Actuator, joint module, joint arm, biped robot, quadruped robot, four-wheeled robot, humanoid robot, and robot

Abstract

The invention relates to the technical field of robots, and provides an actuator, a joint module, a joint arm, a biped robot, a quadruped robot, a four-wheel-foot robot, a humanoid robot and a robotic.The actuator comprises a shell roughly in a hollow cylindrical shape, a motor assembly and a speed reducer assembly, and the speed reducer assembly comprises an inner gear ring roughly in a hollow cylindrical shape; the inner gear ring is embedded in the shell and fixedly connected with the shell through a plurality of first fasteners, and the first fasteners are arranged in the radial direction of the shell so that the shell can be fixedly connected with the inner gear ring in the radial direction. The actuator can be set to be smaller in axial size and radial size, the requirements for compactness and miniaturization of products in the field of robots at present are met, meanwhile, matching and installation of the shell and the inner gear ring are facilitated, assembly errors are reduced, and the transmission precision and stability of the actuator are improved.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and specifically relates to an actuator, and also relates to a joint module, an articulated arm, a biped robot, a quadruped robot, a four-wheeled leg robot, a humanoid robot, and a robot related to the actuator. Background Art

[0002] Actuators are core components in the field of robotics. They are used in articulated arms, robots and other products. Multiple actuators are needed to achieve joint movement. For example, in a robot product, only one leg needs five actuators to support leg swinging, leg turning, thigh rotation and calf rotation. Therefore, the structural design, assembly, weight, volume and control of the actuator directly affect the motion performance of the articulated arm and robot. The actuator includes a motor assembly and a reducer assembly. The stator and rotor in the motor assembly cooperate to output power. The output end of the motor assembly is connected to the input end of the reducer assembly to transmit power to the reducer assembly. Then, the sun gear, planetary gear set, planetary gear holder and inner ring gear in the reducer assembly cooperate to provide power for the joint movement of articulated arms, robots and the like.

[0003] The shell and inner gear ring in the existing actuator are generally connected to each other axially or fixed through an intermediate component. It is necessary to set physical dimensions for the axial and radial directions of the shell or the inner gear ring for the installation of the connecting parts. This makes the radial size and weight of the actuator relatively large. When multiple actuators are used, the overall weight or size of the articulated arm and the robot is increased, which does not meet the current development needs of miniaturization and lightweight products in the field of robotics. Summary of the invention

[0004] The purpose of the present application is to provide an actuator and a joint module, an articulated arm, a biped robot, a quadruped robot, a four-wheeled robot, a humanoid robot and a robot related to the actuator, aiming to reduce the size and weight of the actuator and improve the transmission accuracy and transmission stability.

[0005] In a first aspect, the actuator provided by the present application comprises: a housing, the housing being substantially in the shape of a hollow cylinder; and A reducer assembly, the reducer assembly comprising an inner gear ring that is generally hollow cylindrical; The inner gear ring is embedded in the shell, and the inner gear ring is fixedly connected to the shell via a plurality of first fasteners, and the plurality of first fasteners are all arranged along the radial direction of the shell.

[0006] In some embodiments of the present application, a plurality of first connecting holes penetrating the shell side wall are provided in a radial direction surrounding the shell side wall; a plurality of second connecting holes penetrating the shell side wall are provided in a radial direction surrounding the inner gear ring side wall; one end of the first fastener passes through the first connecting hole and is connected to the second connecting hole, so that the inner gear ring is fixedly connected to the shell.

[0007] In some embodiments of the present application, the reducer assembly includes a two-stage planetary reducer, and the two-stage planetary reducer includes a primary planetary gear set and a secondary planetary gear set. The inner wall of the inner gear ring located between the primary planetary gear set and the secondary planetary gear set is constructed with an annular groove. In the radial projection of the inner gear ring, the annular groove overlaps with the projections of several first connecting holes and several second connecting holes, respectively.

[0008] In some embodiments of the present application, the annular groove is formed by the inner wall of the inner gear ring being radially recessed outward in a direction away from the secondary planetary reducer, and the width of the annular groove is approximately 1 to 2 times the diameter of the second connecting hole.

[0009] In some embodiments of the present application, the inner wall of the inner gear ring is provided with a first inner tooth portion and a second inner tooth portion which respectively cooperate with the first-stage planetary gear set and the second-stage planetary gear set, the first inner tooth portion and the second inner tooth portion are spaced apart, the annular groove is provided between the first inner tooth portion and the second inner tooth portion, and the bottom surface of the annular groove is relative to the inner wall of the inner gear ring and is lower than the tooth roots of the first inner tooth portion and the second inner tooth portion.

