A dual-degree-of-freedom actuator, robotic arm, and robot

Abstract

The present invention provides a dual-degree-of-freedom actuator, a robotic arm, and a robot. The dual-degree-of-freedom actuator includes a driven module, a transmission mechanism, and a driving module. The driven module includes a swinging shell and an actuator. The swinging shell is connected to a fixed shell for rotation around the X-axis, and the actuator is connected to the swinging shell for rotation around the Y-axis. The driving module includes a first driving mechanism and a second driving mechanism. The fixed shell is detachably fixed to the first driving mechanism, and the second driving mechanism is detachably fixed to the fixed shell. The first driving mechanism and the second driving mechanism drive the transmission mechanism to perform a first mode or a second mode of transmission. In the first mode, the transmission mechanism drives the actuator to rotate relative to the swinging shell. In the second mode, the transmission mechanism drives the actuator to rotate relative to the fixed shell along with the swinging shell. The actuator provided by the present invention helps to save installation space, realizes the rotation of the actuator in two degrees of freedom, and avoids the problem of cable entanglement or damage.

Description

Technical Field

[0001] The present invention relates to the field of robotics, and in particular to a dual-degree-of-freedom actuator, a robotic arm, and a robot. Background Art

[0002] With the continuous development of intelligent robot technology, the fields involved by robots are becoming more and more extensive. In some fields, robots are required to be able to complete more actions, so robots are required to have a higher degree of freedom, such as industrial robots, medical robots, and bionic robots.

[0003] The actuators of existing bionic robots can only achieve one degree of freedom of rotation, while some joints on bionic robots need to have two degrees of freedom. However, limited space makes it difficult to install two actuators, and when the actuators move, the cables often become entangled or damaged. Summary of the Invention

[0004] The present invention provides a dual-degree-of-freedom actuator to improve the problem that some joints on existing robots are difficult to install two actuators due to limited space, and to improve the problem of cable entanglement or damage caused by the actuator's movement.

[0005] The present invention provides a dual-degree-of-freedom actuator for use in a robot. The dual-degree-of-freedom actuator includes a driven module, a transmission mechanism, and a drive module. The driven module includes a swinging housing and an actuator. The swinging housing is connected to a fixed housing for rotation about the X-axis, and the actuator is connected to the swinging housing for rotation about the Y-axis. The drive module includes a first drive mechanism and a second drive mechanism. The fixed housing is detachably fixed to the first drive mechanism, and the second drive mechanism is detachably fixed to the fixed housing. The first drive mechanism and the second drive mechanism drive the transmission mechanism to perform transmission in a first mode or a second mode. In the first mode, the transmission mechanism drives the actuator to rotate relative to the swinging housing; in the second mode, the transmission mechanism drives the actuator to rotate relative to the fixed housing along with the swinging housing. This enables the actuator to achieve rotation in two degrees of freedom, namely, the X-axis and the Y-axis. The first drive mechanism and the second drive mechanism are coaxially arranged above and below, which helps to alleviate the problem of difficulty in installing two actuators due to limited space.

[0006] In the specific configuration of the above-mentioned transmission mechanism, a hollow channel extending along the Y-axis and open at both ends is provided within the transmission mechanism. A first wire guide is provided within the swing housing, a second wire guide is provided within the fixed housing, and a wiring structure is provided on the outer wall of the drive module. The wiring structure is connected to one end of the second wire guide, the other end of which is connected to one end of the hollow channel, and the other end of the hollow channel is connected to one end of the first wire guide. The actuator is also provided with an output wire guide that is connected to the other end of the first wire guide. This arrangement avoids the problem of wire entanglement or breakage.

[0007] In the specific configuration of the wiring structure, the wiring structure includes a first wiring groove provided in the first drive mechanism, a second wiring groove provided in the second drive mechanism, and a connecting groove connecting the first wiring groove and the second wiring groove. The first drive mechanism and the second drive mechanism respectively have connection terminals exposed in the first wiring groove and the second wiring groove.

[0008] In the specific configuration of the second drive mechanism, the second drive mechanism includes a second motor fixedly mounted within the second mounting body. The second motor has a second rotor cover, and a central transmission shaft is coaxially fixed to the second rotor cover and extends therethrough. The central transmission shaft passes through the first drive mechanism.

[0009] When the first driving mechanism is specifically configured, the first driving mechanism includes a first motor, and the first motor is fixedly installed in a first installation body. The first installation body is detachably fixedly connected to the second installation body.

