Actuator, joint module, and robot

Abstract

An actuator, relating to the technical field of robots. The actuator comprises: a speed reducer shell (1), a planetary speed reducer (2) and an output-end supporting bearing (3), wherein the speed reducer shell (1) is provided with a connecting flange (101) and a connecting section (102), which is located on an inner side, the planetary speed reducer (2) is provided with a ring gear flange (2011) located on an outer side of a ring gear (201), the ring gear flange (2011) is arranged on one side of the connecting section (102), and the output-end supporting bearing (3) is arranged on the other side of the connecting section (102) and is connected by means of a fastener; an electric-motor rotor (4) and an electric-motor output shaft (5), the electric-motor rotor (4) being arranged on an outward extension portion of the electric-motor output shaft (5), and the electric-motor output shaft (5) being fixedly connected to an input end of the planetary speed reducer (2); and an electric-motor housing (6) and an electric-motor stator (7), wherein the electric-motor housing (6) is provided with a connecting end (601), the electric-motor stator (7) is arranged in the electric-motor housing (6), and the connecting end (601) is fixedly connected to the connecting flange (101).

Description

Actuators, joint modules and robots

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure claims priority to Chinese patent application number 202311292721.X, filed on October 8, 2023, entitled “Actuator, Joint Module and Robot”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present application relates to the field of robotics technology, and in particular to an actuator, a joint module, and a robot. Background Art

[0004] In robotics, actuators are often used to provide driving force for the robot's various motion structures, enabling the robot to complete its intended movements. The motor and reducer are the two main components of an actuator. The motor is used as the driving element to provide power, and the reducer's input is connected to the motor's rotor. The reducer acts as a power transmission mechanism to decelerate and regulate the motor's output power. By connecting the robot's components to be driven to the reducer's output, the robot's movements are driven. Commonly used reducers, such as planetary reducers, are widely used in the robotics industry due to their small size, light weight, high load capacity, long service life, smooth operation, and low noise.

[0005] In the field of robot applications, it can be used in robotic arms, biped robots, quadruped robots or four-wheeled robot products.

[0006] For example, in robotic arm products, according to general requirements, they need to have five to six joints or more. For example, a six-axis robotic arm has six degrees of freedom and requires at least six actuators to support its joint movement.

[0007] For example, a bipedal robot generally includes thighs, calves and feet. The thighs need the freedom of swinging and turning to achieve stable movement. That is, a single leg of a bipedal robot needs to have five degrees of freedom: swinging, turning, thigh rotation, calf rotation and foot rotation. A single leg needs to use five actuators to support the movement of the above components.

[0008] Or like a four-wheeled leg robot, it usually includes four leg structures, and the leg structure includes at least four degrees of freedom, such as lateral leg swinging, thigh leg rotation, calf leg rotation, and walking wheel rotation. That is, each leg of the four-wheeled leg robot needs to use more than four actuators, and the entire robot needs to be equipped with at least sixteen actuators.

[0009] It can be seen that in robotic products, a large number of actuators are required, and each actuator needs to be assembled and formed separately. With the industry's enthusiasm for robotic products, in order to improve production efficiency and reduce costs, higher requirements are placed on the convenience of assembly and disassembly of actuator products. Especially under the demand for more compact and small actuators, there is less available assembly space and optional fastening methods in the actuator. How to improve the assembly and maintenance efficiency of actuators is a problem faced by the industry, but in existing actuator products, there is still the problem of difficulty in disassembly and maintenance. Summary of the Invention

[0010] The present application provides an actuator, a joint module and a robot, aiming to solve the problem in related technologies that actuators are not easy to assemble and disassemble under the requirements of compactness and miniaturization.

[0011] In one aspect, an actuator is provided, comprising:

[0012] A reducer housing, a planetary reducer, and an output-end support bearing, wherein the reducer housing has a connecting flange and a connecting section located on the inner side, and the planetary reducer has a gear ring flange located on the outer side of the gear ring;

[0013] The gear ring flange is arranged on one side of the connecting section, and the output end support bearing is arranged on the other side of the connecting section, and the three are fixedly connected by fasteners;

[0014] Motor rotor and motor output shaft;

[0015] Wherein, the motor rotor is arranged on the extension of the motor output shaft, and the motor output shaft is fixedly connected to the input end of the planetary reducer through a fastener;

[0016] A motor housing and a motor stator, wherein the motor housing has a connection end and the motor stator is disposed inside the motor housing;

[0017] Wherein, the connecting end is fixedly connected to the connecting flange by a fastener.

[0018] In an optional scheme, the reducer housing is also constructed with a ring gear mounting section and a support bearing mounting section respectively located on both sides of the connecting section, and the ring gear mounting section and the support bearing mounting section are both hollow cylindrical, the outer wall of the ring gear flange abuts against the inner wall of the ring gear mounting section, and the outer wall of the outer ring of the output end support bearing abuts against the inner wall of the support bearing mounting section.

[0019] In an optional scheme, the outer ring of the output-end support bearing is constructed with a plurality of first through holes arranged in an array, the connecting section is constructed with a plurality of second through holes arranged in an array, and the ring gear flange is constructed with a plurality of threaded holes arranged in an array. The first through holes, the second through holes and the threaded holes are arranged in a one-to-one correspondence, and bolts with threads at the end are sequentially passed through the outer ring of the output-end support bearing and the connecting section, and then threadedly connected to the ring gear flange. The bolt head of the bolt abuts against the outer ring of the output-end support bearing, and the preload force and limiting effect generated by the bolt fix the outer ring of the output-end support bearing, the connecting section and the ring gear flange.

[0020] In an optional scheme, the inner wall of the connecting section abuts the ring gear and the ring gear on the side of the ring gear flange facing away from the input end of the planetary reducer, or a ring gear positioning portion extending radially inward and in the form of a hollow ring is constructed on the inner wall of the connecting section, and the ring gear positioning portion abuts the ring gear on the side of the ring gear flange facing away from the input end of the planetary reducer, thereby radially positioning the ring gear.

[0021] In an optional solution, an annular boss and a plurality of connecting flange through holes are provided on the other side of the connecting flange relative to the support bearing mounting section. The connecting flange through holes are located radially outside the annular boss, and the annular boss abuts against the inner wall of the connecting end, thereby forming a limiting sealing structure.

[0022] In an optional solution, the actuator only has the planetary reducer and the motor output shaft in the axial direction.

[0023] In an optional solution, the motor housing is configured with an inner extension portion extending radially inward on the other end relative to the reducer housing, and the inner extension portion is hollow and annular;

[0024] The motor output shaft comprises an outer extension portion, a support portion and a central shaft connecting portion, wherein the outer extension portion is fixedly connected to the motor rotor, the central shaft connecting portion is fixedly connected to the input end of the planetary reducer via a fastener, and the support portion extends toward the hollow portion of the inner extension portion;

[0025] It also includes a motor end bearing, which is embedded between the inner extension part and the base part. The annular inner wall of the inner extension part abuts against the outer ring of the motor end bearing, and the inner ring of the motor end bearing abuts against the base part.

[0026] In an optional solution, a plurality of fastening screws are screwed onto the threads on the inner extension portion, and the head portions of the fastening screws abut against a side of the outer ring of the motor end bearing relative to the motor output shaft.

[0027] In an optional solution, the planetary reducer includes an input end sun gear and an output end planet carrier, the output end planet carrier has an output flange at one end away from the input end sun gear, and the outer wall of the output flange abuts against the inner ring of the output end support bearing.

[0028] In an optional solution, the outer wall of the outer ring of the output-end support bearing abuts against the inner wall of the support bearing mounting section without interference.

[0029] In an optional scheme, the outer ring of the output-end support bearing includes an outer upper ring and an outer lower ring that are separately arranged, and a plurality of upper through holes and lower through holes are evenly arranged along the circumferential direction of the outer upper ring and the outer lower ring, respectively. The upper through holes and the lower through holes correspond one-to-one to form the first through holes, the inner wall of the inner ring of the output-end support bearing has a first shoulder, and the outer circumferential wall of the output flange has a second shoulder, and the first shoulder and the second shoulder cooperate with each other to achieve axial positioning of the output flange.

[0030] In an optional scheme, the actuator includes: the motor output shaft is configured with an extension portion, and the motor rotor is a rigid structure, wherein the motor rotor is embedded in the extension portion, and the width of the motor rotor is greater than the height of the extension portion; wherein the width of the extension portion is less than two-thirds of the width of the motor rotor, and the width of the extension portion is greater than one-fifth of the width of the motor rotor; the extension portion is configured as an annular structure coaxial with the motor rotor; the inner side wall of the rotor is fixedly connected to the outer side wall of the extension portion, or the outer side wall of the motor rotor is fixedly connected to the inner side wall of the extension portion; the extension portion at least partially overlaps with the projection of the planetary reducer along the radial direction of the motor rotor.