[0010] In some embodiments of the present application, the projections of the first fasteners, the first connecting holes and the second connecting holes in the radial direction do not overlap with the projections of the first inner tooth portion and the second inner tooth portion.

[0011] In some embodiments of the present application, a connection length between the first fastener and the second connecting hole is substantially equal to an axial length of the second connecting hole.

[0012] In some embodiments of the present application, the bottom of the first fastener passes through the second connecting hole and is placed in the annular groove. The bottom end face of the first fastener is opposite to the inner wall of the inner gear ring and is lower than the tooth roots of the first inner tooth portion and the second inner tooth portion.

[0013] In some embodiments of the present application, a first protruding section is constructed along the axial direction of the outer wall of the inner gear ring, the outer wall of the first protruding section abuts against the inner wall of the shell and has an interference fit with the inner wall of the shell, and a plurality of the second connecting holes are radially arranged in the first protruding section.

[0014] In some embodiments of the present application, the outer wall of the inner gear ring is also axially constructed with a second protruding section, and the second protruding section is arranged near the output end of the reducer, and the second protruding section is spaced apart from the first protruding section, so that the outer wall of the inner gear ring forms a roughly annular groove section between the first protruding section and the second protruding section, and the second protruding section is concentric with the first protruding section and the outer ring has roughly the same diameter.

[0015] In a second aspect, the present application also provides a joint module, comprising the actuator described above; an encoder component, the encoder component being used to detect the displacement signal or position information at the output end of the motor component, and the displacement signal or position information at the output end of the reducer component.

[0016] In a third aspect, the present application also provides an articulated arm, wherein at least one driving joint of the articulated arm adopts the joint module described above.

[0017] In a fourth aspect, the present application also provides a bipedal robot, wherein at least one driving joint of the bipedal robot adopts the joint module described above.

[0018] In a fifth aspect, the present application also provides a quadruped robot, wherein at least one driving joint of the quadruped robot adopts the joint module described above.

[0019] In a sixth aspect, the present application also provides a four-wheeled legged robot, wherein at least one driving joint of the four-wheeled legged robot adopts the joint module described above.

[0020] In a seventh aspect, the present application also provides a humanoid robot, wherein at least one driving joint of the humanoid robot adopts the joint module described above.

[0021] In an eighth aspect, the present application also provides a robot, wherein at least one driving joint of the robot adopts the joint module described above.

[0022] In the structural design of the actuator of the present application, the inner ring gear in the reducer for meshing with the planetary gear is embedded in the actuator housing, and the inner ring gear and the housing are radially connected by fasteners, so that the connection between the housing and the inner ring gear is simple and direct, and the assembly is convenient, which can reduce the assembly error and improve the transmission accuracy and stability of the actuator. At the same time, the axial dimension of the housing can be shortened, which facilitates the processing, matching and installation of the housing and the inner ring gear, and meets the requirements of compact and miniaturized products in the field of robotics technology.

[0023] The articulated arm and each robot of the present application adopt the above-mentioned actuator. Since the axial size of the actuator is reduced, it is beneficial to the structural design of the articulated arm, and can reduce the overall weight of the robot, improve movement performance, reduce energy consumption, and enhance flexibility and operability. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, a brief introduction will be given in combination with the drawings required for use below. Obviously, the drawings described below are only some embodiments of the specification of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 A schematic diagram of the housing and inner gear ring structure in the actuator structure provided in an embodiment of the present application;

[0026] Figure 2 A schematic diagram of the assembly structure of the housing and the inner gear ring in the actuator structure provided in an embodiment of the present application;

[0027] Figure 3 Schematic diagram of the structure of the housing and reducer assembly in the actuator structure provided in the embodiment of the present application after assembly Figure 1 ;

[0028] Figure 4 The structure of the housing and reducer assembly in the actuator structure provided in the embodiment of the present application is shown in FIG. Figure 2 ;

[0029] Figure 5 A schematic diagram of the actuator structure decomposition provided in an embodiment of the present application (only the housing and the reducer assembly are shown);

[0030] Figure 6 A schematic diagram of the joint module structure provided in the embodiment of the present application;

[0031] Figure 7 It is a schematic diagram of a three-dimensional structure of an articulated arm provided in an embodiment of the present application;

[0032] Figure 8 is a schematic diagram of a three-dimensional structure of a bipedal robot provided in an embodiment of the present application;

[0033] Fig. 9 is a schematic diagram of a three-dimensional structure of a quadruped robot provided in an embodiment of the present application;

[0034] Fig.10 This is a schematic diagram of the three-dimensional structure of a four-wheeled legged robot provided in an embodiment of the present application;

[0035] Fig.11 It is a schematic diagram of the three-dimensional structure of a humanoid robot provided in an embodiment of the present application.

