CN219317564U - Actuator with improved output end seal - Google Patents

Abstract

The utility model relates to the technical field of actuators, and discloses an actuator with an improved output end seal, which comprises an output module, a sealing structure, a speed reduction module and a driving module; the output module comprises an output flange, the speed reduction module comprises a speed reduction gear shell and a speed reduction gear arranged in the speed reduction gear shell, the speed reduction gear shell is provided with two opposite ends, the output flange is connected with one end of the speed reduction gear shell in the axial direction, the output flange part extends into the speed reduction gear shell, a gap is formed between the output flange part and the inner wall of the speed reduction gear shell, and the sealing structure is used for sealing the gap between the output flange and the speed reduction gear shell; the driving module is connected to one end of the reducer shell, which is axially far away from the output flange, and is connected with the output flange through the transmission of the reducer, and the driving module drives the output flange to rotate relative to the reducer shell through the reducer.

Description

Actuator with improved output end seal

Technical Field

The utility model relates to the technical field of actuators, in particular to an actuator with an improved output end seal.

Background

Currently, industrial robots are widely used in manufacturing industry, not only in automobile manufacturing industry, but also in production of large to space shuttle, development of military equipment and high-speed rail, and production of small to ball point pens. And has extended from the more mature industry to the fields of food, medical, etc. As the robot technology is developed rapidly, compared with the traditional industrial equipment, the price difference of the product is smaller and smaller, and the individuation degree of the product is high, the industrial robot can replace the traditional equipment in the manufacturing process of some products with complex processes, and thus, the economic efficiency can be improved to a great extent. The robot is increasingly widely applied in the service industry, and in epidemic situations, the robot can be used for realizing non-contact service, so that the spreading risk of the epidemic situations is reduced.

However, the general robot joint actuator has a low waterproof and dustproof level, and only high-viscosity grease can be used, which may reduce the operation efficiency of the actuator.

Disclosure of Invention

The utility model aims to provide an actuator with improved output end sealing, and the waterproof and dustproof grade and the operation efficiency of the actuator with the improved output end sealing are improved.

In order to solve the above technical problems, the present utility model provides an actuator with improved output end sealing, including:

the device comprises an output module, a sealing structure, a speed reduction module and a driving module; the output module comprises an output flange, the speed reduction module comprises a speed reduction device shell and a speed reduction device arranged in the speed reduction device shell, the speed reduction device shell is provided with two opposite ends, the output flange is connected with one end of the speed reduction device shell in the axial direction, a gap is formed between the output flange part extending into the speed reduction device shell and the inner wall of the speed reduction device shell, and the sealing structure is used for sealing the gap between the output flange and the speed reduction device shell; the driving module is connected to one end, far away from the output flange, of the speed reducer shell in the axial direction, the driving module is in transmission connection with the output flange through the speed reducer, and the driving module drives the output flange to rotate relative to the speed reducer shell through the speed reducer.

Optionally, seal structure includes mounting bracket and sealing washer, mounting bracket fixed connection in on the inner wall of reduction gear casing, the mounting bracket is located output flange stretches into the part of reduction gear casing with between the reduction gear casing, output flange stretches into the part of reduction gear casing with the mounting bracket encloses into an accommodation jointly, the sealing washer is located in the accommodation.

Optionally, the speed reducer shell comprises a speed reducer outer shell and a speed reducer inner shell fixedly connected in the speed reducer outer shell, and the speed reducer is positioned in the speed reducer inner shell; the gap is formed between the output flange and the inner reducer shell, and the sealing structure is positioned between the inner reducer shell and the output flange; the driving module is connected to one end, far away from the output flange, of the speed reducer shell in the axial direction.

Optionally, the output module further comprises an output inner gear ring and a bearing sleeved on the outer periphery of the output inner gear ring, the output inner gear ring is sleeved on the outer periphery of the inner shell of the speed reducer, and the outer shell of the speed reducer is sleeved on the outer periphery of the bearing; the output annular gear and the bearing are positioned on the inner side of the reducer shell, which is close to the output flange, and the output flange is fixedly connected with the output annular gear; the driving module is in transmission connection with the output flange through the output annular gear.