[0031] In an optional solution, the actuator further includes: a primary sun gear as the input end, and a plurality of primary planetary gears, wherein the plurality of primary planetary gears are respectively meshed with the primary sun gear, and the shaft ends of the plurality of primary planetary gears are respectively fixedly connected to the primary planetary carrier; a primary planetary carrier having a first connecting shaft protruding to one end and being hollow and extending inward in its radial direction, wherein the hollow inner wall surface of the first connecting shaft has a plurality of first pin grooves uniformly distributed along the circumference; a secondary sun gear having a second connecting shaft protruding to one end, wherein the outer wall of the second connecting shaft has a plurality of second pin grooves uniformly distributed along the circumference; the first connecting shaft and the second connecting shaft are nested, and the first pin groove and the second pin groove are nested. A plurality of pin holes are formed in a one-to-one correspondence; a plurality of pins adapted to the pin holes are interference-fitted in the plurality of pin holes, respectively, so that the primary planet carrier is transmission-connected to the secondary sun gear and radially positioned; at least one of the first pin grooves is configured with a flange at one end facing away from the primary sun gear, one end face of the pin abuts against the flange, and the other side of the flange relative to the pin abuts against one side of the helical teeth of the secondary sun gear, or the secondary sun gear is configured with a first clamping shoulder extending radially outwardly thereof, the first clamping shoulder being located between the first connecting shaft and the helical teeth of the secondary sun gear, the pin and the first clamping shoulder clamp the flange, thereby axially positioning the primary planet carrier; The first connecting shaft is integrally formed on the side of the first-stage planetary carrier away from the first-stage sun gear, the first connecting shaft is hollow cylindrical, the inner wall of the first connecting shaft is cylindrical, the inner wall array of the first connecting shaft is provided with a plurality of semi-cylindrical first pin grooves, the first pin grooves are recessed inwardly compared to the inner wall of the first connecting shaft; the second connecting shaft is integrally formed on the side of the second-stage sun gear close to the first-stage sun gear, the second connecting shaft is cylindrical, the outer wall array of the second connecting shaft is provided with a plurality of semi-cylindrical second pin grooves, the second pin grooves correspond to the first pin grooves one by one to form a plurality of cylindrical pin holes, the plug pin is cylindrical; the outer wall of the second connecting shaft is provided with a radially extending There is a second shoulder, which is located between the first shoulder and the second connecting shaft. The second shoulder is flush with the flange, and one end face of the pin is respectively in contact with the flange and the second shoulder, so that the first-stage planetary carrier and the second-stage sun gear are sealed. The first pin groove and the second pin groove are both rigid structures. The first-stage planetary carrier is constructed with a hollow cavity above the first connecting shaft. The first-stage sun gear is arranged in the cavity, and the end face of the first-stage sun gear adjacent to one end of the second-stage sun gear does not contact the connecting structure formed by the axial end faces of the first connecting shaft, the pin and the second connecting shaft, and the end face is parallel to the end face of the connecting structure.

[0032] In another embodiment, a joint module is provided, comprising the aforementioned actuator.

[0033] In an optional scheme, the joint module also includes: an encoding component, including an encoding adapter disk, a first code disk, an output end shaft, and a second code disk; the encoding adapter disk is fixed on the base portion of the motor output shaft, and the first code disk is installed on the encoding adapter disk; the output end shaft includes a transmission shaft, a stop portion and an encoding receiving member, the stop portion is disc-shaped, one end of the transmission shaft is fixedly connected to the center of the stop portion, the stop portion abuts against and is relatively fixed to the inner side wall of the output flange, the other end of the transmission shaft sequentially passes through the planetary reducer, the motor output shaft and the middle of the encoding adapter disk to extend to the other side, and is fixedly connected to the center of the encoding receiving member; the second code disk is installed on the encoding receiving member.

[0034] In an optional solution, the encoding adapter plate has a third shoulder, and the inner ring portion of the motor end bearing abuts against the shoulder, and the inner ring portion of the motor end bearing abuts against the support platform.

[0035] In an optional scheme, the joint module also includes: an output end locating bearing, a coupling section is constructed at one end of the sun gear, and the coupling section extends into the output flange; a first shoulder is constructed on the inner wall surface of the output flange at an end close to the sun gear, and an annular protrusion structure is constructed at the extension of the stop portion toward the side of the sun gear; wherein, the output end locating bearing is nested between the coupling section and the inner wall of the output flange, the inner ring of the output end locating bearing abuts against the outer wall of the coupling section, and the outer ring of the output end locating bearing abuts against the inner wall of the output flange; an axial side surface of the output end locating bearing abuts against the first shoulder, and the protrusion structure abuts against the outer ring of the output end locating bearing relative to the other side of the first shoulder; in an optional scheme, the joint module also includes: a driver, which is arranged on the outer side of the first and second code discs along the axial direction of the motor housing, and is fixedly connected to the inner extension by fasteners.

[0036] In an optional solution, the output flange extends beyond the extension of the coupling section, the outer side wall of the stop portion abuts against the inner side wall of the portion of the output flange that is longer than the coupling section, and the stop portion is located between the axial end face of the output flange and the axial end face of the sun gear.

[0037] In an optional scheme, the joint module also includes: a corrugated washer, a fourth shoulder is constructed between the teeth of the sun gear and the coupling section, the corrugated washer is embedded between the fourth shoulder and the inner ring of the output end locating bearing, and the inner ring of the output end locating bearing presses the corrugated washer onto the fourth shoulder.

[0038] In an optional solution, the encoding adapter disk is constructed with a cavity sunken along its axial direction, the encoding receiving component is embedded in the cavity, and an encoding receiving component support bearing is embedded between the encoding receiving component and the encoding adapter disk.

[0039] In an optional solution, the joint module further includes: a rear cover, which surrounds the outside of the driver and is fixedly connected to the other end of the motor housing relative to the reducer housing through fasteners.

[0040] In another embodiment, a robotic arm is provided, wherein at least one joint adopts the joint module as described above.

[0041] In another embodiment, a bipedal robot is provided, wherein at least one joint adopts the joint module as described above.

[0042] In another embodiment, a point-legged robot is provided, wherein at least one of the swing leg joint, thigh joint, and calf joint of the point-legged robot adopts the joint module as described above.

[0043] In another embodiment, a quadruped robot is provided, wherein at least one joint adopts the joint module as described above.

[0044] In another embodiment, a four-wheeled legged robot is provided, wherein at least one joint adopts the joint module as described above.

[0045] In another embodiment, a robot is provided, wherein at least one joint adopts the joint module as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0047] FIG1 is an exploded view and a cross-sectional view of an actuator according to an embodiment of the present application;

[0048] FIG2 is a schematic cross-sectional view of an actuator according to an embodiment of the present application;

[0049] FIG3 is an exploded schematic diagram of an actuator in one embodiment of the present application;

[0050] FIG4 is a schematic diagram of the coordination of a planetary reducer, a reducer housing and its bearings in one embodiment of the present application;

[0051] FIG5 is an enlarged schematic diagram of portion A in FIG4 ;

[0052] FIG6 is a schematic diagram of a reducer housing in an embodiment of the present application;

[0053] FIG7 is a schematic diagram of a reducer housing in another embodiment of the present application;

[0054] FIG8 is a cross-sectional schematic diagram of an actuator in one embodiment of the present application;

[0055] FIG9 is an exploded schematic diagram of the motor output shaft portion of the actuator in one embodiment of the present application;

[0056] FIG10 is a cross-sectional schematic diagram of an actuator in one embodiment of the present application;

[0057] FIG11 is a schematic diagram of the output shaft of the actuator and the motor rotor in one embodiment of the present application;

[0058] FIG12 is a perspective schematic diagram of a motor output shaft of an actuator in one embodiment of the present application;

[0059] FIG13 is a schematic cross-sectional view of the output end rotating shaft and the motor rotor in one embodiment of the present application;

[0060] FIG14 is an exploded schematic diagram of a primary planet carrier and a secondary sun gear in one embodiment of the present application;

[0061] FIG15 is a cross-sectional schematic diagram of a primary planet carrier and a secondary sun gear in one embodiment of the present application;

[0062] FIG16 is a cross-sectional schematic diagram of a primary planet carrier and a secondary sun gear in one embodiment of the present application;

[0063] FIG17 is an enlarged schematic diagram of portion B in FIG16;

[0064] FIG18 is a cross-sectional schematic diagram of a primary planet carrier and a secondary sun gear in one embodiment of the present application;

[0065] FIG19 is a cross-sectional schematic diagram of a primary planet carrier and a secondary sun gear in one embodiment of the present application;