[0036] Reference numerals: 1- housing; 11-inner wall of the housing; 12-first connecting hole; 13-first fastener; 2- reducer assembly; 21- internal gear ring; 211-inner tooth; 2111-first inner tooth portion; 2112-second inner tooth portion; a-tooth root portion; 212-inner wall of inner gear ring; 213 - outer wall of inner gear ring; 2131 - first protruding section; 2132 - second protruding section; 2133 - recessed section; 214-annular groove; b-bottom surface; 215-second connecting hole; 22-first-stage sun gear; 23-planetary gear set; 231-first-stage planetary gear set; 232-second-stage planetary gear set; 24-first-stage planetary gear carrier; 25-second-stage sun gear; 26-bearing; 27-second-stage planetary gear carrier; 28- Cross roller bearing; 3-motor assembly; 31-stator; 32-rotor; 33-rotor adapter; 4- output end cover; 100 - actuator; 200- encoder assembly; 201- encoder at the motor output end; 202- encoder at the reducer output end; 1000-joint module. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the present application more clear, the present application is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described here are only used to explain the present application and are not used to limit the present application.

[0038] It should be noted that when a component is referred to as being "mounted" or "set" on another component, it can be directly on the other component or there may be an intermediate component at the same time. When a component is referred to as being "fixed", "connected" or "connected" to another component, it can be directly connected to the other component or there may be an intermediate component at the same time, and the "connection" can be a fixed connection, a detachable connection, or an integral connection.

[0039] It should also be noted that the orientation terms such as "inside", "outside", "upper end", "lower end", "bottom end", "top", "bottom", "bottom surface", "one end", "the other end", "both ends", "side ends", "axial", "radial", "outer wall", "inner wall", "side wall" etc. described in the embodiments of the present application are only relative concepts or are based on the normal use status of the product, or are based on the positions shown in the drawings of the embodiments of the present application. They are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or component must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be considered to be restrictive.

[0040] In the description of the present application, “several” means two or more than two, unless otherwise clearly and specifically defined.

[0041] The concept of "roughly" in this application describes the main features of an overall structure or shape. When describing the shape of an object, this means that the object mainly presents a certain shape, but may differ in non-functional details. These differences in details do not affect the overall characteristics, so they can be classified as "roughly" a certain shape. For example, when describing a rectangular object, the expression "roughly circular" means that the overall shape of the object is circular, but there are differences in some non-functional details.

[0042] The terms "first", "second", etc. in the embodiments of the present application are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0043] The terms "one embodiment", "some embodiments" and the like in the embodiments of the present application mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention, and these embodiments may be some preferred embodiments or representative examples. In the present application specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and combine the different embodiments or examples described in the present application specification and the features of the different embodiments or examples, without contradiction.

[0044] Some specific implementation plans of the present application are described below in conjunction with the accompanying drawings.

[0045] See also Figure 1-4The actuator 100 provided in the embodiment of the present application includes a housing 1, a reducer assembly 2 and a motor assembly 3, wherein the housing 1 is a substantially hollow cylindrical tubular member for accommodating the reducer assembly 2 and the motor assembly 3. The reducer assembly 2 includes an inner gear ring 21 and a planetary gear set 23, the inner gear ring 21 is also a substantially hollow cylindrical tubular structure, having an inner gear ring inner wall 212 and an inner gear ring outer wall 213, the inner gear ring inner wall 212 has inner teeth 211, and the inner teeth 211 are used to cooperate with the planetary gear set 23. See Figure 2-Figure 4 The inner gear ring 21 is embedded in the housing 1 so that the outer wall 213 of the inner gear ring fits with the inner wall 11 of the housing. During assembly, the inner gear ring 21 is fixedly connected to the housing 1 through a plurality of first fasteners 13. Each first fastener 13 is arranged along the radial direction of the housing 1, so that the inner gear ring 21 is radially connected to the housing 1 and fixed on the inner wall 11 of the housing.

