Actuator and Robot

Abstract

An embodiment of the present application provides an actuator and a robot. The actuator is adapted to drive the robot to perform actions, and includes a body and two drive mechanisms. The drive mechanisms are respectively arranged on two opposite sides of the body, and each drive mechanism includes a planetary gear set, a power output assembly, and a power source. The power output assembly includes a first and a second power output ring. The power output by the power source is output to the link mechanism of the robot via the planetary gear set and the power output assembly, causing the waist of the robot to actuate. Therefore, in the embodiment of the present application, through the drive change of the two drive mechanisms, the four power output rings can act synchronously or asynchronously, causing the waist of the robot to perform actions such as bending over or swinging the waist, which are close to the actions of a real human waist.

Description

Technical Field

[0001] The present application relates to the field of robots, and in particular to an actuator and a robot. Background Art

[0002] The drive structure of the waist is used to support and connect the upper and lower body of the humanoid robot and control the related movement of the waist. At present, the waist actuator of the robot often only has the degree of freedom in the pitch direction, or the degree of freedom of waist rotation is achieved by superimposing multiple motors placed in different axes, which makes the movement form of the waist of the humanoid robot limited and the movement is less flexible, thus affecting the simulation of the humanoid robot. In addition, the superposition of multiple motors in different axes also makes the structure of the waist joint complex and bloated. Summary of the invention

[0003] Multiple aspects of the present application provide an actuator and a robot, which can realize the freedom of multi-directional rotation of the waist through the rotation changes of the first power output ring and the second power output ring, so that the waist of the robot can rotate or swing.

[0004] The embodiment of the present application provides an actuator suitable for driving a robot to perform an action. The actuator includes a body and a driving mechanism. The body includes a mounting body, a first transmission shaft and a second transmission shaft, and the second transmission shaft is relatively rotatably sleeved on the first transmission shaft. The driving mechanism includes a transmission mechanism, a power output assembly, a power source, and a support frame fixed to the side of the mounting body. Among them, the power output assembly includes a first power output ring and a second power output ring, which are rotatably mounted on the support frame respectively, and the transmission mechanism is transmission-connected between the first transmission shaft and the first power output ring and between the second transmission shaft and the second power output ring. The power source includes a first motor assembly and a second motor assembly. The first motor assembly is connected to the first transmission shaft to drive the first transmission shaft to drive the first power output ring to rotate relative to the support frame. The second motor assembly is connected to the second transmission shaft to drive the second transmission shaft to drive the second power output ring to rotate relative to the support frame.

[0005] In some embodiments, the transmission mechanism includes a first sun gear fixed to the first transmission shaft, a second sun gear fixed to the second transmission shaft, and a planetary gear set installed in the support frame. The planetary gear set includes a first planetary gear and a second planetary gear, wherein the first planetary gear is meshed with the first sun gear, the second planetary gear is meshed with the second sun gear, and the first power output ring and the second power output ring are both provided with internal teeth and meshed with the first planetary gear and the second planetary gear respectively.

[0006] In some embodiments, the support frame includes two circular mounting portions arranged at intervals, the first power output ring and the second power output ring are respectively rotatably mounted on the two mounting portions, and the first planetary gear and the second planetary gear are located between the two mounting portions.

[0007] In some embodiments, the support frame further includes a first mounting post and a second mounting post located between the two mounting portions. The first mounting post and the second mounting post are respectively arranged inside the two mounting portions. The first planetary gear is mounted on the first mounting post, and the second planetary gear is mounted on the second mounting post.

[0008] In some embodiments, the support frame further includes a limiting member. The end of the first transmission shaft passes through the two mounting portions and is fixed to the limiting member. A bearing is provided between the limiting member and the support frame, and the limiting member can rotate relative to the support frame.

[0009] In some embodiments, the planetary gear set includes a plurality of the first planetary gears and a plurality of the second planetary gears evenly arranged around the first transmission shaft, and the first planetary gears and the second planetary gears are arranged offset along the axial direction. The first power output ring surrounds the plurality of the first planetary gears and meshes with each of the first planetary gears. The second power output ring surrounds the plurality of the second planetary gears and meshes with each of the second planetary gears.

