates to the field of mechanical drive technology, and more particularly to actuators used in robots. Background Technology

[0002] The actuator in the related technology includes a drive component, a transmission component, and an output component. The drive component is connected to the transmission component, and the transmission component is connected to the output component. The drive component drives the output component to operate through the transmission component. The output component in the related technology includes a lead screw and a cylinder. The lead screw and the cylinder are threaded together. The lead screw is connected to the transmission component. The drive component rotates the lead screw through the transmission component, so that the cylinder can move along the axial direction of the lead screw. In order to ensure the axial movement stroke, the thread length at the lead screw needs to be relatively long. However, since the lead screw is small in size, the long thread setting will increase the machining difficulty of the lead screw. Summary of the Invention

[0003] This application provides an actuator that facilitates the machining of the output rod.

[0004] This application provides an actuator, including a driving component, a transmission component, and an output component. The transmission component includes a main gear and an auxiliary gear, which mesh with each other. The driving component is connected to the main gear. The output component includes a sleeve and an output rod. The sleeve has a cavity, and the output rod is at least partially located in the cavity. The sleeve is threadedly connected to the output rod, and one end of the sleeve is connected to the auxiliary gear.

[0005] This application provides a drive component in an actuator that is connected to the main gear. The drive component can drive the main gear to rotate. The main gear meshes with the auxiliary gear. One end of the sleeve is connected to the auxiliary gear. The auxiliary gear can drive the sleeve to rotate. The sleeve is threadedly connected to the output rod. The rotation of the sleeve can drive the output rod to move and extend axially along the sleeve. The sleeve provides the axial movement path of the output rod, which can reduce the threaded section of the output rod and facilitate the processing and manufacturing of the output rod. Attached Figure Description

[0006] Figure 1 is a three-dimensional structural schematic diagram of an actuator according to this application;

[0007] Figure 2 is a schematic axial cross-sectional view of the actuator shown in Figure 1;

[0008] Figure 3 is a three-dimensional sectional view of the actuator shown in Figure 1;

[0009] Figure 4 is a three-dimensional schematic diagram of the output component shown in Figure 1;

[0010] Figure 5 is an axial sectional view of the output component shown in Figure 4;

[0011] Figure 6 is an exploded view of the output component shown in Figure 4;

[0012] Figure 7 is an axial cross-sectional view of the drive component shown in Figure 1;

[0013] Figure 8 is an exploded view of the drive component shown in Figure 7;

[0014] Figure 9 is a three-dimensional schematic diagram of the motor shown in Figure 7;

[0015] Figure 10 is a schematic axial cross-sectional view of the motor shown in Figure 9. Detailed Implementation

[0016] To better understand the technical solution of this application, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0017] It should be understood that the described embodiments are merely some embodiments of this application, and not all embodiments. All other technical solutions obtained by those skilled in the art based on the technical solutions in this application without inventive effort are within the scope of protection of this application.

[0018] The technical solutions described in this application should be understood by those skilled in the art. For example, directional descriptions such as "front," "back," "left," "right," "up," and "down" are only used to describe the relationship between objects and are not substantive limitations. "Multiple" means at least two or more.

[0019] This application provides an actuator, which can be applied to robot joints and has a wide range of applications. In particular, the actuator in this embodiment is a micro actuator, mainly used in the dexterous hand joints of a robot. The micro actuator drives the finger joints of the dexterous hand to achieve operations such as finger bending and straightening. Currently, actuators in related technologies include a driving component, a transmission component, and an output component. The driving component is connected to the transmission component, and the transmission component is connected to the output component. The driving component drives the output component through the transmission component, and the output component needs to be connected to the finger joint. The output components include a lead screw and a cylinder. The lead screw and cylinder are threaded together, and the lead screw is connected to the transmission component. The drive component rotates the lead screw through the transmission component, so that the cylinder can move along the axial direction of the lead screw. At this time, in order to ensure the axial movement stroke, the thread length at the lead screw needs to be relatively long. However, the overall volume of the micro actuator itself is small, so the size of the lead screw is small. On the one hand, it is not easy to machine the thread on the outer peripheral wall of the lead screw, and the longer thread setting will increase the machining difficulty of the lead screw. On the other hand, due to the small size of the lead screw, a longer thread is required, which leads to the loss of rigidity of the lead screw. The operation mode of driving the cylinder by rotating the lead screw has poor load-bearing capacity.

[0020] To address the aforementioned challenges, this application will be described below with reference to all or part of Figures 1 to 10.