[0046] The radial direction in the above structural description refers to the radial direction radiating outward from the center of the transverse section of the housing 1 and the inner gear ring 21, and the axial direction refers to the central axis direction of the housing 1 and the inner gear ring 21. It is worth noting that the description of the axial and radial directions is also consistent with the axial and radial descriptions directly quoted by the subsequent housing 1, reducer assembly 2 and motor assembly 3 and the transmission center, and will not be described in detail.

[0047] In the above technical solution of the present application, the connection between the housing 1 and the inner gear ring 21 is simple and direct through the radial connection and fixation between the housing 1 and the inner gear ring 21, and no intermediate component connection is required, so that the overall structure of the actuator 100 is simplified and the assembly is more convenient, and the influence of the assembly error caused by the connection of multiple components on the transmission accuracy and stability of the actuator 100 can be reduced. Since it is no longer necessary to set the installation entity of the connecting member in the axial direction of the housing 1 or the inner gear ring 21, the design of this part in this axial position can be omitted, the length dimension of the housing 1 and the inner gear ring 21 in the axial direction is shortened, and the actuator 100 can be set to a smaller size, which is conducive to the miniaturization and lightweight of the actuator 100. At the same time, since the inner gear ring 21 is embedded in the housing 1, the concentricity of the two is high, which not only improves the assembly accuracy between the housing 1 and the inner gear ring 21, but also improves the overall assembly accuracy of the reducer assembly 2 accordingly, and the radial connection between the housing 1 and the inner gear ring 21 also facilitates the positioning and fixing of the inner gear ring 21 and the installation and positioning of the planetary gear set 23 meshing with the inner gear ring 21.

[0048] Furthermore, the housing 1 and the inner gear ring 21 are connected in a radial manner, and the first fastener 13 only needs to select an appropriate screwing diameter and connection length to meet the connection strength requirements set between the inner gear ring 21 and the housing 1, ensuring that the housing 1 and the inner gear ring 21 are always firmly connected, and can bear the meshing force of the transmission between the planetary gears and the inner gear ring 21 and the impact load of the external environment to the maximum extent when the actuator 100 is in long-term operation. Moreover, this connection method changes the bearing direction of the first fastener 13 relative to the meshing force, reduces the force transmission distance, has a better bearing effect, and is conducive to improving transmission accuracy and transmission stability.

[0049] Please see again Figure 1-Figure 4 In some embodiments of the present application, a plurality of first connection holes 12 penetrating the side wall of the shell 1 are provided in the radial direction of the side wall surrounding the shell 1; a plurality of second connection holes 215 penetrating the side wall of the inner gear ring 21 are correspondingly provided in the radial direction of the side wall surrounding the inner gear ring 21. The first connection holes 12 and the second connection holes 215 are on the same axis after being assembled. After one end of the first fastener 13 passes through the first connection hole 12, it is connected to the second connection hole 215, so that the inner gear ring 21 is fixedly connected to the shell 1. The first fastener 13 can be a screw, a pin, etc., preferably a countersunk screw. Accordingly, the first connection hole 12 adopts a countersunk hole, which is designed according to the shape of the head of the first fastener 13 so as to ensure that the first connection hole 12 and the head of the first fastener 13 fit together, thereby reducing the gap when the components are matched. The structure of the first connection hole 12 should also ensure that most or all of the head of the first fastener 13 is sunk into the first connection hole 12, so that the top of the first fastener 13 is basically consistent with the outer surface of the shell 1. See. Figure 1-Figure 4 The second connection hole 215 in the illustrated embodiment of the present application is a threaded hole, the first fastener 13 is threadedly connected to the second connection hole 215, and the threaded portion of the first fastener 13 passes through the first connection hole 12 and is screwed into the second connection hole 215, so that the housing 1 and the inner gear ring 21 are connected as a whole. It can be understood that the radial connection between the housing 1 and the inner gear ring 21 can also adopt other connection structures and fasteners, as long as it can ensure that the housing 1 and the inner gear ring 21 are firmly and reliably connected in the radial direction, they are all within the protection scope of the present application.