[0010] In some embodiments, the first motor assembly includes a first motor, a first magnetic member, and a first control module. The first motor is connected to the first transmission shaft to drive the first transmission shaft to rotate. The first magnetic member is fixed on the first transmission shaft and can rotate synchronously with the first transmission shaft to generate a first magnetic field change signal. The first control module is electrically connected to the first motor to control the operation of the first motor and cooperate with the first magnetic member to detect the motion state of the first transmission shaft.

[0011] In some embodiments, the outer circumferential surfaces of the first power output ring and the second power output ring are respectively provided with outwardly extending first power output points and second power output points. The first power output point and the second power output point are respectively used as power output ends for an external connecting rod to be pivotally connected and drive the external connecting rod to move.

[0012] In some embodiments, two sets of symmetrically arranged first transmission shafts and second transmission shafts are provided inside the mounting main body. The actuator includes two symmetrically arranged driving mechanisms, and the two support frames of the two driving mechanisms are respectively fixed on both sides of the mounting main body.

[0013] An embodiment of the present application further provides a robot, including the above-mentioned actuator.

[0014] In the embodiment of the present application, two sets of motors and two coaxial drive shafts achieve coaxial output of two power sources through a driving mechanism, realizing integration and simplification, which can effectively solve problems such as complex structure and bloated size caused by the superposition of motors in different axial directions. At the same time, with an appropriate link structure, the waist movement control can be achieved, enhancing the flexibility of the robot in performing related actions. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings described herein are used to provide a further understanding of the present application and form a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0016] Figure 1 is a front view of the actuator according to the embodiment of the present application.

[0017] Figure 2 is a right side view of the actuator according to the embodiment of the present application.

[0018] Figure 3 is Figure 2 a cross-sectional view along the A-A section line.

[0019] Figure 4 is an exploded schematic view of the actuator according to the embodiment of the present application.

[0020] Figure 5 is a schematic view of the support frame according to the embodiment of the present application.

[0021] Figure 6 is an exploded schematic view of the robot waist mechanism according to the embodiment of the present application.

[0022] Figure 7 is a side view of the robot waist mechanism according to the embodiment of the present application.

[0023] Figure 8 is a front view of the robot waist mechanism according to the embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] To make the objectives, technical solutions, and advantages of the present application clearer, the technical solutions of the present application will be clearly and completely described below in conjunction with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0025] It should also be noted that the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, commodity or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, commodity or device comprising said element.

[0026] Please refer to Figures 1 to 5 , the actuator 1 provided by the embodiment of the present application is applicable to the waist position of a robot, used to support and connect between the upper and lower parts of the robot's body, and provide corresponding degrees of freedom to drive the robot to perform relevant waist actions. The actuator 1 includes a body 10 and a driving mechanism 20. The body 10 includes a mounting body 11 and a first transmission shaft 12 and a second transmission shaft 13 arranged coaxially. The second transmission shaft 13 is sleeved on the first transmission shaft 12 in a relatively rotatable manner. The driving mechanism includes a transmission mechanism 3, a power output assembly 22, a power source 23, and a support frame 24 fixed to the side of the mounting body. Among them, the power output assembly includes a first power output ring 221 and a second power output ring 222 as two outputs. To achieve more flexible driving of the external structure, the actuator 1 is provided with two such driving mechanisms, and two sets of symmetrically arranged first transmission shafts 12 and second transmission shafts 13 are provided in the mounting body 11 of the body 10 to achieve four outputs. The following content will specifically introduce the case of four outputs, and four outputs are also used as examples in the figures.

[0027] The body 10 includes a mounting body 11 and two first transmission shafts 12 arranged coaxially. The two first transmission shafts 12 are symmetrically arranged on the mounting body 10, and the ends of the two first transmission shafts 12 extending outwards respectively pass through the opposite two sides of the mounting body 11, and a second transmission shaft 13 is sleeved on each end. Among them, a first sun gear 14 is respectively arranged between the end faces of the two first transmission shafts 12 and the second transmission shaft 13, and the first sun gear 14 can be driven by the corresponding first transmission shaft 12 to rotate synchronously. In addition, the second transmission shaft 13 can rotate on the first transmission shaft 12, and a second sun gear 15 is provided. The second sun gear 15 can be connected to the second transmission shaft 13 through the transitional connection mode of an intermediate connecting piece.