[0066] FIG20 is a schematic diagram of a partial structure of an encoding component in an embodiment of the present application;

[0067] FIG21 is a schematic diagram of the structure of the output end shaft portion in one embodiment of the present application;

[0068] FIG22 is a schematic front view of FIG21;

[0069] FIG23 is an exploded schematic diagram of the output end shaft in one embodiment of the present application;

[0070] FIG24 is a schematic cross-sectional view of a joint module in one embodiment of the present application;

[0071] FIG25 is an exploded schematic diagram of a joint module in one embodiment of the present application;

[0072] FIG26 is a perspective schematic diagram of a robotic arm in one embodiment of the present application;

[0073] FIG27 is a perspective schematic diagram of a bipedal robot in one embodiment of the present application;

[0074] FIG28 is a perspective schematic diagram of a point-foot robot in one embodiment of the present application;

[0075] FIG29 is a perspective schematic diagram of a quadruped robot in one embodiment of the present application;

[0076] FIG30 is a perspective schematic diagram of a four-wheeled legged robot in one embodiment of the present application;

[0077] Reference numerals in the figures: 1. reducer housing; 101. connecting flange; 1011. connecting flange through-hole; 102. connecting section; 1021. second through-hole; 1022. ring gear positioning portion; 103. ring gear mounting section; 104. bearing mounting section; 105. annular boss; 2. planetary reducer; 201. ring gear; 2011. ring gear flange; 2012. threaded hole; 202. input sun gear; 203. output planet carrier; 2031. output flange; 2032. second shoulder; 2023; 3. output support bearing; 301. first through-hole; 302. output support bearing outer ring; 303. output support bearing inner ring; 3021. outer upper ring; 3022. outer lower ring; 3023. upper through-hole; 3024. lower through-hole; 3031. first shoulder; 4. motor rotor; 5. Motor output shaft; 501. Extension; 502. Support; 503. Center coupling; 6. Motor housing; 601. Connecting end; 602. Inner extension; 7. Motor stator; 8. Bolt; 9. Motor end bearing; 10. Fastening screw; 11. First-stage sun gear; 12. First-stage planetary gear; 13. First-stage planetary carrier; 1301. First coupling; 1302. First cavity; 13011. First pin slot; 13012. Flange; 14. Second-stage sun gear; 1401. Second coupling; 14011. Second pin slot; 1402. First shoulder; 14012. Second shoulder; 15. Pin hole; 16. Latch; 17. Encoding assembly; 1701. Encoding adapter plate; 17011. Third shoulder; 1702. First code disk; 1703. Output shaft; 1704. Second code disk; 17031. Transmission shaft; 17032. Stopper; 170321. Raised structure; 17033. Encoding receiving member; 17034. Encoding receiving member support bearing; 17035. Second cavity; 18. Output end locating bearing; 2021. Coupling section; 2032. Third shoulder; 2022. Fourth shoulder; 19. Wave washer; 20. Driver; 21. Back cover; 100. Actuator; Joint module 1000;

[0078] Wherein, X is defined as the axial direction of the actuator and the joint module, and Y is defined as the radial direction of the actuator and the joint module. DETAILED DESCRIPTION

[0079] The specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application, but are not intended to limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application and not all embodiments. All other embodiments obtained by those of ordinary skill in the art without making creative work are within the scope of protection of this application.

[0080] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0081] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0082] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0083] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0084] In this application, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" 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 application. In this 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 can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0085] In the field of robotic applications, actuators are required in large quantities, and each actuator needs to be assembled and formed separately. Especially under the demand for more compact and small actuators, the available assembly space and optional fastening methods within the actuator are limited. In other words, the internal space of the actuator is limited, and there are many parts that need to be connected and have predetermined structural strength requirements. Therefore, the problem that needs to be explored in this field is how to simply, quickly, and stably assemble the various components of the actuator into one within a limited space.

[0086] Specifically, when assembling an actuator, at least the motor, reducer, and related housing components must be stably assembled into one body to form the actuator as a whole. Based on relevant technologies in this field, the methods for achieving this assembly are relatively simple. Each component to be assembled is fixed to its housing with bolts. To meet the predetermined structural strength requirements, a single component often requires multiple bolts, or even multiple different types of bolts, for fixing. This not only makes assembly and disassembly difficult, but also hinders the miniaturization of the actuator.

[0087] Based on this, the present application makes improvements and innovations and proposes the following embodiments.

[0088] In some embodiments, referring to Figures 1 to 3, an actuator is provided, comprising:

[0089] The reducer housing 1, the planetary reducer 2, and the output-end support bearing 3 are provided. The reducer housing 1 has a connecting flange 101 and an inner connecting section 102. The planetary reducer 2 has a ring gear flange 2011 located outside the ring gear 201. The ring gear flange 2011 is provided on one side of the connecting section 102, and the output-end support bearing 3 is provided on the other side of the connecting section 102. The three are fixedly connected by fasteners.

[0090] The motor rotor 4 and the motor output shaft 5, the motor rotor 4 is arranged on the extension of the motor output shaft 5, and the motor output shaft 5 is fixedly connected to the input end of the planetary reducer 2 through a fastener;

[0091] The motor housing 6 and the motor stator 7 , the motor housing 6 has a connecting end 601 , the motor stator 7 is arranged inside the motor housing 6 , and the connecting end 601 is fixedly connected to the connecting flange 101 by fasteners.

[0092] In this embodiment, the reducer and the output-end support bearing 3 only need to be mounted on the reducer housing 1 using fasteners. Specifically, the reducer's ring gear flange 2011 and the output-end support bearing 3 are fixed to both sides of the connecting section 102 using fasteners. That is, the reducer housing 1, the planetary reducer 2, and the output-end support bearing 3 can be fixedly assembled using the same fasteners. The fasteners in this embodiment can be bolts, screws, studs, pins, etc.

[0093] For the installation of the motor rotor 4 , it is only necessary to fix the motor rotor 4 to the extension of the motor output shaft 5 , and then fix the motor output shaft 5 to the input end of the planetary reducer 2 through fasteners.

[0094] As for the motor housing 6 and the motor stator 7, it is only necessary to place the motor stator 7 inside the motor housing 6 and to securely connect the connecting end 601 of the motor housing 6 to the connecting flange 101 of the reducer housing 1 through fasteners.

[0095] The entire actuator can be assembled, the assembly method is simple, the assembly process is convenient and fast, and the assembly and disassembly efficiency is high.

[0096] In this embodiment, as shown in FIG3 , the assembly process of the actuator is roughly divided into the following three parts in a preferred order:

[0097] The first part is the assembly of the reducer housing 1, planetary reducer 2, and output-end support bearing 3. This is done by placing the ring gear flange 2011 of the planetary reducer 2 and the output-end support bearing 3 against both sides of the connecting section 102, and then fastening them with fasteners. The fasteners are preferably installed from one side of the output-end support bearing 3, through the output-end support bearing 3, the connecting section 102, and the ring gear flange 2011 in sequence, thus firmly connecting the three.

[0098] The second part is the assembly of the motor rotor 4 and the motor output shaft 5. First, the motor rotor 4 is fixed on the extension of the motor output shaft 5, and then the motor output shaft 5 is fixedly connected to the input end of the planetary reducer 2 through fasteners. As shown in Figure 2, the motor rotor 4 is now wrapped around the outside of the output end of the planetary reducer 2.

[0099] The third part is to fix the motor stator 7 and the motor housing 6 and then assemble them with the reducer housing 1. First, the motor stator 7 is embedded in the motor housing 6, and then the connecting end 601 of the motor housing 6 and the connecting flange 101 of the reducer are fixed and locked by fasteners. At this time, the motor stator 7 is in a state of being wrapped around the outside of the motor rotor 4, thereby completing the assembly of the entire actuator.

[0100] Obviously, the actuator assembly structure in this embodiment is simple, making the entire assembly or disassembly process simpler and faster, thereby improving the assembly and disassembly efficiency of the actuator.

[0101] In some embodiments, referring to Figures 4, 5 and 6, the reducer housing 1 is further constructed with a ring gear mounting section 103 and a support bearing mounting section 104 respectively located on both sides of the connecting section 102. The ring gear mounting section 103 and the support bearing mounting section 104 are both hollow cylindrical. The outer wall of the ring gear flange 2011 abuts against the inner wall of the ring gear mounting section 103, and the outer wall of the output end support bearing outer ring 302 abuts against the inner wall of the support bearing mounting section 104.

[0102] In this embodiment, the gear ring mounting section 103 and the support bearing mounting section 104 are respectively provided on the reducer housing 1, so that the gear ring flange 2011 and the output-end support bearing 3 can be embedded in the reducer housing 1, and stable and effective radial positioning can be formed for the gear ring flange 2011 and the output-end support bearing 3 respectively.