Optionally, the speed reducer further comprises a primary speed reducing structure and a secondary speed reducing structure in transmission connection with the primary speed reducing structure; the primary speed reduction structure is in transmission connection with the driving module, and the secondary speed reduction structure is also in transmission connection with the output annular gear; the driving module drives the output annular gear through the primary speed reduction structure and the secondary speed reduction structure so as to drive the output flange to rotate.

Optionally, the primary speed reducing structure comprises a primary annular gear, a primary sun gear, a planet carrier and a plurality of planet gears; the primary annular gear is positioned in the speed reducer shell and is coaxially arranged with the speed reducer shell; the plurality of planet gears are circumferentially arranged at intervals around the axis of the primary annular gear, are positioned in the primary annular gear and are meshed with the primary annular gear; the first-stage sun gear is in transmission connection with the driving module, the rotating shaft of the planet carrier is coincident with the axis of the first-stage sun gear, the planet gears are further rotatably connected with the planet carrier and meshed with the first-stage sun gear, and the planet carrier is further in transmission connection with the second-stage speed reduction structure.

Optionally, the secondary speed reduction structure comprises a secondary sun gear and a duplex gear; the secondary sun gear is fixed on the planet carrier, and the axis of the secondary sun gear is overlapped with the rotating shaft of the planet carrier; the double-linked gear is provided with an input end and an output end which are opposite, the input end is in transmission connection with the secondary sun gear, and the output end is in transmission connection with the output annular gear.

Optionally, the outer wall circumference of reduction gear shell is equipped with fixed knot constructs, one-level ring gear presss from both sides to be located fixed knot constructs with between the drive module, fixed knot constructs is used for cooperating drive module is fixed one-level ring gear's position.

Optionally, the fixed structure includes a first step structure and a second step structure arranged at intervals, and the first step structure is located at the periphery of the second step structure; the first-stage annular gear is provided with a first matching surface and a second matching surface, the first matching surface is pressed by the first step structure, and the second matching surface is pressed by the second step structure.

Optionally, the device further comprises a fixed shell, a control module and a rear cover, wherein the control module is positioned in the fixed shell, and the rear cover is fixedly connected to one side, away from the output flange, of the fixed shell; the rear cover is used for being matched with the fixed shell to fix the control module, and the control module is used for controlling the driving module.

Compared with the prior art, the embodiment of the utility model has the advantages that the sealing structure is arranged at the gap between the part of the output flange extending into the reducer shell and the reducer shell, the sealing structure is used for sealing the gap, the waterproof and dustproof grade of the output end sealing improved actuator is improved, the output end sealing improved actuator can be suitable for low-viscosity lubricating grease, and the operation efficiency of the output end sealing improved actuator is improved.

Drawings

One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which the figures of the drawings are not to be taken in a limiting sense, unless otherwise indicated.

FIG. 1 is a schematic view of the structure of an actuator with improved output end seal according to a first embodiment of the present utility model;

FIG. 2 is a schematic view of the structure of the rear cover of the actuator with improved output end seal according to the first embodiment of the present utility model;

FIG. 3 is a schematic cross-sectional view taken along line AA' of FIG. 2;

FIG. 4 is a schematic view of the structure of the planet carrier and the planet gear of the actuator with improved output end seal in accordance with the first embodiment of the present utility model;

fig. 5 is a schematic cross-sectional view of fig. 2 along line BB'.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present utility model more apparent, embodiments of the present utility model will be described in detail below with reference to the accompanying drawings. However, those of ordinary skill in the art will understand that in various embodiments of the present utility model, numerous technical details have been set forth in order to provide a better understanding of the present application. However, the technical solutions claimed in the claims of the present application can be realized without these technical details and various changes and modifications based on the following embodiments.

In the embodiments of the present utility model, terms such as "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate azimuth or positional relationship based on that shown in the drawings. These terms are only used to better describe the present utility model and its embodiments and are not intended to limit the scope of the indicated devices, elements or components to the particular orientations or to configure and operate in the particular orientations.

Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the present utility model will be understood by those of ordinary skill in the art according to the specific circumstances.

Furthermore, the terms "mounted," "configured," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

Furthermore, the terms "first," "second," and the like, are used primarily to distinguish between different devices, elements, or components (the particular species and configurations may be the same or different), and are not used to indicate or imply the relative importance and number of devices, elements, or components indicated. Unless otherwise indicated, the meaning of "a plurality" is two or more.