[0028] The two drive mechanisms 20 are symmetrically arranged on the opposite two sides of the mounting body 10 along the axial direction of the first transmission shaft 12, that is, on the left and right sides of the main body, and are axially positioned by the planetary gear fixing posts 92 and bearings. Each drive mechanism 20 includes a transmission mechanism 3, a power output assembly 22, a power source 23, and a support frame 24. Among them, the transmission mechanism 3 includes the above-mentioned first sun gear 14, second sun gear 15, and planetary gear set 21. The planetary gear set 21 includes a first planetary gear 211 and a second planetary gear 212, the power output assembly 22 includes a first power output ring 221 and a second power output ring 222, the power source 23 includes a first motor assembly 231 and a second motor assembly 232 symmetrically arranged on the opposite two sides in the mounting body 11 along the radial direction of the first transmission shaft 12, and the support frame 24 includes two circular mounting parts 240, a first mounting post 241, a second mounting post 242, and a limiting member 243.

[0029] The support frame 24 is arranged on the mounting body 11, and the two mounting parts 240 are plane structures arranged at intervals. The first mounting post 241 and the second mounting post 242 are located between the two mounting parts 240, and they can be, but are not limited to, arranged at intervals along the circumference of the first transmission shaft 12 and are respectively located on the opposite sides of the first transmission shaft 12 in the radial direction. The first mounting post 241 and the second mounting post 242 can be respectively fixed to the inner sides of the two mounting parts 240 by means of screwing or welding, and the mounting part 240 provided with the first mounting post 241 is further fixed to the second mounting post 242 by means of screwing. In addition, a detachable limiting member 243 is also arranged on the mounting part 240 provided with the first mounting post 241 for connecting and fixing with the end of the first transmission shaft 12, and a bearing is arranged between the limiting member 243 and this mounting part 240 so that the limiting member 243 can rotate relative to this mounting part 240, wherein the end of the first transmission shaft 12 passes through the two mounting parts and is pivotally connected to the limiting member 243.

[0030] The first planetary gear 211 can be pivotally sleeved on the first mounting post 241 through one or more bearings and meshes with the first sun gear 14, and the second planetary gear 212 is similarly pivotally connected to the second mounting post 2421 through one or more bearings and meshes with the second sun gear 15.

[0031] In some embodiments, the planetary gear set 21 may also be composed of a plurality of first planetary gears 211 and a plurality of second planetary gears 212. For example, a plurality of first mounting posts 2411 arranged in a ring are provided on one mounting portion 240, and a plurality of second mounting posts 242 arranged in a ring and staggered with the first mounting posts 2411 are provided on the other mounting portion 240. After the plurality of first planetary gears 211 and the plurality of second planetary gears 212 are respectively mounted on the first mounting posts 2411 and the second mounting posts 242, they are staggered and symmetrically arranged along the rotation direction of the first transmission shaft 12. Among them, the first power output ring 221 and the second power output ring 222 are both toothed rings with internal teeth provided on their inner circumferential surfaces. The first power output ring 221 surrounds the plurality of first planetary gears 211 and meshes with each of the first planetary gears 211, while the second power output ring 222 surrounds the plurality of second planetary gears 222 and meshes with each of the second planetary gears 212, and the second power output ring 222 is mounted on the mounting portion 240 via a wire bearing locking collar 91 and a bearing.

[0032] Therefore, when the first sun gear 14 drives the first planetary gear 211 to rotate, the first power output ring 221 can rotate synchronously with the first planetary gear 211. When the second sun gear 15 drives the second planetary gear 212 to rotate, the second power output ring 222 can rotate synchronously with the second planetary gear 212, thereby forming a speed reduction mechanism on the mounting body 11 and completing the power transmission.

[0033] The first motor assembly 231 includes a first motor 2311, a first magnetic member 2312, and a first control module 2313. The first motor 2311 may be, but is not limited to, a servo motor, which is connected to the first transmission shaft 12 and used to drive the first transmission shaft 12 to rotate. The first magnetic member 2312 is a magnet or other component that can generate a magnetic field, which is fixed on the first transmission shaft 12 and can generate a first magnetic field change signal during the synchronous rotation with the first transmission shaft 12. The first control module 2313 may be, but is not limited to, a circuit board, which is fixed on the mounting body 11 through screws and is electrically connected to the first motor 2311 and the first magnetic member 2312 respectively. Therefore, the first control module 2313 can control the operation of the first motor 2311 and at the same time is used to receive the first magnetic field change signal.