[0021] Please refer to Figures 1 to 3. This embodiment provides an actuator, including a drive component 1, a transmission component 2, and an output component 3. The drive component 1 is connected to the transmission component 2, and the transmission component 2 is connected to the output component 3. The drive component 1 drives the output component 3 through the transmission component 2 to achieve output. The output component 3 is connected to an external execution unit, such as a robot finger joint, but not limited to robot finger joints. Specifically, the drive component 1 includes a motor 11 and a speed controller 12. The motor 11 can be a common micro motor, i.e., a stator and rotor assembly. In this embodiment, the motor 11 is a coreless motor, because the coreless motor removes the iron core, reducing its size and weight. Since it does not involve coiled wire and slotted silicon steel sheets, related losses are avoided. Furthermore, the copper plate coil is lightweight and has low eddy current losses, resulting in higher output power and torque, thus achieving high power density. The coil design of the coreless motor optimizes airflow on both the inner and outer surfaces, which is more conducive to heat dissipation than traditional motors, improving motor operating efficiency and lifespan. In addition, the coreless motor provides better torque transmission, further enhancing transmission efficiency. The motor 11 is connected to the speed controller 12. The motor 11 generates high-speed rotation, which is transmitted through the speed controller 12 to achieve low-speed output rotation. In this embodiment, the speed controller 12 is a reducer, particularly a planetary gear reducer. Planetary gear reducers are characterized by small size, light weight, high load-bearing capacity, long service life, smooth operation, and low noise. Due to their small size and light weight, they can be well applied in micro actuators. Of course, in other embodiments, other reducer structures can be used. The specific structures of the planetary gear reducer and the coreless motor will be described below. In some embodiments, the output end of the motor 11 can be directly connected to the main gear 21.

[0022] In this embodiment, the transmission component 2 includes a main gear 21 and an auxiliary gear 22, which mesh. A speed regulator 12 is connected to the main gear 21. After the speed regulator 12 outputs at low speed, it drives the main gear 21 to rotate. Due to the meshing transmission between the main gear 21 and the auxiliary gear 22, the auxiliary gear 22 also rotates. The output component 3 includes a sleeve 31 and an output rod 32. The sleeve 31 has a cavity 311, and the output rod 32 is at least partially located within the cavity 311. The sleeve 31 and the output rod 32 are threadedly connected. One end of the sleeve 31 is connected to the auxiliary gear 22. After the auxiliary gear 22 rotates under the drive of the main gear 21... This causes the sleeve 31 to rotate. Since the sleeve 31 is threadedly connected to the output rod 32, the output rod 32 moves and extends along the axial direction of the sleeve 31. In this embodiment, the transmission method of rotating the sleeve 31 and extending the output rod 32 is adopted. On the one hand, it is not necessary to provide an excessively long threaded section on the outer peripheral wall of the output rod 32. Only a threaded section needs to be machined on the outer side of the output rod 32 to facilitate the threading on the outer peripheral wall of the output rod 32. On the other hand, since it is not necessary to provide an excessively long threaded section, the rigidity of the output rod 32 is enhanced to a certain extent. As a result, when the output rod 32 meshes with the sleeve 31, its load-bearing capacity is better and its transmission stability is better.

[0023] Please refer again to Figures 2 and 3. The sleeve 31 includes an inner wall forming a cavity 311. The inner wall is provided with an internal thread 1-1. The outer wall of the output rod 32 is provided with an external thread 1-2. The internal thread 1-1 and the external thread 1-2 are threadedly connected. One end of the output rod 32 extends out of the other end of the sleeve 31. The output rod 32 includes a first rod body 324 and a second rod body 325. The radial dimension of the second rod body 325 is larger than the radial dimension of the first rod body 324. The external thread 1-2 is located on the outer wall of the second rod body 325 to increase the size of part of the rod body of the output rod 32, which facilitates the machining of threads on the rod body. Because the overall volume of the micro actuator is small, the volume of the output rod 32 in related technologies is even smaller, making it difficult to machine threads on the rod body, resulting in time and labor costs. However, in this technical solution, the size of part of the rod body is increased while the size of part of the rod body remains the same, which facilitates the machining of threads and does not increase the weight of the micro actuator too much.