A first embodiment of the present utility model relates to an actuator with improved output end sealing, as shown in fig. 1 to 3, comprising: the device comprises an output module 100, a sealing structure 200, a speed reduction module 300 and a driving module 400. The output module 100 includes an output flange 110, and the speed reduction module 300 includes a speed reduction housing 310 and a speed reduction unit disposed in the speed reduction housing 310, the speed reduction housing 310 having opposite ends, the output flange 110 being connected to one end of the speed reduction housing 310 in an axial direction. The output flange 110 is partially extended into the decelerator housing 310 and has a gap with an inner wall of the decelerator housing 310, and the sealing structure 200 is used to block the gap between the output flange 110 and the decelerator housing 310. The driving module 400 is connected to an end of the reducer housing 310 axially far from the output flange 110, the driving module 400 is connected to the output flange 110 via a reducer transmission, and the driving module 400 drives the output flange 110 to rotate relative to the reducer housing 310 via the reducer.

Compared with the prior art, the embodiment of the utility model has the advantages that the sealing structure 200 is arranged at the gap between the part of the output flange 110 extending into the reducer housing 310 and the reducer housing 310, the sealing structure 200 is used for sealing the gap, the waterproof and dustproof grade of the actuator with improved output end sealing is improved, the actuator with improved output end sealing can be suitable for low-viscosity lubricating grease, the loss of the reducer on the output power of the driving module 400 is reduced, and the operation efficiency of the actuator with improved output end sealing is improved.

In this embodiment, the sealing structure 200 includes a mounting frame 210 and a sealing ring 220, the mounting frame 210 is fixedly connected to an inner wall of the reducer housing 310, the mounting frame 210 is located between a portion of the output flange 110 extending into the reducer housing 310 and the reducer housing 310, a portion of the output flange 110 extending into the reducer housing 310 and the mounting frame 210 together enclose an accommodating space, and the sealing ring 220 is disposed in the accommodating space.

Specifically, the mounting frame 210 is integrally L-shaped, and the vertical portion of the mounting frame 210 is fixedly connected to the reducer housing 310 by screws.

In the present embodiment, the decelerator housing 310 includes a decelerator outer housing 311 and a decelerator inner housing 312 fixedly coupled within the decelerator outer housing 311, and the decelerator is installed between the decelerator inner housing 312 and the decelerator outer housing 311. The output flange 110 and the inner casing 312 have a gap therebetween, and the seal structure 200 is located between the inner casing 312 and the output flange 110. The drive module 400 is connected to an end of the reducer housing 311 axially remote from the output flange 110.

Specifically, the reducer outer casing 311 is cylindrical as a whole, and the reducer inner casing 312 is located inside the reducer outer casing 311 and is fixedly connected with the reducer outer casing 311 through screws.

It will be appreciated that the mounting frame 210 is fixedly mounted on the inner wall of the inner casing 312 of the speed reducer, the portion of the output flange 110 extending into the outer casing 311 of the speed reducer and the mounting frame 210 enclose the accommodating space, the accommodating space is in a ring shape, the accommodating space is communicated with the gap, and the sealing ring 220 is disposed in the accommodating space to seal the gap.

Alternatively, the sealing ring 220 may be made of rubber, silica gel or other elastic waterproof material, so long as the sealing ring can seal the gap between the portion of the output flange 110 extending into the reducer housing 311 and the mounting frame 210, which is not particularly limited in the embodiment of the present utility model.

Preferably, the cross-sectional width of the sealing ring 220 is slightly larger than the cross-sectional width of the accommodating space, so that when the sealing ring 220 is arranged in the accommodating space, the sealing ring 220, the output flange 110 and the mounting frame 210 are in interference fit, and the sealing performance of the actuator with improved output end sealing can be improved.

In this embodiment, the output module 100 further includes an output ring gear 120 and a bearing 130 sleeved on the outer periphery of the output ring gear 120, the output ring gear 120 is sleeved on the outer periphery of the inner casing 312 of the speed reducer, and the outer casing 311 of the speed reducer is sleeved on the outer periphery of the bearing 130. The output ring gear 120 and the bearing 130 are located inside the reducer casing 311 near the output flange 110, and the output flange 110 is fixedly connected with the output ring gear 120. The drive module 400 is in driving connection with the output flange 110 via the output ring gear 120.

Specifically, the plurality of bearings 130 are coaxially disposed. The plurality of bearings 130 provide a plurality of support points, which may make the output ring gear 120 more stable during rotation, thereby making the output seal-improved actuator more stable during operation.