[0103] In this embodiment, the ring gear mounting section 103, the support bearing mounting section 104, and the connecting section 102 are integrally formed, which not only provides high structural strength but also a simple component structure. The ring gear flange 2011 and the output-end support bearing 3 can be installed by being inserted from both sides of the connecting section 102, making assembly easier. In some embodiments, referring to Figures 3, 4, and 6, the outer ring of the output-end support bearing 3 is configured with a plurality of first through holes 301 arranged in an array, the connecting section 102 is configured with a plurality of second through holes 1021 arranged in an array, and the ring gear flange 2011 is configured with a plurality of threaded holes 2012 arranged in an array. The first through holes 301, the second through holes 1021, and the threaded holes 2012 are arranged in a one-to-one correspondence. Bolts 8 with threads on the ends are sequentially passed through the outer ring of the output-end support bearing 3 and the connecting section 102, and then threadedly connected to the ring gear flange 2011.

[0104] In this embodiment, the outer ring of the output end support bearing 3 and the first through hole 301 and the second through hole 1021 on the connecting section 102 are circular through holes with smooth inner walls and no threads. Only the threaded hole 2012 is provided on the gear ring flange 2011.

[0105] In this way, during assembly, the screw head part of the bolt 8 is not threadedly connected with the first through hole 301 and the second through hole 1021, and can directly pass through the first through hole 301 and the second through hole 1021 and then be threadedly connected with the threaded hole 2012 on the ring gear flange 2011. At this time, the bolt head of the bolt 8 abuts against the outer ring of the output end support bearing 3. Through the preload force and limiting effect generated by the bolt 8, the outer ring of the output end support bearing 3 and the ring gear flange 2011 are respectively pressed on both sides of the connecting section 102 to form a fixed connection, which can effectively improve the efficiency of assembly.

[0106] In some embodiments, referring to Figures 2, 4 and 5, the outer wall of the output-end support bearing outer ring 302 can abut against the inner wall of the support bearing mounting section 104 without interference fit. After the output-end support bearing 3 is embedded and installed, the outer wall of the output-end support bearing outer ring 302 only abuts against the inner wall of the support bearing mounting section 104 without interference fit, that is, the support bearing mounting section 104 only plays a radial positioning role for the output-end support bearing 3, and the axial positioning of the output-end support bearing 3 is only performed by the preload force of the fastener.

[0107] In this way, on the one hand, the output end support bearing 3 does not need to be installed with interference fit, and only needs to be embedded and set and then locked with fasteners, which makes the installation convenient and quick. On the other hand, the output end support bearing 3 does not adopt interference fit installation, and the relevant structure will not be deformed during assembly, thereby ensuring the radial position accuracy of the reducer output end, thereby ensuring the accuracy of the power output of the actuator.

[0108] In some embodiments, referring to Figures 4 and 5, the ring gear 201 generally has a portion protruding relative to the ring gear flange 2011, and the inner wall of the connecting section 102 abuts against the ring gear 201 and the ring gear 201 on the side facing away from the input end of the planetary reducer 2 relative to the ring gear flange 2011, that is, the inner wall of the connecting section 102 abuts against the outer wall of the above-mentioned protruding portion of the ring gear 201, thereby radially positioning the ring gear 201, and the positioning structure is simple and reliable.

[0109] As shown in Figures 7 and 24 , in some embodiments, a hollow, annular ring gear positioning portion 1022 extending radially inward is configured on the inner wall of the connecting section 102. The ring gear positioning portion 1022 abuts against the ring gear 201 on the side facing away from the input end of the planetary reducer 2 relative to the ring gear flange 2011, thereby radially positioning the ring gear 201. The axial thickness of the ring gear positioning portion 1022 can be smaller than that of the connecting section 102, thereby reducing the mass of the ring gear positioning portion 1022 and, in turn, the mass of the reducer housing 1 and the actuator.

[0110] In some embodiments, referring to Figures 3, 4, 6 and 7, an annular boss 105 and a plurality of connecting flange through holes 1011 are provided on the other side of the connecting flange 101 relative to the support bearing mounting section 104. The connecting flange through holes 1011 are located radially outside the annular boss 105, and the annular boss 105 abuts against the inner wall of the connecting end 601, thereby forming a limiting sealing structure.

[0111] In this embodiment, after the connecting end 601 of the motor housing 6 is locked with the connecting flange 101 by means of fasteners, the fasteners and the relevant connecting holes are all located outside the radial direction of the annular boss 105, and then the annular boss 105 is abutted against the inner wall of the connecting end 601 of the motor housing 6 to form a limiting sealing structure, which plays a role in sealing the mating position between the motor housing 6 and the reducer housing 1, and can prevent external dust and other impurities from entering.

[0112] In some embodiments, please refer to Figure 8, the distance between the outer end face of the motor output shaft 5 and the outer end face of the planetary reducer 2 is approximately the same as the axial (x) length of the actuator, that is, after the actuator is assembled, the axial length of the actuator mainly includes the length L1 of the planetary reducer 2 and the length L2 of the motor output shaft 5, as well as a small part of the size of the motor housing 6 outside the end face of the motor output shaft 5. It can be seen that the assembly structure of the actuator of the present application helps to reduce the overall axial size of the actuator, is more compact, and is conducive to miniaturization.

[0113] In some embodiments, referring to Figures 9 and 10 , the motor housing 6 is constructed with an inner extension portion 602 extending radially inward on the other end relative to the reducer housing 1. The inner extension portion 602 is hollow and annular. The motor output shaft 5 comprises an outer extension portion 501, a support portion 502, and a central connecting shaft portion 503. The outer extension portion 501 is fixedly connected to the motor rotor 4. The central connecting shaft portion 503 is fixedly connected to the input end of the planetary reducer 2 via fasteners. The support portion 502 extends toward the hollow portion of the inner extension portion 602. The motor-end bearing 9 is also included. The motor-end bearing 9 is embedded between the inner extension portion 602 and the support portion 502. The annular inner wall of the inner extension portion 602 abuts the outer ring of the motor-end bearing 9, and the inner ring of the motor-end bearing 9 abuts the support portion 502.

[0114] In this embodiment, after the motor housing 6 and the reducer housing 1 are assembled and locked, an annular groove-shaped installation position with an opening on one side is formed between the outer wall of the base portion 502 and the inner wall of the inner extension portion 602, so that the motor-end bearing 9 can be embedded and installed between the outer wall of the base portion 502 and the inner wall of the inner extension portion 602 along the axial direction through the opening, and the installation is convenient and quick.

[0115] At the same time, the outer ring of the motor-end bearing 9 abuts against the inner wall of the inner extension part 602, and the inner ring of the motor-end bearing 9 abuts against the outer wall of the supporting platform part 502, forming radial positioning for the motor output shaft 5, thereby ensuring that the motor output shaft 5 maintains an accurate axial position when rotating and will not shake.

[0116] In some embodiments, referring to Figures 10 and 20 , a plurality of fastening screws 10 are threadedly connected to the inner extension portion 602, with the heads of the fastening screws 10 abutting the side of the outer ring of the motor-end bearing 9 opposite the motor output shaft 5. During assembly, after the motor-end bearing 9 is embedded between the outer wall of the base portion 502 and the inner wall of the inner extension portion 602, the fastening screws 10 are screwed in and tightened, with the heads of the fastening screws 10 abutting against one side of the outer ring of the motor-end bearing 9, thereby locking the outer ring of the motor-end bearing 9 and facilitating installation and removal.

[0117] In this embodiment, the fastening screws 10 are evenly spaced along the circumference of the inner extension 602, which fully fixes the outer ring of the motor end bearing 9 without the need for additional fixing parts such as bearing covers, which is beneficial to improving assembly convenience and reducing the axial size of the actuator.

[0118] In addition, the fastening screw 10 is embedded in the inner extension portion 602 in a countersunk installation manner, thereby not occupying the axial dimension of the actuator.

[0119] In some embodiments, referring again to Figures 1 and 2 , the planetary reducer 2 includes an input sun gear 202 and an output planet carrier 203. The output planet carrier 203 has an output flange 2031 on its end facing away from the input sun gear 202. The outer wall of the output flange 2031 abuts against the inner ring of the output support bearing 303. Thus, the output flange 2031 can be radially positioned by the output support bearing 3, ensuring that the output flange 2031 maintains a precise radial position during rotation, thereby ensuring coaxiality between the output flange 2031 and the motor output shaft 5.