[0024] Furthermore, to ensure smoother movement of the output rod 32 along the sleeve 31 axis and prevent deviation, in this embodiment, the output component 3 includes a guide rod 33 and a first bearing 34. The output rod 32 has a rod cavity 323, with the guide rod 33 at least partially located within the rod cavity 323. The first bearing 34 includes a first inner ring 343, a first outer ring 341, and a first roller assembly 342. The guide rod 33 is connected to the inner wall of the first inner ring 343, and the first roller assembly 342 is located between the first inner ring 343 and the first outer ring 341. Between 1, the first outer ring 341 is connected to the inner wall of the cylinder. Under the action of the guide rod 33, the output rod 32 can ensure a smoother axial movement when it is driven with the sleeve 31, and can also prevent the output rod 32 from deviating during axial movement. Since the guide rod 33 is partially located in the rod cavity 323, it is equivalent to giving the output rod 32 a certain support, increasing the load-bearing capacity of the output component 3. The first bearing 34 is set to ensure the stability of the sleeve 31 during rotation and to a certain extent prevent the guide rod 33 from rotating with it.

[0025] Please refer again to Figures 4 and 5. The output rod 32 includes a main rod portion 321 and a pull ring portion 322. The main rod portion 321 is connected to the pull ring portion 322. The inner side of the main rod portion 321 has a rod cavity 323. The outer wall of the main rod portion 321 is provided with external threads 1-2. The main rod portion 321 is at least partially located in the cylindrical cavity 311. The pull ring portion 322 protrudes from the outside of the sleeve 31. The reason for providing the rod cavity 323 in the main rod portion 321 is, on the one hand, to accommodate the guide rod 33, and on the other hand, to reduce the weight of the output rod 32 without affecting its rigidity and strength, thereby reducing the overall weight of the micro actuator. In addition, the pull ring portion 322 is provided for mounting external dexterous fingers. In this embodiment, the main rod 321 and the pull ring 322 are integral parts. However, in other embodiments, the main rod 321 and the pull ring 322 can be assembled. It should be noted that "integral part" refers to a non-assembly connection. The base material can be manufactured through casting, forging, stamping, extrusion, metal injection molding, metal powder metallurgy, etc., and then machined. Alternatively, the integral part can be directly manufactured through casting, forging, stamping, extrusion, metal injection molding, metal powder metallurgy, etc. In some applications, the effect is directly related. For integral extrusion molding, the explanation of "integral part" can be supplemented as appropriate. Assembly connections include snap-fit ​​fixing, interference fit, etc.

[0026] Please refer to Figures 2 and 3. In this embodiment, the transmission component 2 consists of two gears: a main gear 21 and an auxiliary gear 22. In this embodiment, the main gear is the driving gear, and the auxiliary gear is the driven gear. The main gear 21 and the auxiliary gear 22 mesh in parallel. Of course, in other embodiments, the main gear 21 can be multiple gears meshing into a gear set, and the auxiliary gear can also be multiple gears meshing into a gear set. The drive component 1 and the transmission component 2 are arranged sequentially along the axial direction of the main gear 21, and the output component 3 is arranged along the axial direction of the auxiliary gear 22. The output component 3 is arranged side by side with the drive component 1. In addition, please refer to Figure 2 again. In this embodiment, the drive component 1 and the output component 3 are arranged in parallel side by side. This design is to shorten the axial length of the actuator. On the one hand, it is determined by the location where the actuator needs to be installed, and on the other hand, it can reduce the volume of the actuator, thereby reducing the volume of the robot's hand joint.

[0027] Motor 11 is a coreless motor, comprising a coreless winding 111, a shaft 113, and a magnet 112. The magnet 112 is connected to the shaft 113 and is located on the outer side of the circumferential sidewall of the shaft 113. The coreless winding 111 is located on the outer side of the magnet 112, with a gap Q between them. This gap Q prevents direct contact between the coreless winding 111 and the magnet 112, which could cause the motor to malfunction. One end of the shaft 113 is connected to the speed controller 12. The advantages of using a coreless motor have already been explained above and will not be repeated here. The winding method of the coreless winding 111 can be varied, including a proportional diamond-shaped overlapping winding. Additionally, a brushed coreless motor rotor without an iron core can be used. The stator of the brushless hollow cup motor has no iron core; the speed controller 12 includes a planetary gear reducer 126, which includes planetary gears 125, a sun gear 123, and a planet carrier 124. The sun gear 123 is connected to the input end of the motor 11. Multiple planetary gears 125 are distributed around the circumference of the sun gear 123. The planetary gears 125 mesh with the sun gear 123 and are connected to the planet carrier 124. The planet carrier 124 includes a reduction end 3-1, which is connected to the main gear 21. The advantages of using a planetary gear reducer have been explained above and will not be repeated here. When the output end of the motor drives the sun gear 123 to rotate, the planetary gears 125 revolve around the sun gear 123 and rotate on their own axes.