[0010] In the specific configuration of the first motor, the first motor includes a first rotor cover, on which a first gear is fixedly mounted. The central transmission shaft passes through the first motor, the first rotor cover, and the first gear, and a second gear is fixedly mounted at its end. The first gear and the second gear are coaxially arranged.

[0011] In the specific configuration of the swing housing, the swing housing comprises two hemispherical housings, each of which is provided with a spherical housing end cap on one side facing away from the other, and the two spherical housing end caps are detachably fixedly connected by an arc-shaped member, and the two hemispherical housings are detachably fixedly connected by the arc-shaped member.

[0012] When further specifically configuring the above-mentioned transmission mechanism, the transmission mechanism includes two planetary gear rings and two planetary retainers. The two planetary gear rings and the two planetary retainers are coaxially arranged within the swing housing, and the two planetary retainers are symmetrically arranged on either side of the two planetary gear rings. The two planetary gear rings are fixedly connected to the fixed housing via support members, and the two support members are respectively provided with bending limit structures. The two hemispherical shells are respectively limited by the bending limit structures on the two support members, thereby achieving the effect of allowing the swing housing to rotate relative to the fixed housing. The two planetary retainers are respectively rotatably connected to the two spherical shell end caps via hollow shafts, and the two hollow shafts respectively pass through the two spherical shell end caps. The two hollow shafts are connected to each other to form the hollow channel.

[0013] In a further embodiment of the transmission mechanism, the transmission mechanism includes two face gears, each of which is positioned coaxially with and located between the two planetary ring gears. Sun gears are coaxially fixedly connected to opposing sides of the two face gears. The two planet retainers correspond to the two sun gears and the two planetary ring gears, and each of the two planet retainers is rotatably connected to a ring of planet gears on opposing sides. A ring of planet gears on each planet retainer meshes with a corresponding sun gear and planetary ring gear. In one specific embodiment, each planet retainer has five planet gears in a ring, and the five planet gears are evenly spaced around the corresponding sun gear.

[0014] Furthermore, bevel gears are coaxially fixed to the two planetary retainers, and a driven bevel gear is fixed to the actuator. These driven bevel gears are located within the swing housing and mesh with the two bevel gears. A follower actuator is rotatably connected to the arcuate member. The follower actuator and the actuator are symmetrically positioned relative to the swing housing, and connection holes are symmetrically provided on the follower actuator and the actuator. This facilitates connection to other actuators.

[0015] In an embodiment of the present application, the transmission mechanism further includes two dual-linked gears, each of which includes a first linkage gear and a second linkage gear coaxially fixedly connected. The two first linkage gears are respectively rotatably connected to the fixed housing, with one first linkage gear meshing with the first gear and the other first linkage gear meshing with the second gear. The two second linkage gears are respectively meshed with a transmission gear, and the two transmission gears are respectively rotatably connected to the fixed housing, and the two transmission gears extend into the swing housing and mesh with the two end gears.

[0016] In the specific configuration of the second mounting body, an encoder is fixedly mounted within the second mounting body. The central transmission shaft is rotatably connected to the stator of the second motor, and a magnet is disposed on the central transmission shaft to engage with the encoder. Furthermore, a second motor tail cover is coaxially and detachably fixedly connected to the second mounting body, with the encoder positioned between the second motor and the tail cover.

[0017] When the above-mentioned first mounting body is specifically set up, a first motor tail cover is coaxially and detachably fixedly connected to the first mounting body, the first motor tail cover is located between the first motor and the second motor, and the first motor tail cover is coaxially and detachably fixedly connected to the second mounting body, and the second mounting body is located between the first motor tail cover and the second motor tail cover.

[0018] When the above-mentioned fixing shell is specifically arranged, the fixing shell is coaxially and detachably fixedly connected to the first installation body through a connecting body; the first installation body is located between the second motor tail cover and the connecting body.

[0019] In the above embodiment, the first and second drive mechanisms are coaxially arranged vertically. This helps alleviate the difficulty of installing two actuators due to limited space, while also eliminating the need for two actuators. Furthermore, the actuator can achieve rotational freedom along both the X and Y axes. The transmission mechanism includes a hollow channel extending along the Y axis and open at both ends. This channel, combined with a wire trough for routing wires, prevents wire entanglement or breakage.

[0020] In a second aspect, a robotic arm is provided, comprising the dual-degree-of-freedom actuator as described above.