Illustratively, the number of bearings 130 is 2 and each is a deep groove ball bearing. The deep groove ball bearing is adopted, so that the manufacturing difficulty and the manufacturing cost of the actuator with the improved output end sealing can be reduced. Of course, the type of the bearing may be an angular contact bearing or other bearings, which will not be described here.

Further, the output ring gear 120 is provided with a limiting protrusion 121 along the outer wall circumference, the limiting protrusion 121 is located at one end of the output ring gear 120 away from the output flange 110 and abuts against the bearing 130, and the limiting protrusion 121 is used for fixing the position of the output ring gear 120 to prevent the output ring gear 120 from being separated from the bearing.

In the present embodiment, the output flange 110 is fixedly connected to the output ring gear 120 by screws, and the output flange and the output ring gear are coaxially disposed. When the actuator with improved output end seal operates, the driving module 400 drives the output annular gear 120 to rotate, and the output flange 110 is driven by the output annular gear 120 to rotate. The plurality of screws are arranged at intervals along the edge of the output flange 110, so that the connection strength between the output flange 110 and the output annular gear 120 can be improved.

Alternatively, the output flange 110 and the output ring gear 120 may be connected by rivets or other connectors, which are not particularly limited in the embodiment of the present utility model.

Referring to fig. 4 and 5 together, in the present embodiment, the speed reducer further includes a primary speed reducing structure 320 and a secondary speed reducing structure 330 in transmission connection with the primary speed reducing structure 320. The primary reduction structure 320 is in transmission connection with the driving module 400, and the secondary reduction structure 330 is also in transmission connection with the output ring gear 120. The driving module 400 drives the output ring gear 120 to rotate the output flange 110 via the primary reduction structure 320 and the secondary reduction structure 330. The output of the actuator with improved output end sealing can be more stable by adjusting the output of the driving module 400 through the two-stage speed reducing structure.

Specifically, the primary reduction structure 320 includes a primary ring gear 321, a primary sun gear 322, a carrier 323, and a plurality of planet gears 324. The primary ring gear 321 is located within the reducer casing 311 and is disposed coaxially with the reducer casing 311. The plurality of planet gears 324 are circumferentially spaced around the axis of the primary ring gear 321, and the plurality of planet gears 324 are located within the primary ring gear 321 and engage the primary ring gear 321. The primary sun gear 322 is in transmission connection with the driving module 400, the rotation axis of the planet carrier 323 coincides with the axis of the primary sun gear 322, the plurality of planet gears 324 are also rotatably connected with the planet carrier 323 and meshed with the primary sun gear 322, and the planet carrier 323 is also in transmission connection with the secondary speed reduction structure 330. The primary ring gear 321 is fixed relative to the reducer casing 311, i.e., the primary ring gear 321 cannot rotate or move relative to the reducer casing 311.

In the present embodiment, the planet carrier 323 has a regular triangle plate shape as a whole, the number of the planet gears 324 is 3, the three planet gears 324 are rotatably connected to the planet carrier 323, and the pattern formed by connecting the geometric centers of the three planet gears 324 is a regular triangle. The driving module 400 is in transmission connection with 3 planetary gears 324, when the driving module 400 drives the 3 planetary gears 324 to rotate, the 3 planetary gears 324 respectively rotate by taking the axis of the driving module as a rotating shaft, namely, rotate; because the 3 planetary gears 324 are engaged with the primary ring gear 321, and the primary ring gear 321 is fixed relative to the reducer casing 311, under the reaction of the primary ring gear 321, the 3 planetary gears 324 rotate and simultaneously revolve around the rotating shaft of the planet carrier 323, that is, rotate around the axis of the rotating shaft of the planet carrier 323.

Alternatively, the planet carrier 323 may have a regular quadrilateral, pentagonal or other polygonal plate shape, and the number of the planet gears 324 may be increased to 4, 5 or other numbers correspondingly. It is understood that the number of planet gears 324 may also be less than the number of sides of the polygonal planet carrier 323. Of course, the number of the planetary gears 324 may be 2, the shape of the planet carrier 323 may be an oval plate or a circular plate, and the number may be specifically selected according to actual requirements, which is not particularly limited in the embodiment of the present utility model.