[0028] Please refer to Figures 7 and 8. In this embodiment, a two-stage planetary gear reducer is used. Specifically, the speed regulator 12 includes a first-stage planetary gear reducer 121 and a second-stage planetary gear reducer 122. The first-stage planetary gear reducer 121 includes a first-stage planetary gear 1211, a first-stage sun gear 1212, and a first-stage planetary carrier 1213. The first-stage sun gear 1212 is connected to the output end of the motor 11, and the first-stage planetary gear 1211 is connected to the first-stage planetary carrier 1213. The first-stage planetary gear 1211 meshes with the first-stage sun gear 1212. The second-stage planetary gear reducer 122 includes a second-stage planetary gear 1221, a second-stage sun gear 1222, and a second-stage planetary carrier 1223. The second-stage sun gear 1222 is connected to the first-stage planetary carrier 1213. The second-stage sun gear 1222 and the first-stage planetary gear 1211 are respectively located on the first-stage planetary carrier 121. On both sides of 3, the secondary planetary gear 1221 is connected to one side of the secondary planetary carrier 1223. The secondary planetary carrier 1223 includes a reduction end 3-1, which is located on the other side of the secondary planetary carrier 1223. The reduction end 3-1 extends along the axial direction of the motor 11 to the main gear 21. Its working principle is as follows: the output end of the motor drives the primary sun gear 1212 to operate. The primary planetary gear 1211 revolves around the primary sun gear 1212 and rotates on its own axis, thereby driving the primary planetary carrier 1213 to rotate. The primary planetary carrier 1213 drives the secondary sun gear 1222 to rotate. The secondary planetary gear 1221 revolves around the secondary sun gear 1222 and rotates on its own axis, thereby driving the secondary planetary carrier 1223 to rotate. The reduction end 3-1 rotates accordingly, thereby driving the main gear 21 to rotate.

[0029] The actuator includes a detection component 4, which includes a circuit board 41, a magnetic block 43, and a magnetic sensing chip 42. The magnetic block 43 is connected to the other end of the rotating shaft 113. The magnetic sensing chip 42 is integrated into the circuit board 41, which is located on one side of the magnetic block 43. There is a gap O between the magnetic sensing chip 42 and the magnetic block 43. The magnetic sensing chip 42 is integrated into the circuit board 41 to reduce wiring and save space. The magnetic block 43 rotates together with the rotating shaft of the motor. The magnetic sensing chip 42 is used to sense the strength of the magnetism of the magnetic block 43, thereby obtaining the rotation information of the drive component, including angular velocity, rotation angle, and other information.

[0030] Please refer to Figures 9 and 10. The actuator includes a drive housing 5 and a transmission housing 6. The drive housing 5 is connected to the transmission housing 6. The motor 11 and the speed regulator 12 are both located inside the drive housing 5. The main gear 21 and the auxiliary gear 22 are both located inside the transmission housing 6. The actuator includes a second bearing 7. The second bearing 7 includes a second inner ring 71, a second outer ring 72, and a second roller assembly 73. The sleeve 31 is connected to the second inner ring 71. The second roller assembly 73 is located between the second inner ring 71 and the second outer ring 72. The second outer ring 72 is connected to the transmission housing 6.

[0031] The functions and structural principles of this invention have been demonstrated and explained in the embodiments.

[0032] The above examples illustrate the principles and implementation methods of the present invention. These embodiments are merely illustrative and intended to aid in understanding the method and core concepts of the present invention. It should be noted that those skilled in the art can make various improvements and modifications to the present invention without departing from its principles, and these improvements and modifications also fall within the scope of protection of the present invention.

Claims

1. An actuator, characterized in that, It includes a drive component (1), a transmission component (2) and an output component (3). The transmission component (2) includes a main gear (21) and an auxiliary gear (22). The main gear (21) meshes with the auxiliary gear (22). The drive component (1) is connected to the main gear (21). The output component (3) includes a sleeve (31) and an output rod (32). The sleeve (31) has a cavity (311). The output rod (32) is at least partially located in the cavity (311). The sleeve (31) is threadedly connected to the output rod (32). One end of the sleeve (31) is connected to the auxiliary gear (22).

2. The actuator according to claim 1, characterized in that, The sleeve (31) includes an inner wall forming the cavity (311), the inner wall being provided with an internal thread (1-1), one end of the output rod (32) extending out of the other end of the sleeve (31), the output rod (32) including a first rod body (324) and a second rod body (325), the radial dimension of the second rod body (325) being greater than the radial dimension of the first rod body (324), the outer wall of the second rod body (325) being provided with an external thread (1-2), the internal thread (1-1) being connected to the external thread (1-2).