[0050] See also Figure 3-Figure 5In some embodiments of the present application, the reducer assembly 2 includes a two-stage planetary reducer, which may specifically include a primary sun gear 22, a primary planetary gear set 231, a primary planetary gear carrier 24, a secondary sun gear 25, a secondary planetary gear set 232, and a secondary planetary gear carrier 27. The primary sun gear 22 is a gear shaft structure, one end of which is connected to the motor assembly 3. The motor assembly 3 includes a stator 31, a rotor 32, and a rotor adapter 33 that rotates with the rotor 32. The primary sun gear 22 is connected to the rotor adapter 33 and rotates under the drive of the rotor adapter 33. The other end of the primary sun gear 22 has a transmission tooth, which is placed at the center of the primary planetary gear set 231 arranged around it, and is meshed with each primary planetary gear set 231. Each primary planetary gear set 231 is also meshed with the inner teeth 211. Each primary planetary gear set 231 is respectively mounted on the planetary gear shaft and is fixed to the primary planetary gear carrier 24 through the rotation of the planetary gear shaft. The secondary sun gear 25 is a gear shaft structure with two sections of transmission teeth. One end with the transmission teeth is respectively placed at the center of the primary planetary gear carrier 24 and the center of several secondary planetary gear sets 232 arranged around the secondary sun gear 25, and is respectively meshed with the internal of each secondary planetary gear set 232 and is transmission connected to the primary planetary gear carrier 24. Each secondary planetary gear set 232 is also externally meshed with the internal teeth 211. Each secondary planetary gear set 232 is respectively installed on the planetary gear shaft and is fixed to the secondary planetary gear carrier 27 through the planetary gear shaft. The other end of the secondary sun gear 25 is rotationally connected to the secondary planetary gear carrier 27 through a bearing 26. The inner ring of the bearing 26 near one end of the secondary planetary gear set 232 abuts against the secondary sun gear 25, and the outer ring abuts against the secondary planetary gear carrier 27. The secondary planetary gear carrier 27 is rotatably connected to the inner gear ring 21 through the cross roller bearing 28. The inner ring of the cross roller bearing 28 near one end of the secondary planetary gear set 232 abuts against the secondary planetary gear carrier 27, and the outer ring abuts against the inner gear ring 21. The secondary planetary gear carrier 27 is fixedly connected to the output end cover 4 to output power. Please refer to Figure 1-Figure 5In the present application, an annular groove 214 is constructed on the inner wall 212 of the inner gear ring. The annular groove 214 is located between the primary planetary gear set 231 and the secondary planetary gear set 232. In the radial projection of the inner gear ring 21, the annular groove 214 overlaps with the projections of the first connecting holes 12 and the second connecting holes 215 respectively. In the present application, the annular groove 214 is arranged on the inner wall 212 of the inner gear ring. On the one hand, it can reduce the radial dimension of the non-meshing part of the inner gear ring 21 to reduce the weight of the inner gear ring 21, thereby reducing the weight of the actuator 100. For an articulated arm and a robot provided with multiple actuators 100, the overall weight can be reduced a lot, which is conducive to lightweighting the actuator 100. On the other hand, since the processing of the second connecting holes 215 is generally carried out by drilling or slotting, the inner gear ring 211 is penetrated from the radial direction of the outer wall 213 of the inner gear ring. After the inner wall 212 of the ring is processed, there may be trace burrs left at the opening of the second connection hole 215 facing the planetary gear set 23. If the opening of the second connection hole 215 facing the planetary gear set 23 is located on the inner wall 212 of the inner gear ring, when the planetary gear set 23 is assembled with the inner gear ring 21, the burrs may be scratched or collided and fall into the transmission system, causing wear on the meshing surfaces of the planetary gears on the planetary gear set 23 and the inner gear ring 21, as well as the first-stage sun gear 22 and the second-stage sun gear 25, affecting the transmission reliability and generating noise. The setting of the annular groove 214 makes the opening of the second connection hole 215 facing the planetary gear set 23 lower than the inner wall 212 of the inner gear ring, which can solve the above problem and effectively prevent the possibility of trace burrs at the opening of the second connection hole 215 entering the transmission parts due to scratches or touches.

[0051] See also Figure 1-Figure 4 In some embodiments of the present application, the annular groove 214 is a structure formed by the inner wall 212 of the inner gear ring being radially recessed outward in the direction away from the secondary planetary reducer. It can be constructed when the inner gear ring 21 is formed, or it can be formed by processing. The width of the annular groove 214 is approximately 1 to 2 times the diameter of the second connecting hole 215.