[0034] The second motor assembly 232 has the same structure as the first motor assembly 231, but the connection positions are different. The second motor assembly 232 includes a second motor 2321, a second magnetic member 2322, and a second control module 2323. The second motor 2321 is connected to the second transmission shaft 13 and is used to drive the second transmission shaft 13 to rotate. The second magnetic member 2322 can be fixed to the second transmission shaft 13 by screws and can generate a second magnetic field change signal during synchronous rotation with the second transmission shaft 13. The second control module 233 is electrically connected to the second motor 2321 and the second magnetic member 2122 respectively to control the operation of the second motor 2321 and receive the second magnetic field change signal. In some embodiments, the mounting body 11 may further be provided with a wire groove for accommodating and routing the cables of the first control module 2313 and the second control module 2323, so as to facilitate connection to other actuators or power sources, and at the same time has the effect of protecting the cables, and can avoid damage to the cables during the operation of the robot mechanism.

[0035] The following describes the actuation processes of the first power output ring 221 and the second power output ring 222 under the action of the first motor assembly 231 and the second motor assembly 232 respectively through some embodiments.

[0036] The actuation process of the first power output ring 221 in the embodiment of the present application is as follows. When the first control module 2313 controls the operation of the first motor 2311, the first transmission shaft 12 will be driven by the first motor 2311 to drive the first sun gear 14 to rotate. The first sun gear 14 then drives the first planetary gear 211 to rotate, causing the first planetary gear 211 to drive the first power output ring 221 to rotate (through a speed reduction mechanism formed by each gear and ring gear to achieve the effect of reducing speed and increasing torque). At the same time, the first magnetic member 2312 on the first transmission shaft 12 generates a first magnetic field change signal due to synchronous rotation and transmits this signal to the first control module 2313, enabling the first control module 233 to sense the motion state of the first power output ring 221 according to the change of the magnetic field and feedback it to the control end for position recording and motion state detection, and can complete the closed-loop control of the actuator 1 through circuit control (a control method that corrects according to the output feedback of the control object). Among them, the control end is the control system of the robot, which is connected to the first control module 233 to control its operation.

[0037] It can be understood that the actuation process of the second power output ring 222 in the embodiment of the present application is similar to that of the first power output ring 221. When the second control module 2323 controls the operation of the second motor 2321, the second transmission shaft 13 will be driven by the second motor 2321 to drive the second sun gear 15 to rotate. The second sun gear 15 then drives the second planetary gear 212 to rotate, causing the second planetary gear 212 to drive the second power output ring 222 to rotate. At the same time, the second magnetic member 2322 on the second transmission shaft 13 generates a second magnetic field change signal due to synchronous rotation and transmits this signal to the second control module 2323, enabling the second control module 2323 to sense the motion state of the second power output ring 222 based on the change in the magnetic field and feedback it to the control end.

[0038] In this embodiment, the outer circumferential surfaces of the first power output ring 221 and the second power output ring 222 are respectively provided with outwardly extending first power output points 22A and second power output points 22B for pivotally connecting with an external connecting rod to drive the external connecting rod to move. For example, they are ball head pins respectively, and the first power output point 22A and the second power output point 22B on the first power output ring 221 respectively correspond to the first power output point 22A and the second power output point 22B on the second power output ring 222. Moreover, the first power output point 22A and the second power output point 22 on the first power output ring 221 are located on one side of the support frame 24, and the first power output point 22A and the second power output point 22B on the second power output ring 222 are located on the other side of the support frame 24 and are symmetrically arranged with the first power output point 22A and the second power output point 22B of the first power output ring 221. Therefore, the two driving mechanisms 20 can respectively connect the external connecting rod mechanism through two first power output points 22A and two second power output points 22B to drive the robot to move, and can respectively control the four output points to rotate synchronously or asynchronously through two first motors 231 and two second motors 232, enabling the robot's waist to have a high degree of freedom and achieving actions such as bending the waist and swinging the waist.

[0039] From the above description, it can be seen that in the embodiment of the present application, through four groups of motors and control modules, the rotation state of each power output ring can be adjusted, thereby driving the external connecting rod mechanism to complete more degrees of freedom, enabling the robot's waist to perform actions such as bending, swinging, or twisting the waist, which are close to those of a real human waist, thereby improving the simulation degree of the robot. Moreover, based on the motion state and position record sensed according to the magnetic field change, the motion state of the robot's waist can be further obtained. In addition, due to the symmetrical design of the two driving mechanisms, some parts of the power output and reduction gear mechanisms can be commonly used, which is relatively convenient for parts manufacturing and processing and can reduce the manufacturing cost at the same time.