3. The actuator according to claim 2, characterized in that, The output component (3) includes a guide rod (33) and a first bearing (34). The output rod (32) has a rod cavity (323). The guide rod (33) is at least partially located in the rod cavity (323). The first bearing (34) includes a first inner ring (343), a first outer ring (341), and a first roller assembly (342). The guide rod (33) is connected to the inner wall of the first inner ring (343). The first roller assembly (342) is located between the first inner ring (343) and the first outer ring (341). The first outer ring (341) is connected to the inner wall of the cylinder.

4. The actuator according to claim 3, characterized in that, The output rod (32) includes a main rod portion (321) and a pull ring portion (322). The main rod portion (321) is connected to the pull ring portion (322). The main rod portion (321) has the rod cavity (323). The outer wall of the main rod portion (321) is provided with the external thread (1-2). The main rod portion (321) is at least partially located in the cylinder cavity (311). The pull ring portion (322) is exposed outside the sleeve (31).

5. The actuator according to claim 1, characterized in that, The main gear (21) and the auxiliary gear (22) mesh in parallel. The driving component (1) is arranged sequentially along the axial direction of the main gear (21). The output component (3) is arranged along the axial direction of the auxiliary gear (22). The output component (3) and the driving component (1) are arranged in parallel.

6. The actuator according to any one of claims 1 to 5, characterized in that, The drive component (1) includes a motor (11) and a speed regulator (12). The motor (11) is connected to the speed regulator (12). The motor (11) is a hollow cup motor. The hollow cup motor includes a hollow cup winding (111), a rotating shaft (113), and a magnet (112). The magnet (112) is connected to the rotating shaft (113). The magnet (112) is located outside the circumferential sidewall of the rotating shaft (113). The hollow cup winding (111) is located outside the magnet (112). There is a gap (Q) between the hollow cup winding (111) and the magnet (112). One end of the rotating shaft (113) is connected to the speed regulator (12). The speed regulator (12) is connected to the main gear (21).

7. The actuator according to claim 6, characterized in that, The speed regulator (12) includes a planetary gear reducer (126), which includes planetary gears (125), a sun gear (123), and a planet carrier (124). The sun gear (123) is connected to the output end of the motor (11). Multiple planetary gears (125) are distributed around the sun gear (123). The planetary gears (125) mesh with the sun gear (123). The planetary gears (125) are connected to the planet carrier (124). The planet carrier (124) includes a reduction end (3-1), which is connected to the main gear (21).

8. The actuator according to claim 7, characterized in that, The speed regulator (12) includes a first-stage planetary gear reducer (121) and a second-stage planetary gear reducer (122). The first-stage planetary gear reducer (121) includes a first-stage planetary gear (1211), a first-stage sun gear (1212), and a first-stage planetary carrier (1213). The first-stage sun gear (1212) is connected to the output end of the motor (11), and the first-stage planetary gear (1211) is connected to the first-stage planetary carrier (1213). The first-stage planetary gear (1211) meshes with the first-stage sun gear (1212). The second-stage planetary gear reducer (122) includes a second-stage planetary gear (1221) and a second-stage sun gear. The system includes a gear (1222) and a secondary planetary carrier (1223). The secondary sun gear (1222) is connected to the primary planetary carrier (1213). The secondary sun gear (1222) and the primary planetary gear (1211) are located on opposite sides of the primary planetary carrier (1213). The secondary planetary gear (1221) is connected to one side of the secondary planetary carrier (1223). The secondary planetary carrier (1223) includes a reduction end (3-1). The reduction end (3-1) is located on the other side of the secondary planetary carrier (1223). The reduction end (3-1) extends along the axial direction of the motor (11) toward the main gear (21).

9. The actuator according to claim 6, characterized in that, The actuator includes a detection component (4), which includes a circuit board (41), a magnetic block (43), and a magnetic sensing chip (42). The magnetic block (43) is connected to the other end of the rotating shaft (113), and the magnetic sensing chip (42) is integrated into the circuit board (41). The circuit board (41) is located on one side of the magnetic block (43), and there is a gap (O) between the magnetic sensing chip (42) and the magnetic block (43).

10. The actuator according to claim 6, characterized in that, The actuator includes a drive housing (5) and a transmission housing (6). The drive housing (5) is connected to the transmission housing (6). The motor (11) and the speed regulator (12) are both located inside the drive housing (5). The main gear (21) and the auxiliary gear (22) are both located inside the transmission housing (6). The actuator includes a second bearing (7). The second bearing (7) includes a second inner ring (71), a second outer ring (72), and a second roller assembly (73). The sleeve (31) is connected to the second inner ring (71). The second roller assembly (73) is located between the second inner ring (71) and the second outer ring (72). The second outer ring (72) is connected to the transmission housing (6).

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