[0120] In this embodiment, the motor output shaft 5 is radially positioned by the motor-end bearing 9 described in the aforementioned embodiment, and in conjunction with the axial positioning of the output flange 2031 of the planetary reducer 2 by the output-end support bearing 3, axial positioning is achieved for both the input and output ends of the actuator, thereby improving the coaxiality of the input and output ends of the actuator and ensuring the stability and accuracy of power transmission. In some embodiments, referring to FIG5 , the outer ring of the output-end support bearing 3 includes a separately arranged outer upper ring 3021 and an outer lower ring 3022. A plurality of upper through holes 3023 and lower through holes 3024 are evenly arranged along the circumference of the outer upper ring 3021 and the outer lower ring 3022, respectively. The upper through holes 3023 and the lower through holes 3024 correspond one-to-one to form the first through hole 301.

[0121] In this embodiment, the upper through holes 3023 and the lower through holes 3024 are evenly arranged along the circumference of the outer upper ring 3021 and the outer lower ring 3022 respectively, which is beneficial to the force balance at various positions of the outer ring of the output end support bearing 3 after assembly and tightening.

[0122] In this embodiment, the inner wall of the output-end support bearing inner ring 303 has a first shoulder 3031, and the outer peripheral wall of the output flange 2031 has a second shoulder 2023. The first shoulder 3031 and the second shoulder 2023 cooperate with each other to achieve axial positioning of the output flange 2031, ensuring that the output flange 2031 is stable and does not move. In some embodiments, referring to Figures 11 to 13, the motor output shaft 5 is configured with an extension portion 501, wherein the motor rotor 4 is embedded in the extension portion 501. In the radial direction, the projection of the extension portion 501 only partially overlaps the projection of the motor rotor 4, or the axial thickness of the motor rotor 4 is greater than the axial thickness of the extension portion 501, thereby achieving effective cooperation between the motor rotor 4 and the motor output shaft 5.

[0123] In this embodiment, by shortening the axial length of the extension 501, the overall mass of the motor output shaft 5 is reduced, thereby reducing the rotational inertia required by the motor output shaft 5 during rotation, which is beneficial to the rapid starting and stopping of the motor rotor 4 and improves the accuracy of actuator control.

[0124] This overcomes the technical bias in the related art that the size of the extension portion 501 must match the size of the motor rotor 4 .

[0125] On the other hand, the relatively small axial dimension of the extension portion 501 is also conducive to simplifying the assembly process of the extension portion 501 and the motor rotor 4 .

[0126] In this embodiment, the motor rotor 4 is a rigid structure. During manufacturing, the motor rotor 4 can be magnetically mounted on a rigid substrate to form a rigid motor rotor 4, thereby ensuring the structural strength of the motor rotor 4.

[0127] In this embodiment, the width of the extension portion 501 is less than two-thirds of the width of the motor rotor 4, and the width of the extension portion 501 is greater than one-fifth of the width of the motor rotor 4, which can ensure that the maximum weight reduction effect is achieved under the premise that the motor rotor 4 and the extension portion 501 have sufficient contact area.

[0128] In this embodiment, the extension 501 is constructed as an annular structure coaxial with the motor rotor 4, allowing the two to easily nest and mate. The inner wall of the motor rotor 4 is fixedly connected to the outer wall of the extension 501, or the outer wall of the motor rotor 4 is fixedly connected to the inner wall of the extension 501. In this embodiment, the inner wall of the motor rotor 4 and the outer wall of the extension 501 are bonded together.

[0129] In this embodiment, the extension portion 501 at least partially overlaps with the radial projection of the planetary reducer 2 along the motor rotor 4, that is, the input end of the planetary reducer 2 extends relatively in the axial direction to the space enclosed by the extension portion 501, which is conducive to shortening the axial size of the actuator. In some embodiments, please refer to Figures 14 to 19. The actuator also includes: a first-stage sun gear 11 as an input end, and a plurality of first-stage planetary gears 12, the plurality of first-stage planetary gears 12 are respectively engaged with the first-stage sun gear 11, and the shaft ends of the plurality of first-stage planetary gears 12 are respectively fixedly connected to the first-stage planetary carrier 13; a first-stage planetary carrier 13 having a first connecting shaft 1301 protruding to one end and being hollow and extending inward in its radial direction, and the hollow inner wall surface of the first connecting shaft 1301 has a plurality of first pin grooves 1301 evenly distributed along the circumferential direction. 1; a secondary sun gear 14 having a second connecting shaft 1401 protruding toward one end, the outer wall of the second connecting shaft 1401 having a plurality of second pin grooves 14011 uniformly distributed along the circumferential direction; the first connecting shaft 1301 and the second connecting shaft 1401 are nested, and the first pin grooves 13011 and the second pin grooves 14011 correspond one-to-one to form a plurality of pin holes 15; a plurality of pins 16 adapted to the pin holes 15 are interference fit in the plurality of pin holes 15, respectively, so that the primary planet carrier 13 and the secondary sun gear 14 are in transmission connection and radially positioned.

[0130] In this embodiment, by setting a first connecting shaft 1301 on the first-stage planetary carrier 13, setting a second connecting shaft 1401 on the second-stage sun gear 14, and correspondingly setting a first pin groove 13011 and a second pin groove 14011 on the first connecting shaft 1301 and the second connecting shaft 1401, a pin hole 15 is formed that is evenly surrounded at the matching position between the first connecting shaft 1301 and the second connecting shaft 1401, and the axial and radial positioning between the first-stage planetary carrier 13 and the second-stage sun gear 14 is achieved by locking the pin 16 with the pin hole 15 through interference fit.

[0131] In this embodiment, the matching structure requires a smaller spatial dimension of the connection portion between the first-stage planetary carrier 13 and the second-stage sun gear 14, that is, the first connecting shaft 1301 and the second connecting shaft 1401 are set to smaller axial and radial dimensions, so as to meet the predetermined connection strength requirement, or under the same connection strength requirement, since there is no need to preset more connection positions as in the related technical connection method, the connection structure can be made smaller.

[0132] In this way, under the same output torque requirement, the internal space occupied by the planetary reducer 2 can be effectively reduced, and the axial and radial dimensions of the planetary reducer 2 are reduced, which is conducive to the miniaturization of the reducer, actuator and even joint module and robot, making the product more compact.

[0133] In this embodiment, the first pin groove 13011 and the second pin groove 14011 are both rigid structures, that is, the pin hole 15 corresponding to the first pin groove 13011 and the second pin groove 14011 is also a rigid structure.

[0134] In this way, the latch 16 and the pin hole 15 can stably form an interference fit, and after the interference fit, the pin hole 15 of the rigid structure is not easy to deform, thereby ensuring the coaxiality of the first-stage planetary carrier 13 and the second-stage sun gear 14. The latch 16 can be interference fit with the pin hole 15 through a cold assembly process or other methods, ensuring the stability and reliability of the connection structure, and the structural strength is high and will not move.

[0135] In this embodiment, at least one first pin groove 13011 is constructed with a flange 13012 at one end facing away from the primary sun gear 11, one end face of the latch 16 abuts against the flange 13012, and the flange 13012 abuts against the other side of the latch 16 with respect to the helical teeth of the secondary sun gear 14, or the secondary sun gear 14 is constructed with a first clamping shoulder 1402 extending radially outward, and the first clamping shoulder 1402 is located between the first connecting shaft 1301 and the helical teeth of the secondary sun gear 14, and the latch 16 and the first clamping shoulder 1402 clamp the flange 13012, thereby axially positioning the primary planetary carrier 13.

[0136] In this embodiment, after the latch 16 and the pin hole 15 are interference-fitted, the friction between the latch 16 and the inner wall of the pin hole 15 secures the pin 16. At this point, the end face of the latch 16, which is closest to the secondary sun gear 14, presses against the flange 13012. The helical teeth or the preset first clamping shoulder 1402 on the secondary sun gear 14, located opposite the latch 16, abut against the other side of the flange 13012, thereby clamping the flange 13012. The latch 16 and the secondary sun gear 14, in concert, clamp the flange 13012, thereby axially positioning the primary planet carrier 13. This achieves a secure and reliable connection between the primary planet carrier 13 and the secondary sun gear 14 without requiring any additional fastening components.

[0137] In this embodiment, the flange 13012 is formed by extending radially inward along the first connecting shaft 1301 and does not occupy more position on the outside of the first connecting shaft 1301. Compared with the connection form of fasteners such as bolts, it occupies less space, which is conducive to the miniaturization of the planetary reducer 2.

[0138] In this embodiment, the first connecting shaft 1301 is integrally formed on the side of the first planet carrier 13 facing away from the first sun gear 11. The first connecting shaft 1301 is hollow cylindrical, and the inner wall of the first connecting shaft 1301 is cylindrical. The inner wall of the first connecting shaft 1301 is arrayed with a plurality of semi-cylindrical first pin slots 13011, which are recessed inwardly relative to the inner wall of the first connecting shaft 1301. The second connecting shaft 1401 is integrally formed on the side of the second sun gear 14 closer to the first sun gear 11. The second connecting shaft 1401 is cylindrical, and the outer wall of the second connecting shaft 1401 is arrayed with a plurality of semi-cylindrical second pin slots 14011, which correspond one-to-one with the first pin slots 13011 to form a plurality of cylindrical pin holes 15. The latch pin 16 is cylindrical.