[0040] Please refer to Figures 6 to 8, an embodiment of the present application further provides a robot waist mechanism 100, including two frames 2, two transmission mechanisms 3, and the above-mentioned actuator 1. Each frame 2 includes an annular structure that is rotatably sleeved on the body 10 of the actuator 1, and a transmission portion 40 is provided on the outer side. The two frames 2 are respectively sleeved on the left and right sides of the body 10 along the axial direction of the body 10, and the transmission portion 40 extends radially outward along the body 10, and the transmission portions 40 of the two frames 2 are axially staggered and do not overlap, for example, are respectively close to the front side and the rear side of the body 10.

[0041] The two transmission mechanisms 3 are respectively arranged on the transmission portions 40 of the two frames 2, and each transmission mechanism 3 includes an output rod 50, a rotating shaft 60, and two linkage components 70.

[0042] The output rod 50 includes a shaft rod 521, an operating rod 522, a bearing 53, a bearing locking plate 54, and a control circuit assembly 55. The shaft rod 521 has opposite head ends 521A and tail ends 521B. Among them, the tail end 521B is connected to the operating rod 522, and transfer portions 523 are respectively arranged on the opposite sides of the tail end 521B. One end of the operating rod 522 away from the shaft rod 521 has an annular socket portion 5221 for being hinged to a lower limb structure of a robot such as a hip joint.

[0043] The rotating shaft 60 includes a shaft cylinder 601, a first shaft sleeve 61, and a second shaft sleeve 62. The first shaft sleeve 61 passes through and is rotatably connected to one of the transmission portions 40 and corresponds to one side of the shaft cylinder 601, while the second shaft sleeve 62 corresponds to the other side of the same shaft cylinder 601. In this embodiment, the shaft cylinder 601 is provided with opposite two side surfaces in the radial direction, and a plurality of screw holes are respectively provided. The first shaft sleeve 61 and the second shaft sleeve 62 are respectively provided with corresponding through holes, and are locked to the screw holes by screws passing through the through holes, so that the first shaft sleeve 61 and the second shaft sleeve 62 are locked to the opposite two sides of the shaft cylinder 601. Of course, in other possible embodiments, the shaft cylinder 601, the first shaft sleeve 61, and the second shaft sleeve 62 may also be an integrally formed structure.

[0044] The head end 521A extends outward into the shaft cylinder 601, and one or more bearings 53 may be provided in the shaft cylinder 601 for the head end 521A to be sleeved, installed and positioned, so that the shaft rod 521 and the shaft cylinder 601 can be relatively rotatably connected. In addition, the bearing locking plate 54 can be fixed to the shaft cylinder 601 through screw locks and pressed onto the bearing 53, so that the control circuit component 55 can be fixed to the bearing locking plate 54 through snap-fitting or locking, thereby completing the assembly of the output rod 50 and the rotating shaft 60. Each linkage component 70 includes a swinging member 71, two first connecting rods 72 and two second connecting rods 73. The swinging member 71 includes a first end 711 and a second end 712, which are respectively located at opposite ends of the swinging member 71, and a sleeve hole 713 is also provided between the first end 711 and the second end 712. In the same transmission mechanism 3, the swinging member 71 of the two linkage assemblies 70 is respectively sleeved on the first shaft sleeve 61 and the second shaft sleeve 62 through the sleeve hole 713, and one end of the first connecting rod 72 is pivoted on one of the transfer parts 523 of the shaft rod 521, and the other end is pivoted to the first end 711 of the swinging member 71 in the direction of the operating rod 522, and one end of the second connecting rod 73 is pivoted to the second end of the swinging member 71, and the other end is pivoted to the first power output point 22A or the second power output point 22B. For example, the second connecting rod 73 of one transmission mechanism 3 is pivoted to the first power output point 22A, and the second connecting rod 73 of the other transmission mechanism 3 is pivoted to the second power output point 22B.