[0021] According to a third aspect, a robot is provided, comprising the dual-degree-of-freedom actuator as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A three-dimensional diagram of a dual-degree-of-freedom actuator provided by an embodiment of the present invention;

[0023] Figure 2 A side view of a dual-degree-of-freedom actuator provided by an embodiment of the present invention;

[0024] Figure 3 A transverse cross-sectional view of a dual-degree-of-freedom actuator provided by an embodiment of the present invention;

[0025] Figure 4 A longitudinal cross-sectional view of a dual-degree-of-freedom actuator provided by an embodiment of the present invention;

[0026] Figure 5An exploded diagram of a dual-degree-of-freedom actuator provided by an embodiment of the present invention;

[0027] Figure 6 An exploded view of a swing housing provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings.

[0029] To facilitate understanding of the dual-degree-of-freedom actuator provided by the present invention, let's first explain its application scenarios. These dual-degree-of-freedom actuators are used in robotics, such as biomimetic robots, medical robots, and industrial robots. Currently, actuators in biomimetic robots only achieve one degree of freedom, while certain joints on biomimetic robots require two degrees of freedom. However, limited space makes it difficult to install two actuators, and when the actuators are activated, cables often become tangled or damaged, requiring further improvement.

[0030] The present invention provides a dual-degree-of-freedom actuator, which is applied to a robot. The dual-degree-of-freedom actuator includes a driven module, a transmission mechanism, and a driving module. Figure 1 , Figure 1 Figure 2 shows a three-dimensional diagram of a two-degree-of-freedom actuator. Figure 1 As shown, the driven module includes a swing housing and an actuator 2. The swing housing is connected to a fixed housing 1 for rotation around the X axis, and the actuator 2 is connected to the swing housing for rotation around the Y axis. The X axis and the Y axis are perpendicular.

[0031] The drive module includes a first drive mechanism and a second drive mechanism. A fixed housing 1 is detachably fixedly connected to the first drive mechanism, while the second drive mechanism is detachably fixedly connected to the fixed housing. The fixed housing 1, the first drive mechanism, and the second drive mechanism are arranged sequentially from top to bottom, with the first and second drive mechanisms arranged one above the other. This helps alleviate the problem of mounting two actuators due to limited space.

[0032] The first and second drive mechanisms drive the transmission mechanism to operate in either the first or second modes. In the first mode, the transmission mechanism drives actuator 2 to rotate relative to the swing housing; in the second mode, the transmission mechanism drives actuator 2 to rotate along with the swing housing relative to the fixed housing. This allows actuator 2 to rotate in two degrees of freedom, along the X and Y axes.

[0033] When setting up the transmission mechanism, refer to Figure 2 、 Figure 4 and Figure 6The transmission mechanism has a hollow channel 33 extending along the Y-axis and open at both ends. A first wire trough 34 is provided in the swing housing, and a second wire trough 35 is provided in the fixed housing 1. A wiring structure 14 is provided on the outer wall of the drive module. This wiring structure 14 communicates with one end of the second wire trough 35, the other end of which communicates with one end of the hollow channel 33, which in turn communicates with one end of the first wire trough 34. The actuator 2 also has an output wire trough 36 connected to the other end of the first wire trough 34. This prevents wire entanglement or breakage during cable routing.

[0034] The wiring structure 14 includes a first wiring trough provided in the first drive mechanism, a second wiring trough provided in the second drive mechanism, and a connecting trough connecting the first and second wiring troughs. The first and second wiring troughs are arranged in a cross-shaped pattern. The first and second drive mechanisms each have connection terminals exposed in the first and second wiring troughs. When routing cables, the cables are connected to the connection terminals.

[0035] When the second driving mechanism is specifically provided, the second driving mechanism includes a second motor 4. Figure 3 and Figure 5 The second motor 4 is fixedly mounted in the second mounting body 3. The second motor 4 has a second rotor cover 38, and a central transmission shaft 5 is coaxially fixed on the second rotor cover 38 and passes through the central transmission shaft 5. The central transmission shaft 5 passes through the first driving mechanism.

[0036] When the first drive mechanism is specifically set up, the first drive mechanism includes a first motor 9, which is fixedly mounted in the first mounting body 8. The first mounting body 8 is detachably fixedly connected to the second mounting body 3. In addition, the first motor 9 has a first rotor cover 11, on which a first gear 12 is fixedly mounted. The central transmission shaft 5 passes through the first motor 9, the first rotor cover 11 and the first gear 12, and a second gear 13 is fixedly mounted at the end. The first gear 12 and the second gear 13 are coaxially arranged. The first motor 9 and the second motor 4 are both outer rotor motors with hollow structures, so the central transmission shaft 5 can pass through the middle of the first motor 9.