[0052] See also Figure 1-Figure 4 In some embodiments of the present application, the inner wall 212 of the inner gear ring is provided with a first inner tooth portion 2111 and a second inner tooth portion 2112 respectively matched with the primary planetary gear set 231 and the secondary planetary gear set 232, the first inner tooth portion 2111 and the second inner tooth portion 2112 are arranged at intervals, and the annular groove 214 is arranged between the first inner tooth portion 2111 and the second inner tooth portion 2112, and the bottom surface b of the annular groove 214 is lower than the tooth root portion a of the first inner tooth portion 2111 and the second inner tooth portion 2112 in the radial direction away from the secondary planetary reducer relative to the inner wall 212 of the inner gear ring. In this way, when the planetary gear set 23 and the inner gear ring 21 are assembled, the opening of the second connecting hole 215 will not be touched, and the possibility of the burr of the opening of the second connecting hole 215 facing the planetary gear set 23 entering the transmission system can be completely avoided.

[0053] Please see again Figure 1-Figure 4 In some embodiments of the present application, the projections of the first fasteners 13, the first connection holes 12 and the second connection holes 215 do not overlap with the projections of the first inner tooth portion 2111 and the second inner tooth portion 2112 in the radial direction, that is, the first connection holes 12 and the second connection holes 215 are arranged between the first inner tooth portion 2111 and the second inner tooth portion 2112, which can be the interval center between the first inner tooth portion 2111 and the second inner tooth portion 2112. In this way, the internal tooth structure position of the first inner tooth portion 2111 and the second inner tooth portion 2112 on the inner gear ring 21 can be avoided, and the second connection holes 215 and the first inner tooth portion 2111 and the second inner tooth portion 2112 will not be affected in terms of strength, precision, etc. when they are in the same processing position. Moreover, since the second connection holes 215 are staggered with the first inner tooth portion 2111 and the second inner tooth portion 2112, the arrangement and formation of the annular groove 214 can also be facilitated. The above-mentioned association layout between the first fastener 13, the first connection hole 12 and the second connection hole 215 and the first inner tooth portion 2111 and the second inner tooth portion 2112 is a preferred embodiment of the present application. It can be understood that the first fastener 13, the first connection hole 12 and the second connection hole 215 can also be arranged to overlap with the projection of the first inner tooth portion 2111 or the second inner tooth portion 2112 in the radial direction as needed, as long as the radial connection between the housing 1 and the inner gear ring 21 can be fixed reliably.

[0054] Please see again Figure 3 In some embodiments of the present application, the connection length between the first fastener 13 and the second connecting hole 215 is approximately equal to the axial length of the second connecting hole 215, that is, the bottom end surface of the first fastener 13 is approximately at the hole position of the second connecting hole 215 facing the planetary gear set 23, so that the connection length between the first fastener 13 and the inner ring gear 21 is approximately the thickness of the side wall of the inner ring gear 21, thereby ensuring the fastening force.

[0055] See also Figure 4In some embodiments of the present application, the bottom of the first fastener 13 can also pass through the second connection hole 215 and be placed in the annular groove 214. The bottom end surface of the first fastener 13 is opposite to the inner wall 212 of the inner gear ring, and is lower than the tooth root a of the first inner tooth portion 2111 and the second inner tooth portion 2112 in the radial direction away from the two-stage planetary reducer, so as to prevent the planetary gear from hitting the first fastener 13 when the planetary gear set 23 is assembled with the inner gear ring 21. The above structure, on the one hand, can make the connection length between the first fastener 13 and the second connection hole 215 equal to the thickness of the entire side wall of the inner gear ring 21, which can maximize the connection length between the first fastener 13 and the inner gear ring 21, so that the connection between the housing 1 and the inner gear ring 21 is more firmly established. On the other hand, a standard part of the first fastener 13 length that matches the thickness of the inner gear ring 21 can be selected to reduce the processing cost. Moreover, the use of standard parts can ensure the quality and connection reliability of the first fastener 13, and is also easy to replace.