[0139] In this embodiment, the second pin groove 14011 and the first pin groove 13011 correspond one-to-one to form a plurality of cylindrical pin holes 15, and the pin 16 is a cylindrical pin 16 component with no edges or corners. During the transmission process, the cylindrical pin 16 does not have the problem of stress concentration, is not prone to wear and deformation, and the connection structure is stable and reliable.

[0140] Furthermore, the latch pins 16 and the pin holes 15 are evenly arranged in a circular array, ensuring that the connection structure is stable and reliable and that the coaxiality of the primary planet carrier 13 and the secondary sun gear 14 is guaranteed.

[0141] In this embodiment, a second shoulder 14012 is provided on the outer wall of the second coupling shaft 1401 along its radial direction. The second shoulder 14012 is located between the first shoulder 1402 and the second coupling shaft 1401. The second shoulder 14012 is flush with the flange 13012. One end surface of the latch 16 abuts against the flange 13012 and the second shoulder 14012, respectively, thereby forming a sealed connection between the primary planet carrier 13 and the secondary sun gear 14.

[0142] In this embodiment, the second shoulder 14012 is arranged to abut against the end face of the pin 16, and the second shoulder 14012 is flush with the flange 13012, so that after the pin 16 is interference-fitted in the pin hole 15, a portion of the pin 16 at one end face close to the secondary sun gear 14 abuts against the flange 13012, and the other portion abuts against the second shoulder 14012.

[0143] In this embodiment, the flange 13012 and the second shoulder 14012 cooperate to form a blocking and sealing effect on the gap between the latch 16 and the pin hole 15, thereby preventing the lubricating oil of the secondary sun gear 14 from leaking through the gap between the latch 16 and the pin hole 15, thereby improving the sealing performance of the reducer.

[0144] In this embodiment, the first-stage planetary carrier 13 is constructed with a hollow first cavity 1302 above the first connecting shaft 1301, and the first-stage sun gear 11 is arranged in the first cavity 1302. The end face of the first-stage sun gear 11 adjacent to one end of the second-stage sun gear 14 does not contact the connecting structure formed by the axial end face of the first connecting shaft 1301, the pin 16 and the second connecting shaft 1401, and the end face is parallel to the end face of the connecting structure.

[0145] In this embodiment, the connection structure formed by the axial end faces of the first connecting shaft 1301, the pin 16 and the second connecting shaft 1401 is recessed in the direction away from the primary sun gear 11, so that the primary sun gear 11 and the first connecting shaft 1301, the pin 16 and the second connecting shaft 1401 that complete the stable connection structure will not interfere with each other, thereby ensuring the safety of the transmission process.

[0146] In another embodiment, a joint module is provided, comprising the actuator in the aforementioned embodiment.

[0147] In some embodiments, referring to FIG. 20 to FIG. 25 , the joint module further includes: an encoding component 17 , including an encoding adapter disk 1701 , a first code disk 1702 , an output end shaft 1703 , and a second code disk 1704 .

[0148] In this embodiment, the encoding adapter disk 1701 is fixed on the supporting platform 502 of the motor output shaft 5 , and the first code disk 1702 is mounted on the encoding adapter disk 1701 .

[0149] In this embodiment, the output end rotating shaft 1703 includes a transmission shaft 17031, a stop portion 17032 and an encoding receiving part 17033. The stop portion 17032 is disc-shaped and is fixedly connected to the output flange 2031 of the planetary reducer 2. One end of the transmission shaft 17031 is fixedly connected to the center of the stop portion 17032. The stop portion 17032 abuts against the inner side wall of the output flange 2031 and is relatively fixed. The other end of the transmission shaft 17031 passes through the middle of the planetary reducer 2, the motor output shaft 5 and the encoding adapter disk 1701 in sequence and extends to the other side, and is fixedly connected to the center of the encoding receiving part 17033; the second code disk 1704 is installed on the encoding receiving part 17033.

[0150] In this embodiment, a first code disk 1702 is provided to rotate along with the motor output shaft 5, and an output end shaft 1703 is fixedly connected to the output flange 2031 of the planetary reducer 2, and a second code disk 1704 is provided on the output end shaft 1703. By providing an encoder reader to read the rotation of the first code disk 1702 and the second code disk 1704, the rotation position of the input and output ends of the joint module can be effectively detected, thereby facilitating precise control of the joint module.

[0151] In some embodiments, as shown in FIG20 , the encoder adapter disk 1701 has a third shoulder 17011. The inner ring of the motor-end bearing 9 abuts against the third shoulder 17011, and the inner ring of the motor-end bearing 9 abuts against the support platform 502. In this way, the motor-end bearing 9 can simultaneously provide radial support and positioning for the motor output shaft 5 and the encoder adapter disk 1701, eliminating the need for additional positioning components and simplifying assembly and disassembly.

[0152] On the other hand, the concentricity of the motor output shaft 5, the encoder adapter 1701, and the motor rotor 4 can be better guaranteed. When the encoder adapter 1701 rotates at high speed, radial runout will not occur, thereby stably maintaining a predetermined safety gap between the first code disk 1702 and the encoder reader, thereby ensuring the position detection accuracy of the input and output ends of the joint module. At the same time, the vibration of the motor output shaft 5 during rotation is reduced, which is beneficial to the stability of the power transmission between the motor output shaft 5 and the planetary reducer 2, and is beneficial to the noise reduction of the joint module.

[0153] In some embodiments, referring to Figures 21, 22, and 23, the joint module further includes: an output-end locating bearing 18; a coupling section 2021 configured at one end of the sun gear; the coupling section 2021 extends into the interior of an output flange 2031. A third shoulder 2032 is configured on the inner wall of the output flange 2031, near the sun gear; and an annular protrusion 170321 is configured on the outer extension of the stopper 17032 toward the sun gear.

[0154] In this embodiment, the output-end locating bearing 18 is nested between the coupling section 2021 and the inner wall of the output flange 2031. The inner ring of the output-end locating bearing 18 abuts the outer wall of the coupling section 2021, while the outer ring of the output-end locating bearing 18 abuts the inner wall of the output flange 2031. An axial side surface of the output-end locating bearing 18 abuts the third shoulder 2032, and the protruding structure 170321 abuts the outer ring of the output-end locating bearing 18 on the other side of the third shoulder 2032.

[0155] In this embodiment, no part of the output shaft 1703 contacts the inner race of the output locating bearing 18. The stopper 17032 is fixed relative to the output flange 2031, either by bonding or interference fit, thereby enabling synchronous rotation of the output shaft 1703 and the output flange 2031. Furthermore, a first code disk 1702 is provided at the other end of the transmission shaft 17031. The position of the first code disk 1702 is read by an encoder head to detect the rotational position of the output shaft 1703.

[0156] In this embodiment, an output end locating bearing 18 is arranged between the output flange 2031 and the coupling section 2021, the inner wall of the output flange 2031 abuts against the outer ring of the output end locating bearing 18, and the outer wall of the coupling section 2021 abuts against the inner ring of the output end locating bearing 18, thereby ensuring the coaxiality of the sun gear and the output end planetary carrier 203.

[0157] In this embodiment, please refer to Figures 22 and 22 again. A third shoulder 2032 is constructed on the output flange 2031 at the end close to the sun gear, and one side of the outer ring of the output end locating bearing 18 abuts against the third shoulder 2032. A protruding structure 170321 is constructed at the extension of the side of the stop portion 17032 facing the sun gear, and the protruding structure 170321 abuts against the other side of the outer ring of the output end locating bearing 18 relative to the third shoulder 2032, that is, the stop portion 17032 presses the outer ring of the output end locating bearing 18 on the third shoulder 2032 along the axial direction of the joint module, and the outer ring of the output end locating bearing 18 is clamped together by the third shoulder 2032 and the protruding structure 170321.

[0158] In this way, the fixed connection requirement can be met by simply setting the third shoulder 2032 and the stopper to have a certain axial thickness, which can not only achieve the aforementioned improvement in the coaxiality between the planet carrier and the sun gear, but also effectively shorten the axial size of the output flange 2031.

[0159] In this embodiment, the output end locating bearing 18 is fixedly connected to the outer ring of the output end locating bearing 18 and the output flange 2031 and the third clamping shoulder 2032 by bonding or other methods, thereby further improving the stability of the connection structure.