[0037] In the specific configuration of the swing housing, the swing housing comprises two hemispherical shells 15. Spherical shell end caps 16 are provided on opposite sides of the two hemispherical shells 15. The two spherical shell end caps 16 are removably fixedly connected by an arc-shaped member 17. The two hemispherical shells 15 and the two spherical shell end caps 16 are fixedly connected to each other by the arc-shaped member 17 to form the swing housing. The two ends of the arc-shaped member 17 are removably fixedly connected to the corresponding spherical shell end caps 16 by means of screws, and the middle portion of the arc-shaped member 17 is removably fixedly connected to the two hemispherical shells 15 by means of screws.

[0038] In the embodiment of the present application, the transmission mechanism includes two planetary gear rings 25 and two planetary retainers 26. The two planetary gear rings 25 and the two planetary retainers 26 are coaxially arranged within the swing housing, and the two planetary retainers 26 are symmetrically arranged on either side of the two planetary gear rings 25. The two planetary gear rings 25 are fixedly connected to the fixed housing 1 via support members 27. The two support members 27 are each provided with a bending limit structure. The two hemispherical shells 15 are respectively restrained by the bending limit structures on the two support members 27, so that the swing housing composed of the two hemispherical shells 15 can rotate relative to the fixed housing 1. The two planetary retainers 26 are respectively rotatably connected to the two spherical shell end caps 16 via hollow shafts 19. The two hollow shafts 19 respectively penetrate the two spherical shell end caps 16. The hollow shafts 19 are rotatably connected to the spherical shell end caps 16 via bearings. The two hollow shafts 19 are connected to each other to form a hollow channel 33.

[0039] In addition, the transmission mechanism includes two end gears 20, which are located between the two planetary ring gears 25 and are coaxially arranged with the two planetary ring gears 25, and are also coaxially arranged with the two hollow shafts 19. The two end gears 20 are coaxially fixedly connected to the sun gears 24 on the opposite sides. Two planetary retainers 26 correspond to the two sun gears 24 and the two planetary ring gears 25, and the opposite sides of the two planetary retainers 26 are respectively rotatably connected to a circle of planetary gears 28. A circle of planetary gears 28 on each planetary retainer 26 is respectively meshed with the corresponding sun gear 24 and planetary ring gear 25. In a specific embodiment, the number of planetary gears 28 on each planetary retainer 26 is five, and the five planetary gears 28 are evenly arranged around the corresponding sun gear 24, and the five planetary gears 28 are respectively meshed with the internal teeth of the corresponding planetary ring gear 25.

[0040] In addition, bevel gears 29 are coaxially fixedly mounted on each of the two planetary retainers 26. A driven bevel gear 30 is fixedly mounted on the actuator 2. The driven bevel gear 30 is located within the swing housing and meshes with the two bevel gears 29. Furthermore, a follower actuator 37 is rotatably connected to the arcuate member 17. This follower actuator 37 is symmetrically arranged with respect to the swing housing of the actuator 2, and connecting holes 31 are symmetrically provided on the follower actuator 37 and the actuator 2. This facilitates connection to other actuators. The actuator 2 is rotatably connected to the swing housing composed of two hemispherical shells via a bearing, and the follower actuator 37 is rotatably connected to the center of the arcuate member 17 via a rotating shaft.

[0041] In the embodiment of the present application, the transmission mechanism also includes two double-linked gears. Each double-linked gear includes a first linkage gear 22 and a second linkage gear 21 that are coaxially fixedly connected. The two first linkage gears 22 are respectively rotatably connected to the fixed housing 1 via a rotating shaft, and one of the first linkage gears 22 is meshed with the first gear 12, and the other first linkage gear 22 is meshed with the second gear 13. The two second linkage gears 21 are respectively meshed with a transmission gear 23, and the two transmission gears 23 are respectively rotatably connected to the fixed housing 1 via a rotating shaft. The two transmission gears 23 extend into the swing housing composed of the two hemispherical shells 15 and respectively mesh with the two end gears 20.

[0042] In a specific embodiment, an encoder is fixedly installed in the second mounting body 3. The central transmission shaft 5 is rotatably connected to the stator of the second motor 4 via a bearing. A magnet 7 that cooperates with the encoder is provided on the central transmission shaft 5. The encoder is integrated on the PCB board 6 and fixedly mounted in the second mounting body 3 via the PCB board 6. The magnet 7 is fixedly mounted on the central transmission shaft 5 via a magnet mounting seat, and the magnet 7 is arranged next to the encoder. When the central transmission shaft 5 of the second motor 4 rotates, the direction of the magnetic pole of the magnet 7 changes. The encoder can record the number of revolutions of the second motor 4 by recording the change in the magnetic pole of the magnet 7.