In the present embodiment, the secondary reduction structure 330 includes a secondary sun gear 331 and a double gear 332. The secondary sun gear 331 is fixed to the carrier 323, and the axis of the secondary sun gear 331 coincides with the rotational axis of the carrier 323. The double gear 332 has opposite input and output ends, the input end is in driving connection with the secondary sun gear 331, and the output end is in driving connection with the output ring gear 120. The double gear 332 is mounted on the reducer housing 311, and a bearing of the double gear 332 is pressed and positioned by the reducer housing 311.

In this embodiment, the outer wall of the reducer casing 311 is circumferentially provided with a fixing structure 313, and the primary ring gear 321 is sandwiched between the fixing structure 313 and the driving module 400, where the fixing structure 313 is used to cooperate with the driving module 400 to fix the position of the primary ring gear 321.

Specifically, the fixing structure 313 includes a first step structure 313a and a second step structure 313b disposed at intervals, and the first step structure 313a is located at the outer periphery of the second step structure 313 b. The primary ring gear 321 has a first mating surface and a second mating surface, the first mating surface is pressed by the first step structure 313a, and the second mating surface is pressed by the second step structure 313 b. The two step mechanisms are matched with the driving module 400 to press and fix the primary annular gear 321, so that the primary annular gear 321 is prevented from being shifted in the use process of the actuator with improved output end sealing, and the failure of the actuator with improved output end sealing is avoided.

It can be understood that the outer wall of the primary ring gear 321 is provided with a step structure adapted to two step structures, and the step structure of the reducer casing 311 and the step structure of the primary ring gear 321 are in one-to-one correspondence and are abutted against each other.

In the present embodiment, the driving module 400 includes a motor 410 and a motor housing 420, and the motor 410 is located inside the motor housing 420. The motor housing 420 is cylindrical in shape as a whole and is fixedly connected with the reducer housing 311.

It will be appreciated that the transmission between the drive module 400 and the decelerator is: the shaft of the motor 410 is provided with gears for meshing with a plurality of planetary gears 324. As the shaft of the motor 410 rotates, gears on the shaft drive the plurality of planetary gears 324 to spin. Each planetary gear 324 is reacted by the primary ring gear 321 and revolves with the axis of the primary ring gear 321 as a rotation axis. The revolution of the planet gears 324 rotates the planet carrier 323, and the planet carrier 323 rotates the secondary sun gear 331. Then, the secondary sun gear 331 drives the double gear 332 to rotate, and the output end of the double gear 332 engages with the output ring gear 120, so as to drive the output ring gear 120 to rotate. The output flange 110 is coaxially fixed to the output ring gear 120, and thus, the output flange 110 follows rotation under the driving of the output ring gear 120.

In this embodiment, the actuator with improved output end sealing further includes a fixing flange 500, wherein the fixing flange 500 is fixedly connected to the outer side of the reducer housing 311 near the output flange 110, and the fixing flange 500 presses the bearing 130, thereby preventing the bearing 130 from being separated from the actuator with improved output end sealing.

Referring to fig. 3 again, in the present embodiment, the fixing flange 500 has a first through hole extending axially, the reducer casing 311 has a second through hole extending axially, the primary ring gear 321 has a third through hole extending axially, and the first through hole, the second through hole and the third through hole are sequentially communicated with each other. The motor housing 420 has a groove communicating with the third through hole, and the first connection member 510 penetrates the first through hole, the second through hole and the third through hole from the fixing flange 500 and extends into the groove, and the first connection member 510 is used for fixedly connecting the fixing flange 500, the reducer housing 311, the primary ring gear 321 and the motor housing 420. By using the elongated first connecting member 510 to tightly connect the fixing flange 500, the reducer casing 311, the primary ring gear 321 and the motor casing 420, the whole structure of the actuator with improved output end sealing is more compact, and the volume of the actuator with improved output end sealing is reduced.

Specifically, the first through holes, the second through holes and the third through holes are all a plurality of, the first through holes are circumferentially distributed at intervals, the second through holes are circumferentially distributed at intervals, and the third through holes are circumferentially distributed at intervals. The grooves are a plurality of, and a plurality of grooves are circumferentially distributed at intervals. The first through holes and the second through holes are communicated in one-to-one correspondence, the second through holes and the third through holes are communicated in one-to-one correspondence, the third through holes and the grooves are communicated in one-to-one correspondence, the first connecting pieces 510 are multiple, and the first connecting pieces 510 and the first through holes are in one-to-one correspondence. In this way, the fixing flange 500, the reducer casing 311, the primary ring gear 321, and the motor casing 420 can be firmly connected to each other, improving the stability of the actuator with improved output sealing.