[0056] Please see again Figure 1-Figure 4 In some embodiments of the present application, the outer wall 213 of the inner gear ring is axially constructed with a first protruding section 2131, which is roughly annular. The outer wall of the first protruding section 2131 abuts against the inner wall 11 of the shell and has an interference fit with the inner wall 11 of the shell. The second connecting hole 215 is radially arranged in the first protruding section 2131, that is, the first protruding section 2131 is arranged in the connecting area between the inner gear ring 21 and the shell 1. In this way, on the one hand, an annular reinforcing rib structure can be formed radially outwardly on the inner gear ring 21, which can enhance the strength of the inner gear ring 21 itself and reduce the weight of the inner gear ring 21. On the other hand, a protruding structure is provided at the connection position between the inner gear ring 21 and the housing 1 where the second connecting hole 215 is provided, which can increase the axial length of the second connecting hole 215, thereby increasing the fastening length of the first fastener 13 on the inner gear ring 21, and enhancing the reliability and stability of the connection between the inner gear ring 21 and the housing 1. Thirdly, the first protruding section 2131 is interference fit with the inner wall 11 of the housing, which can avoid defects such as radial movement and noise caused by the gap between the connection between the housing 1 and the inner gear ring 21. At the same time, the interference fit connection between the two can effectively ensure the coaxiality of the axial center of the housing 1 and the axial center of the inner gear ring 21, so as to improve the coaxiality between the transmission center of the reducer assembly 2 and the axial center of the housing 1, and further ensure the transmission accuracy and stability of the actuator 100. Moreover, since the overall axial length of the first protruding section 2131 is smaller than that of the inner gear ring 21, it is convenient to fine-process the outer wall of the first protruding section 2131, thereby ensuring the effective length of the interference fit between the first protruding section 2131 and the inner wall 11 of the shell, and making the interference fit between the first protruding section 2131 and the inner wall 11 of the shell more convenient during assembly.

[0057] The axial length of the first protruding section 2131 should ensure that there is enough abutment surface between it and the inner wall 11 of the shell to ensure the reliability of the connection between the inner ring gear 21 and the shell 1, and the radial length (the thickness of the side wall of the inner ring gear 21 at this point) should enable the connection length of the first fastener 13 in the second connecting hole 215 to withstand the shear force generated by the meshing of the planetary gear set 23 and the inner ring gear 21 and external factors on the first fastener 13.

[0058] See also Figure 1-Figure 4 In some embodiments of the present application, the axial direction of the outer wall 213 of the inner gear ring is also constructed with a second protruding section 2132, which is roughly annular and also forms an annular reinforcing rib structure radially outward of the inner gear ring 21, which can further enhance the strength of the inner gear ring 21 itself. The second protruding section 2132 is located at one end of the inner gear ring 21 adjacent to the output end of the reducer assembly 2, and abuts against the inner wall 11 of the housing but is not in an interference fit state. The second protruding section 2132 is spaced apart from the first protruding section 2131, so that the outer wall 213 of the inner gear ring forms a roughly annular recessed section 2133 between the first protruding section 2131 and the second protruding section 2132, and the second protruding section 2132 is concentric with the first protruding section 2131, and the diameters of the outer rings are roughly the same. In this way, after the reducer assembly 2 is assembled with the housing 1, the recessed section 2133 is in a closed state, forming a closed annular cavity, which can absorb and reduce the noise generated by the movement of the transmission parts in the housing 1, and can also reduce the weight of the inner ring 21. The setting of the second protruding section 2132 also provides an installation basis for the connection between the inner ring 21 and other related components on its axial side.

[0059] See also Figure 6 The present application also provides a joint module 1000, including the actuator 100 described above, and an encoder assembly 200. The encoder assembly 200 includes a motor output end encoder 201 for detecting a displacement signal or position information at the output end of the motor assembly 3 and a reducer output end encoder 202 for detecting a displacement signal or position information at the output end of the reducer assembly 2, wherein the motor output end encoder 201 is connected to the rotor adapter 33 to detect the displacement or rotation position of the rotor 32, and the reducer output end encoder 202 is connected to the output end cover 4 to detect the displacement or rotation position of the reducer output end.

[0060] See also Figure 7 In some embodiments, the present application further provides a joint arm, wherein at least one driving joint includes the above-mentioned joint module 1000.

[0061] See also Figure 8 In some embodiments, the present application also provides a bipedal robot, wherein at least one driving joint includes the above-mentioned joint module 1000.

[0062] See also Fig. 9In some embodiments, the present application also provides a quadruped robot, wherein at least one driving joint includes the above-mentioned joint module 1000.

[0063] See also Fig.10 In some embodiments, the present application also provides a four-wheeled legged robot, at least one driving joint includes the above-mentioned joint module 1000.

[0064] See also Fig.11 In some embodiments, the present application further provides a humanoid robot, wherein at least one of the leg swing joint, thigh joint, and calf joint of the point-footed robot adopts the above-mentioned joint module 1000.