[0043] In addition, the second mounting body 3 is coaxially and detachably fixedly connected to the second motor tail cover 32, and the encoder is located between the second motor 4 and the second motor tail cover 32. The first mounting body 8 is coaxially and detachably fixedly connected to the first motor tail cover 10, the first motor tail cover 10 is detachably fixedly connected to the first mounting body 8 via a top screw, the first motor tail cover 10 is located between the second motor 4 and the first motor 9, and the first motor tail cover 10 is coaxially and detachably fixedly connected to the second mounting body 3 via a top screw, and the second mounting body 3 is located between the first motor tail cover 10 and the second motor tail cover 32. The fixed shell 1 is coaxially and detachably fixedly connected to the first mounting body 8 via a connecting body 39. The first mounting body 8 is located between the first motor tail cover 10 and the connecting body 39. The wiring structure 14 mentioned above is opened on the outer wall of the first mounting body 8.

[0044] In this implementation, the first and second drive mechanisms are coaxially arranged vertically. This alleviates the space constraints of installing two actuators, eliminating the need for two actuators and enabling the actuator to rotate with two degrees of freedom along both the X and Y axes. The transmission mechanism features a hollow channel running along the Y axis and open at both ends. This channel, combined with a wire trough for routing wires, prevents wire entanglement or breakage.

[0045] In this embodiment, the first motor 9 and the second motor 4 reverse the power output through the transmission mechanism, and the power of the first motor 9 and the second motor 4 is transmitted to the two bevel gears 29; when the two bevel gears 29 rotate in opposite directions, the driven bevel gear 30 is driven, and the connected actuator 2 and the follower actuator 37 can rotate around the Y axis relative to the swing shell. This is the motion state under the first mode; when the two bevel gears 29 rotate in the same direction, the driven bevel gear 30 is stuck, and the connected actuator 2 cannot rotate, but will rotate around the X axis with the swing shell. This is the motion state under the second mode.

[0046] In addition, the present application provides a robotic arm comprising the above dual-degree-of-freedom actuator.

[0047] In addition, the present application also provides a robot comprising the above dual-degree-of-freedom actuator.

[0048] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A dual-degree-of-freedom actuator, characterized in that: include: Driven module, transmission mechanism and driving module; wherein, The driven module includes a swing housing and an actuator; the swing housing is connected to a fixed housing for rotation around an X-axis, and the actuator is connected to the swing housing for rotation around a Y-axis; The driving module includes a first driving mechanism and a second driving mechanism; the fixed shell is detachably fixedly connected to the first driving mechanism, and the second driving mechanism is detachably fixedly connected to the fixed shell of the first driving mechanism; The first driving mechanism and the second driving mechanism drive the transmission mechanism to perform a first mode or a second mode of transmission. In the first mode, the transmission mechanism drives the actuator to rotate relative to the swing housing. In the second mode, the transmission mechanism drives the actuator to rotate along with the swing housing relative to the fixed housing. In which, the transmission mechanism has a hollow channel that penetrates along the Y-axis direction and is open at both ends; a first wire groove is provided in the swinging shell, and a second wire groove is provided in the fixed shell. The outer wall of the driving module is provided with a wiring structure, the wiring structure is connected with one end of the second wire groove, the other end of the second wire groove is connected with one end of the hollow channel, and the other end of the hollow channel is connected with one end of the first wire groove. The actuator is also provided with an output wire groove connected with the other end of the first wire groove; the wiring structure includes a first wiring groove provided in the first driving mechanism and a second wiring groove provided in the second driving mechanism, and a connecting groove connected between the first wiring groove and the second wiring groove, and the first driving mechanism and the second driving mechanism respectively have connecting terminals exposed in the first wiring groove and the second wiring groove.

2. The dual-degree-of-freedom actuator according to claim 1, characterized in that: The second driving mechanism includes a second motor; the second motor is fixedly installed in the second installation body; the second motor has a second rotor cover, and a central transmission shaft is coaxially fixed on the second rotor cover and passes through; the central transmission shaft passes through the first driving mechanism.

3. The dual-degree-of-freedom actuator according to claim 2, characterized in that: The first driving mechanism includes a first motor; the first motor is fixedly installed in the first installation body; the first installation body is detachably fixedly connected to the second installation body.