Alternatively, the first connection member 510 may be an elongated screw, an elongated rivet, or other connection member, so long as the fixing flange 500, the reducer casing 311, the primary ring gear 321, and the motor casing 420 can be tightly connected, which is not particularly limited in the embodiment of the present utility model.

Referring again to fig. 5, in the present embodiment, the output end sealing improvement actuator further includes a fixed housing 610, a control module 700, and a rear cover 620, wherein the control module 700 is located in the fixed housing 610, and the rear cover 620 is fixedly connected to a side of the fixed housing 610 facing away from the output flange 110. The rear cover 620 is used to fix the control module 700 in cooperation with the fixing case 610, and the control module 700 is used to control the driving module 400.

Specifically, the rear cover 620 is fixedly coupled to the stationary housing 610 through a second coupling member 621. The second connection member 621 may be a screw, a rivet, or other connection member, to which the embodiment of the present utility model is not particularly limited.

More specifically, the second connection pieces 621 are plural and spaced apart along the edge of the rear cover 620. In this way, the coupling strength of the rear cover 620 and the fixed housing 610 can be improved.

In this embodiment, the control module 700 includes a brake 710 and a motor control board card 720. Wherein, the brake 710 is located at an end of the motor 410 away from the output flange 110, and the brake 710 is used for braking the motor 410. The motor control board 720 is located at an end of the braking device 710 away from the motor 410, and the motor control board 720 is used for controlling the operation of the motor 410, the start and stop of the braking device 710, and related operating parameters, such as the rotation speed of the motor 410.

In this embodiment, the braking device 710 includes a plurality of band-type brakes 711 and a band-type brake connecting shaft 712, and the plurality of band-type brakes 711 are disposed around the band-type brake connecting shaft 712 at intervals, so that the motor 410 can be uniformly stressed during the braking process, and the stability of the actuator with improved output end sealing during the braking process is improved.

Further, the brake device 710 includes a magnet 713, and the magnet 713 is disposed at an end of the brake connecting shaft 712 away from the motor 410.

In this embodiment, grooves are formed on the outer wall of the reducer casing 311, the outer wall of the motor casing 420, and the outer wall of the fixed casing 610, and the grooves of the reducer casing 311, the outer wall of the motor casing 420, and the fixed casing 610 are communicated to form an assembly groove. The bottom of the assembly groove is provided with a wiring through hole, and a wire harness for communication enters the inside of the actuator structure with improved output end sealing through the wiring through hole, passes through the through hole at the center of the output flange 110, and is connected with external equipment. Thus, when the actuator structure with improved output end sealing or external equipment works, the wire harness can not limit the rotation angle of the actuator structure with improved output end sealing or the external equipment, and the condition of stranded wires can not occur.

Further, the actuator with improved output end sealing further comprises a wire protecting cover 800, wherein the wire protecting cover 800 is arranged on the assembly groove in a covering manner and used for sealing the assembly groove to protect the internal structure of the actuator with improved output end sealing. When the wire protecting cover 800 is covered on the assembly groove, the outer surface of the wire protecting cover 800 is flush with the outer wall of the reducer casing 311 and the outer surface of the motor casing 420.

A second embodiment of the present utility model relates to a robot including the actuator of the first embodiment with improved output end sealing. By installing the actuator with the improved output end seal on the robot, the waterproof and dustproof performances of the robot can be improved, so that the actuator with the improved output end seal can be applicable to low-viscosity lubricating grease, and the operation efficiency of the actuator with the improved output end seal is improved.

The foregoing describes the output end seal improvement actuator provided in accordance with embodiments of the present utility model in detail, and specific examples are presented herein to illustrate the principles and embodiments of the present utility model and to assist in understanding the concepts of the present utility model, as well as to provide a wide variety of modifications in the detailed description and the scope of the application.