[0065] In some embodiments of the present application, a robot is further provided, wherein at least one driving joint includes the above-mentioned joint module 1000 .

[0066] The above-mentioned embodiments of the present application are only part of the preferred embodiments of the present application and cannot be used to limit the present application. Without departing from the essence of the present application, any modifications, equivalent substitutions and improvements made by technical personnel in this field are within the scope of protection of the present application.

Claims

1. An actuator, characterized in that include: A shell, wherein the shell is substantially in the shape of a hollow cylinder; as well as A reducer assembly, the reducer assembly comprising an inner gear ring that is generally hollow cylindrical; The inner gear ring is embedded in the shell, and the inner gear ring is fixedly connected to the shell via a plurality of first fasteners, and the plurality of first fasteners are all arranged along the radial direction of the shell.

2. The actuator according to claim 1, characterized in that A plurality of first connection holes penetrating the side wall of the shell are provided in a radial direction surrounding the side wall of the shell; A plurality of second connection holes penetrating the side wall of the inner gear ring are provided in the radial direction surrounding the side wall of the inner gear ring; One end of the first fastener passes through the first connecting hole and is connected to the second connecting hole, so that the inner gear ring is fixedly connected to the housing.

3. The actuator according to claim 2, characterized in that The reducer assembly includes a two-stage planetary reducer, which includes a primary planetary gear set and a secondary planetary gear set. The inner wall of the inner gear ring located between the primary planetary gear set and the secondary planetary gear set is constructed with an annular groove. In the radial projection of the inner gear ring, the annular groove overlaps with the projections of several first connecting holes and several second connecting holes, respectively.

4. The actuator according to claim 3, characterized in that The annular groove is formed by the inner wall of the inner gear ring being radially recessed outward in a direction away from the secondary planetary reducer, and the width of the annular groove is approximately 1 to 2 times the diameter of the second connecting hole.

5. The actuator according to claim 3, characterized in that: The inner wall of the inner gear ring is provided with a first inner tooth portion and a second inner tooth portion respectively cooperating with the first-stage planetary gear set and the second-stage planetary gear set, the first inner tooth portion and the second inner tooth portion are arranged at intervals, the annular groove is arranged between the first inner tooth portion and the second inner tooth portion, and the bottom surface of the annular groove is relative to the inner wall of the inner gear ring and is lower than the tooth roots of the first inner tooth portion and the second inner tooth portion.

6. The actuator according to claim 5, characterized in that The projections of the first fasteners, the first connection holes, and the second connection holes in the radial direction do not overlap with the projections of the first inner tooth portion and the second inner tooth portion.

7. The actuator according to claim 2, characterized in that: A connection length between the first fastener and the second connection hole is substantially equal to an axial length of the second connection hole.

8. The actuator according to claim 3, characterized in that The bottom of the first fastener passes through the second connecting hole and is placed in the annular groove. The bottom end surface of the first fastener is opposite to the inner wall of the inner gear ring and is lower than the tooth roots of the first inner tooth portion and the second inner tooth portion.

9. The actuator according to claim 2, characterized in that: A first protruding section is constructed along the axial direction of the outer wall of the inner gear ring, the outer wall of the first protruding section abuts against the inner wall of the shell and has an interference fit with the inner wall of the shell, and a plurality of the second connecting holes are radially arranged in the first protruding section.

10. The actuator according to claim 9, characterized in that The outer wall of the inner gear ring is also axially constructed with a second protruding section, which is arranged near the output end of the reducer. The second protruding section is spaced apart from the first protruding section, so that the outer wall of the inner gear ring forms a roughly annular groove section between the first protruding section and the second protruding section. The second protruding section is concentric with the first protruding section and the outer ring has roughly the same diameter.

11. The joint module is characterized in that: include: The actuator according to any one of claims 1 to 10; The encoder component is used to detect the displacement signal or position information of the output end of the motor component and the displacement signal or position information of the output end of the reducer component.

12. An articulated arm, characterized in that: At least one driven joint adopts the joint module described in claim 11.

13. A bipedal robot, characterized in that: At least one driven joint adopts the joint module described in claim 11.

14. A quadruped robot, characterized in that: At least one driven joint adopts the joint module described in claim 11.

15. A four-wheeled legged robot, characterized in that: At least one driven joint adopts the joint module described in claim 11.

16. A humanoid robot, characterized in that At least one driven joint adopts the joint module described in claim 11.

17. A robot, characterized in that At least one driven joint adopts the joint module described in claim 11.

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