[0160] In this embodiment, the stop portion 17032 is configured to abut against the inner wall of the output flange 2031, and is connected by interference fit and / or adhesive fixation. The stop portion 17032 and the protruding structure 170321 only require a smaller thickness to achieve effective connection. In this way, the axial thickness of the corresponding output flange 2031 can be reduced accordingly, that is, the setting thickness of the output flange 2031 is reduced, which is beneficial to the reduction of the axial size of the joint module.

[0161] On the other hand, the stopper 17032 and the output flange 2031 fit tightly together to form a sealing structure, which seals the hollow part of the output flange 2031, effectively preventing the leakage of lubricating oil from the planetary reducer 2, or preventing dust and other impurities from entering the external environment, and has good sealing ability.

[0162] In this embodiment, the output end rotating shaft 1703 is preferably assembled after the planetary reducer 2 and the motor housing 6 are assembled. During assembly, the output end rotating shaft 1703 is assembled by simply passing the transmission shaft 17031 of the output end rotating shaft 1703 through the middle of the planetary reducer 2, inserting the stopper 17032 into the output flange 2031, and making the protrusion 170321 abut against the outer ring of the output end locating bearing 18. This is a relatively convenient and quick installation process.

[0163] In some embodiments, as shown in FIG22 , the outer extension of the output flange 2031 extends beyond the outer extension of the coupling section 2021. The outer wall of the stopper 17032 abuts the inner wall of the portion of the output flange 2031 that is longer than the coupling section 2021. The stopper 17032 is located between the axial end surface of the output flange 2031 and the axial end surface of the sun gear. Specifically, the stopper 17032 is axially recessed relative to the end surface of the output flange 2031 to prevent interference with other external components after the output flange 2031 is connected to the external driven component, thereby ensuring the safety of the output shaft.

[0164] In some embodiments, referring to Figures 21 and 22, the joint module also includes: a corrugated washer 19, a fourth shoulder 2022 is constructed between the teeth of the sun gear and the coupling section 2021, and the corrugated washer 19 is embedded between the fourth shoulder 2022 and the inner ring of the output end locating bearing 18. The inner ring of the output end locating bearing 18 presses the corrugated washer 19 onto the fourth shoulder 2022, that is, the corrugated washer 19 is pressed onto the inner ring of the output end locating bearing 18 through the fourth shoulder 2022, which is beneficial to eliminate the axial clearance of the output end locating bearing 18 during working rotation, further ensure the coaxiality of the sun gear and the output flange 2031, and also ensure the stability of the rotation process of the output end rotating shaft 1703, thereby ensuring the detection accuracy.

[0165] In some embodiments, referring to FIG. 20 , the encoding adapter disk 1701 is constructed with a second cavity 17035 sunken along its axial direction, the encoding receiving member 17033 is embedded in the second cavity 17035 , and an encoding receiving member support bearing 17034 is embedded between the encoding receiving member 17033 and the encoding adapter disk 1701 .

[0166] In this embodiment, the inner ring of the encoding receiving member support bearing 17034 abuts against the outer wall of one end of the encoding receiving member, and the outer ring of the encoding receiving member support bearing 17034 abuts against the inner wall of the second cavity 17035 on the encoding adapter disk 1701, forming radial positioning of the other end of the output end rotating shaft 1703 relative to the stop portion 17032, ensuring that the output end rotating shaft 1703 maintains good coaxiality with the output flange 2031 when rotating, avoiding deflection or shaking that may cause misdetection or missed detection of the rotation position of the output flange 2031, and ensuring detection accuracy.

[0167] In some embodiments, the encoding receiving member can be detachably connected to the transmission shaft 17031 by means of a threaded connection or the like. During assembly, after the transmission shaft 17031 extends from the planetary reducer 2 to the middle position of the first code disk 1702, the encoding receiving member support bearing 17034 is nested on the encoding receiving member, and the second code disk 1704 is installed on the encoding receiving member. The encoding receiving member is then embedded in the second cavity 17035 on the encoding adapter disk 1701 through one side of the first code disk 1702, so that the encoding receiving member support bearing 17034 abuts against the inner wall of the second cavity 17035 of the encoding adapter disk 1701. Finally, the encoding receiving member and the transmission shaft 17031 are screwed together and locked to complete the installation of the second code disk 1704. The installation is convenient and quick.

[0168] In some embodiments, referring to FIG. 24 and FIG. 25 , the joint module further includes a driver 20 , which is arranged on the axial outside of the first code disc 1702 and the second code disc 1704 , and is fixedly connected to the inner extension portion 602 via fasteners.

[0169] In some embodiments, referring to Figures 24 and 25, the joint module further includes: a back cover 2121, which surrounds the outside of the driver 20 and is fixedly connected to the other end of the motor housing 6 relative to the reducer housing 1 through fasteners, and the other end of the motor housing 6 relative to the reducer housing 1 is sealed and protected by the back cover 2121.

[0170] In another embodiment, referring to FIG. 26 , a robotic arm is provided, wherein at least one joint adopts the joint module 1000 as described above.

[0171] In another embodiment, referring to FIG. 27 , a bipedal robot is provided, wherein at least one joint adopts the joint module 1000 as described above.

[0172] In another embodiment, please refer to FIG. 28 , which provides a point-legged robot, in which at least one of the swing leg joint, thigh joint, and calf joint of the point-legged robot adopts the joint module 1000 as described above.

[0173] In another embodiment, referring to FIG. 29 , a quadruped robot is provided, wherein at least one joint adopts the joint module 1000 as described above.

[0174] In another embodiment, referring to FIG. 30 , a four-wheeled legged robot is provided, wherein at least one joint adopts the joint module 1000 as described above.

[0175] In another embodiment, a robot is provided, wherein at least one joint adopts the joint module 1000 as described above.

[0176] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

[0177] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. An actuator comprising: A reducer housing, a planetary reducer and an output end support bearing, wherein the reducer housing has a connecting flange and a connecting section located on the inner side, and the planetary reducer has a gear ring flange located on the outer side of the gear ring; in, The gear ring flange is arranged on one side of the connecting section, and the output end support bearing is arranged on the other side of the connecting section, and the three are fixedly connected by fasteners; Motor rotor and motor output shaft; Wherein, the motor rotor is arranged on the extension of the motor output shaft, and the motor output shaft is fixedly connected to the input end of the planetary reducer through a fastener; A motor housing and a motor stator, wherein the motor housing has a connection end and the motor stator is arranged inside the motor housing; Wherein, the connecting end is fixedly connected to the connecting flange by a fastener.

2. According to an actuator according to claim 1, the reducer housing is also constructed with a ring gear mounting section and a support bearing mounting section respectively located on both sides of the connecting section, the ring gear mounting section and the support bearing mounting section are both hollow cylindrical, the outer wall of the ring gear flange abuts against the inner wall of the ring gear mounting section, and the outer wall of the outer ring of the output end support bearing abuts against the inner wall of the support bearing mounting section.

3. An actuator according to claim 2, wherein the outer ring of the output-end support bearing is constructed with a plurality of first through holes arranged in an array, the connecting section is constructed with a plurality of second through holes arranged in an array, and the ring gear flange is constructed with a plurality of threaded holes arranged in an array, the first through holes, the second through holes and the threaded holes are arranged in one-to-one correspondence, and bolts with threads at the end are sequentially passed through the outer ring of the output-end support bearing and the connecting section, and then are threadedly connected to the ring gear flange, the bolt head of the bolt abuts against the outer ring of the output-end support bearing, and the outer ring of the output-end support bearing, the connecting section and the ring gear flange are fixedly connected through the preload force and limiting effect generated by the bolt.

4. An actuator according to claim 2, wherein the inner wall of the connecting section abuts against the ring gear and the ring gear on a side of the ring gear flange facing away from the input end of the planetary reducer, thereby radially positioning the ring gear.

5. An actuator according to claim 2, wherein a hollow ring gear positioning portion extending radially inward is constructed on the inner wall of the connecting section, and the ring gear positioning portion abuts against the ring gear on the side of the ring gear flange that is away from the input end of the planetary reducer, thereby radially positioning the ring gear.

6. According to an actuator according to claim 2, an annular boss and a plurality of connecting flange through holes are provided on the other side of the connecting flange relative to the support bearing mounting section, the connecting flange through holes are located radially outside the annular boss, and the annular boss abuts against the inner wall of the connecting end to form a limiting sealing structure.

7. An actuator according to claim 2, wherein the distance between the outer end surface of the motor output shaft and the outer end surface of the planetary reducer is substantially the same as the axial length of the actuator.