4. The dual-degree-of-freedom actuator according to claim 3, characterized in that: The first motor has a first rotor cover; a first gear is fixedly mounted on the first rotor cover; the central transmission shaft passes through the first motor, the first rotor cover and the first gear and a second gear is fixedly mounted on the end thereof; the first gear and the second gear are coaxially arranged.

5. The dual-degree-of-freedom actuator according to claim 4, characterized in that: The swing shell includes two hemispherical shells; spherical shell end covers are respectively provided on the opposite sides of the two hemispherical shells, and the two spherical shell end covers are detachably fixedly connected by an arc-shaped piece, and the two hemispherical shells are detachably fixedly connected by the arc-shaped piece.

6. The dual-degree-of-freedom actuator according to claim 5, characterized in that: The transmission mechanism includes two planetary gear rings and two planetary retainers; wherein, The two planetary gear rings and the two planetary retainers are coaxially arranged in the swing housing, and the two planetary retainers are symmetrically arranged on both sides of the two planetary gear rings; The two planetary gear rings are fixedly connected to the fixed housing via support members, the two support members are respectively provided with bending limit structures, and the two hemispherical shells are respectively limited by the bending limit structures on the two support members; The two planet retainers are rotatably connected to the two spherical shell end covers via hollow shafts, and the two hollow shafts pass through the two spherical shell end covers respectively; the two hollow shafts are connected to each other to form the hollow channel.

7. The dual-degree-of-freedom actuator according to claim 6, characterized in that: The transmission mechanism includes two end face gears, the two end face gears are located between the two planetary gear rings and are coaxially arranged with the two planetary gear rings, and the two end face gears are coaxially fixedly connected to the sun gear on the opposite sides thereof; The two planet retainers correspond to the two sun gears and the two planetary ring gears, and the opposite sides of the two planet retainers are respectively rotatably connected with a circle of planetary gears; a circle of planetary gears on each planet retainer is respectively engaged with the corresponding sun gear and planetary ring gear.

8. The dual-degree-of-freedom actuator according to claim 7, characterized in that: The two planetary retainers are coaxially fixedly mounted with umbrella gears, and the actuator is fixedly mounted with a driven umbrella gear. The driven umbrella gear is located in the swing housing and meshes with the two umbrella gears respectively.

9. The dual-degree-of-freedom actuator according to claim 8, characterized in that: The arc-shaped member is rotatably connected to a follower actuator, the follower actuator and the actuator are symmetrically arranged relative to the swing shell, and connecting holes are symmetrically arranged on the follower actuator and the actuator.

10. The dual-degree-of-freedom actuator according to claim 9, characterized in that: The transmission mechanism further comprises two double gears; each double gear comprises a first linkage gear and a second linkage gear coaxially fixedly connected; Two first linkage gears are respectively rotatably connected to the fixed housing, and one of the first linkage gears is meshed with the first gear, and the other first linkage gear is meshed with the second gear; The two second linkage gears are respectively engaged with transmission gears, and the two transmission gears are respectively rotatably connected to the fixed housing; the two transmission gears are respectively extended into the swing housing and respectively engaged with the two end face gears.

11. The dual-degree-of-freedom actuator according to claim 3, characterized in that: An encoder is fixedly installed in the second installation body; the central transmission shaft is rotationally connected to the stator of the second motor; and a magnet that cooperates with the encoder is provided on the central transmission shaft.

12. The dual-degree-of-freedom actuator according to claim 11, characterized in that: The second mounting body is coaxially and detachably fixedly connected with a second motor tail cover, and the encoder is located between the second motor and the second motor tail cover.

13. The dual-degree-of-freedom actuator according to claim 12, characterized in that: A first motor tail cover is coaxially and detachably fixedly connected to the first mounting body, the first motor tail cover is located between the first motor and the second motor, and the first motor tail cover is coaxially and detachably fixedly connected to the second mounting body, the second mounting body is located between the first motor tail cover and the second motor tail cover.

14. The dual-degree-of-freedom actuator according to claim 13, characterized in that: The fixing shell is coaxially and detachably fixedly connected to the first installation body through a connecting body; the first installation body is located between the second motor tail cover and the connecting body.

15. A robotic arm, characterized in that: include: A dual-degree-of-freedom actuator as claimed in any one of claims 1 to 14.

16. A robot, characterized in that: include: A dual-degree-of-freedom actuator as claimed in any one of claims 1 to 14.

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