Claims (10)

1. An actuator with improved output end sealing, comprising: the device comprises an output module, a sealing structure, a speed reduction module and a driving module;

the output module comprises an output flange, the speed reduction module comprises a speed reduction device shell and a speed reduction device arranged in the speed reduction device shell, the speed reduction device shell is provided with two opposite ends, the output flange is connected with one end of the speed reduction device shell in the axial direction, the output flange part extends into the speed reduction device shell and is provided with a gap with the speed reduction device shell, and the sealing structure is used for sealing the gap between the output flange and the speed reduction device shell; the driving module is connected to one end, far away from the output flange, of the speed reducer shell in the axial direction, the driving module is in transmission connection with the output flange through the speed reducer, and the driving module drives the output flange to rotate relative to the speed reducer shell through the speed reducer.

2. The actuator of claim 1, wherein the seal structure comprises a mounting bracket and a seal ring, the mounting bracket is fixedly connected to the reducer housing, the mounting bracket is located between a portion of the output flange extending into the reducer housing and the reducer housing, the portion of the output flange extending into the reducer housing and the mounting bracket together define an accommodating space, and the seal ring is tightly disposed in the accommodating space.

3. The output end seal improved actuator of claim 1, wherein said reducer housing comprises a reducer outer housing and a reducer inner housing fixedly connected within said reducer outer housing, said reducer being mounted between said reducer inner housing and said reducer outer housing;

the gap is formed between the output flange and the inner reducer shell, and the sealing structure is positioned between the inner reducer shell and the output flange;

the driving module is connected to one end, far away from the output flange, of the speed reducer shell in the axial direction.

4. The output end seal improved actuator of claim 3, wherein the output module further comprises an output ring gear and a bearing sleeved on the outer periphery of the output ring gear, the output ring gear is sleeved on the outer periphery of the inner reducer shell, and the outer reducer shell is sleeved on the outer periphery of the bearing; the output annular gear and the bearing are positioned on the inner side of the reducer shell, which is close to the output flange, and the output flange is fixedly connected with the output annular gear;

the driving module is in transmission connection with the output flange through the output annular gear.

5. The output end seal improved actuator of claim 4, wherein said decelerator further comprises a primary deceleration structure and a secondary deceleration structure drivingly connected to said primary deceleration structure;

the primary speed reduction structure is in transmission connection with the driving module, and the secondary speed reduction structure is also in transmission connection with the output annular gear; the driving module drives the output annular gear through the primary speed reduction structure and the secondary speed reduction structure so as to drive the output flange to rotate.

6. The output end seal improved actuator of claim 5 wherein said primary reduction structure comprises a primary ring gear, a primary sun gear, a planet carrier and a plurality of planet gears;

the primary annular gear is positioned in the speed reducer shell and is coaxially arranged with the speed reducer shell; the plurality of planet gears are circumferentially arranged at intervals around the axis of the primary annular gear, are positioned in the primary annular gear and are meshed with the primary annular gear; the first-stage sun gear is in transmission connection with the driving module, the rotating shaft of the planet carrier is coincident with the axis of the first-stage sun gear, the planet gears are further rotatably connected with the planet carrier and meshed with the first-stage sun gear, and the planet carrier is further in transmission connection with the second-stage speed reduction structure.

7. The output end seal improved actuator of claim 6 wherein said secondary reduction structure comprises a secondary sun gear and a double gear;

the secondary sun gear is fixed on the planet carrier, and the axis of the secondary sun gear is overlapped with the rotating shaft of the planet carrier; the double-linked gear is provided with an input end and an output end which are opposite, the input end is in transmission connection with the secondary sun gear, and the output end is in transmission connection with the output annular gear.

8. The actuator with improved output end sealing according to claim 6, wherein a fixing structure is circumferentially arranged on the outer wall of the reducer casing, the primary ring gear is clamped between the fixing structure and the driving module, and the fixing structure is used for being matched with the driving module to fix the position of the primary ring gear.

9. The output end seal improved actuator of claim 8 wherein said fixed structure comprises first and second spaced apart step structures, said first step structure being located on an outer periphery of said second step structure;

the first-stage annular gear is provided with a first matching surface and a second matching surface, the first matching surface is pressed by the first step structure, and the second matching surface is pressed by the second step structure.

10. The output end seal improved actuator of any one of claims 1-9, further comprising a stationary housing, a control module and a rear cover, said control module being located within said stationary housing, said rear cover being fixedly attached to a side of said stationary housing facing away from said output flange;

the rear cover is used for being matched with the fixed shell to fix the control module, and the control module is used for controlling the driving module.

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