8. The actuator according to claim 1, wherein the motor housing is provided with an inner extension portion extending radially inwardly on the other end of the motor housing relative to the reducer housing, and the inner extension portion is in a hollow ring shape; The motor output shaft comprises an extension portion, a support portion and a central shaft connecting portion, wherein the extension portion is fixedly connected to the motor rotor, the central shaft connecting portion is fixedly connected to the input end of the planetary reducer via a fastener, and the support portion extends toward the hollow portion of the inner extension portion; It also includes a motor end bearing, which is embedded between the inner extension part and the support platform part, the annular inner wall of the inner extension part abuts against the outer ring of the motor end bearing, and the inner ring of the motor end bearing abuts against the support platform part.

9. The actuator according to claim 8, wherein a plurality of fastening screws are screwed onto the inner extension portion, and the head portions of the fastening screws abut against a side of the outer ring of the motor end bearing relative to the motor output shaft.

10. The actuator according to claim 8, wherein the planetary reducer comprises an input end sun gear and an output end planet carrier, wherein the output end planet carrier has an output flange at one end away from the input end sun gear, and an outer side wall of the output flange abuts against an inner ring of the output end support bearing. 11 . The actuator according to claim 10 , wherein the outer wall of the outer ring of the output-end support bearing abuts against the inner wall of the support bearing mounting section without interference.

12. The actuator according to claim 10, wherein the outer ring of the output-end support bearing comprises an outer upper ring and an outer lower ring which are separately arranged, and a plurality of upper through holes and lower through holes are evenly arranged along the circumferential direction of the outer upper ring and the outer lower ring, respectively, and the upper through holes correspond to the lower through holes one by one to form the first through hole, the inner wall of the inner ring of the output-end support bearing has a first shoulder, and the outer peripheral wall of the output flange has a second shoulder, and the first shoulder and the second shoulder cooperate with each other to realize the axial positioning of the output flange.

13. The actuator according to claim 1, comprising: The motor output shaft is configured with an extension portion, and the motor rotor is a rigid structure. Wherein, the motor rotor is embedded in the extension part, and the width of the motor rotor is greater than the height of the extension part; Wherein, the width of the extension portion is less than two-thirds of the width of the motor rotor, and the width of the extension portion is greater than one-fifth of the width of the motor rotor; The extension portion is configured as an annular structure coaxial with the motor rotor; The inner side wall of the motor rotor is fixedly connected to the outer side wall of the extension part, or the outer side wall of the motor rotor is fixedly connected to the inner side wall of the extension part; The extension portion at least partially overlaps with a projection of the planetary reducer along the radial direction of the motor rotor.

14. The actuator according to claim 10, further comprising: A primary sun gear as the input end, and A primary planet carrier having a first connecting shaft protruding toward one end and being hollow and extending inwardly in a radial direction, wherein a plurality of first pin grooves are evenly distributed along the circumferential direction on a hollow inner wall surface of the first connecting shaft; A plurality of primary planetary gears, wherein the plurality of primary planetary gears are respectively meshed with the primary sun gear, and the shaft ends of the plurality of primary planetary gears are respectively fixedly connected with the primary planet carrier; A secondary sun gear having a second connecting shaft protruding toward one end, wherein the outer wall of the second connecting shaft has a plurality of second pin grooves evenly distributed along the circumferential direction; The first connecting shaft and the second connecting shaft are nested, and the first pin groove and the second pin groove correspond to each other to form a plurality of pin holes; A plurality of pins adapted to the pin holes are respectively interference-fitted in the plurality of pin holes, so that the primary planet carrier is drivingly connected with the secondary sun gear and radially positioned; At least one of the first pin grooves has a flange at one end facing away from the primary sun gear, one end face of the latch abuts against the flange, and the other side of the flange relative to the latch abuts against one side of the helical teeth of the secondary sun gear, or The secondary sun gear is configured with a first clamping shoulder extending radially outward, the first clamping shoulder being located between the first connecting shaft and the helical teeth of the secondary sun gear, the latch pin and the first clamping shoulder clamp the flange, thereby axially positioning the primary planet carrier; The first connecting shaft is integrally formed on a side of the first-stage planet carrier away from the first-stage sun gear, the first connecting shaft is in a hollow cylindrical shape, the inner wall of the first connecting shaft is in a cylindrical shape, a plurality of first semi-cylindrical pin grooves are arranged in an array on the inner wall of the first connecting shaft, and the first pin grooves are recessed inwardly compared to the inner wall of the first connecting shaft; The second connecting shaft is integrally formed on a side of the secondary sun gear close to the primary sun gear, the second connecting shaft is cylindrical, a plurality of semi-cylindrical second pin grooves are arranged in an array on the outer wall of the second connecting shaft, the second pin grooves correspond to the first pin grooves one by one to form a plurality of cylindrical pin holes, and the plug pin is cylindrical; A second clamping shoulder is provided on the outer wall of the second connecting shaft along its radial direction, the second clamping shoulder is located between the first clamping shoulder and the second connecting shaft, the second clamping shoulder is flush with the flange, and one end face of the latch is respectively in contact with the flange and the second clamping shoulder, so that the first-stage planet carrier and the second-stage sun gear are sealed and connected; The first pin slot and the second pin slot are both rigid structures; The first-stage planet carrier is configured with a hollow cavity above the first connecting shaft; The first-stage sun gear is arranged in the cavity, and the end face of the first-stage sun gear adjacent to one end of the second-stage sun gear does not contact the connecting structure formed by the axial end faces of the first connecting shaft, the latch and the second connecting shaft, and the end face is parallel to the end face of the connecting structure.

15. A joint module comprising the actuator according to claim 10.

16. The joint module according to claim 15, further comprising: The encoding assembly includes an encoding adapter disk, a first code disk, an output end shaft and a second code disk; The encoding adapter disk is fixed on the support platform of the motor output shaft, and the first code disk is installed on the encoding adapter disk; The output end rotating shaft comprises a transmission shaft, a stopper and an encoding receiving member, the stopper is disc-shaped, one end of the transmission shaft is fixedly connected to the center of the stopper, the stopper abuts against and is relatively fixed to the inner side wall of the output flange, the other end of the transmission shaft sequentially passes through the planetary reducer, the motor output shaft and the middle of the encoding adapter disk to extend to the other side, and is fixedly connected to the center of the encoding receiving member; the second code disk is mounted on the encoding receiving member; A driver is arranged on the outer side of the first code disc and the second code disc along the axial direction of the motor housing and is fixedly connected to the inner extension portion through a fastener. 17 . The joint module according to claim 16 , wherein the encoding adapter plate has a third shoulder, the inner ring portion of the motor end bearing abuts against the shoulder, and the inner ring portion of the motor end bearing abuts against the support platform.

18. The joint module according to claim 17, further comprising: An output end positioning bearing, one end of the sun gear of the planetary reducer is configured with a shaft connecting section, and the shaft connecting section extends into the output flange; A third clamping shoulder is configured on the inner wall surface of the output flange at one end close to the sun gear, and an annular protrusion structure is configured at the extension of the stopper on one side facing the sun gear; Wherein, the output end locating bearing is nested between the coupling section and the inner wall of the output flange, the inner ring of the output end locating bearing abuts against the outer wall of the coupling section, and the outer ring of the output end locating bearing abuts against the inner wall of the output flange; An axial side surface of the output end locating bearing abuts against the third clamping shoulder, and the protruding structure abuts against the other side of the outer ring of the output end locating bearing relative to the third clamping shoulder.

19. According to the joint module of claim 18, the output flange is extended beyond the extension of the coupling section, the outer wall of the stop portion abuts against the inner wall of the portion of the output flange that is longer than the coupling section, and the stop portion is located between the axial end face of the output flange and the axial end face of the sun gear.

20. The joint module according to claim 19, further comprising: A wave washer is provided with a fourth shoulder between the gear teeth of the sun gear and the coupling section, the wave washer is embedded between the fourth shoulder and the inner ring of the output end locating bearing, and the inner ring of the output end locating bearing presses the wave washer onto the fourth shoulder.

21. The joint module according to claim 16, wherein the encoding adapter plate is constructed with a cavity sunken along its axial direction, the encoding receiving component is embedded and installed in the cavity, and a encoding receiving component support bearing is embedded between the encoding receiving component and the encoding adapter plate.

22. A robotic arm, wherein at least one driving joint adopts the joint module as described in any one of claims 15-21.

23. A biped robot, wherein at least one driving joint adopts the joint module as described in any one of claims 15-21.

24. A point-legged robot, wherein at least one driving joint adopts a joint module as described in any one of claims 15-21.

25. A quadruped robot, wherein at least one driving joint adopts the joint module as described in any one of claims 15-21.

26. A four-wheeled leg robot, wherein at least one driving joint adopts the joint module as described in any one of claims 15-21.

27. A robot, wherein at least one driving joint adopts the joint module as described in any one of claims 15-21.

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