[0045] In this embodiment, the transmission mechanism 3 near the front side of the body 10 is to pivot one end of the two second connecting rods 73 to the second end 712 of the two swinging members 71, and the other end is pivoted to the first power output point 22A of the two first power output rings 221, so that the linkage assembly 70 is located between the second power output rings 222 on the two opposite sides of the body 10. The other transmission mechanism 3 near the rear side of the body 10 is to pivot one end of the two second connecting rods 73 to the second end 712 of the swinging member 71, and the other end is pivoted to the second power output point 22B of the two second power output rings 222, so that the linkage assembly 70 is located between the first power output rings 221 on the two opposite sides of the body 10. In general, the robot waist mechanism 100 has two transmission mechanisms 3, and the linkage assembly 70 of each transmission mechanism 3 has two second connecting rods 73, so the robot waist mechanism 100 has a total of four second connecting rods 73, and these four second connecting rods 73 are respectively connected to the four power output points of the actuator 1. Of course, in other possible embodiments, the pivoting positions of the two transmission mechanisms 3 and the first power output ring 221 and the second power output ring 222 may also be interchanged, depending on usage requirements.

[0046] In some embodiments, the first connecting rod 72 and the second connecting rod 73 are also provided with pivoting components such as bearings or joints at the opposite ends, and components that can cooperate with each other are provided at the corresponding connection points, so that the connecting rods can be quickly assembled and achieve multi-directional movement. For example: the first connecting rod 72 is provided with spherical pins 721 at the opposite ends, and the adapter 523 and the first end 711 of the swing member 71 are corresponding ball seats, so that the first connecting rod 72 can move in multiple directions between the adapter 523 and the first end 711. Or the second connecting rod 73 is provided with joint bearings 731 at the opposite ends, and can achieve rotation and swinging movement after being pivoted to the swing member 71 and the output point.

[0047] From the above description, it can be seen that the embodiment of the present application is driven by two driving mechanisms 20 with a total of four motors, which can respectively drive the two first power output rings 221 and the two second power output rings 222 to rotate, stop and turn, so that each first power output point 22A and each second power output point 22B respectively drive each first connecting rod 72 and each second connecting rod 73 to produce a variety of movement changes, thereby causing the output rod 50 to rotate or swing and other movements.

[0048] It is worth mentioning that the output rod 50 of the embodiment of the present application is connected to the hip joint and the structure below the robot. When each first link 72 and each second link 73 drive the output rod 50 to rotate or swing, the robot waist actuator 1 and the structure above it can rotate or swing relative to the hip joint and the structure below it, thereby achieving the waist movement of the robot to adjust the walking posture of the robot. The following is a further description of the action of the robot waist mechanism 100 provided in the embodiment of the present application.

[0049] like Figure 7 As shown, when one group of power output components 22 is fixed and does not move, and the first power output ring 221 and the second power output ring 222 of the other group of power output components 22 rotate synchronously, one of the output rods 50 can be fixed, and the other output rod 50 rotates upward or downward according to the rotation direction of the output ring, and swings up and down along the gravity direction of the main body 10, so as to achieve the effect of swinging the robot's waist forward or backward.

[0050] like Figure 8As shown, when the first motor 2311 and the second motor 2321 of the driving mechanism 20 on the right drive the first power output ring 221 and the second power output ring 222 to rotate upward respectively, and the first motor 2311 and the second motor 2321 of the driving mechanism 20 on the left drive the first power output ring 221 and the second power output ring 222 to rotate downward respectively, a height difference will be generated between the two output rods 50, causing them to tilt, and thus swing to the right relative to the body 10. Of course, when the first motor 2311 and the second motor 2321 of the driving mechanism 20 on the right drive the first power output ring 221 and the second power output ring 222 to rotate downward respectively, and the first motor 2311 and the second motor 2321 of the driving mechanism 20 on the left drive the first power output ring 221 and the second power output ring 222 to rotate upward respectively, it will swing to the left relative to the body 10. Therefore, by driving the two driving mechanisms 20 in opposite directions, the left and right swinging of the two output rods 50 can be controlled.

[0051] As can be seen from the above description, in the embodiment of the present application, through the driving changes of four groups of motors, the two output rods 50 are caused to rotate or swing forward and backward correspondingly. When assembled at the waist of the robot, the front-back and left-right swinging required during the walking of the robot can be achieved.

[0052] The above description is only for the embodiments of the present application and is not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. An actuator, adapted to drive a robot to perform actions, characterized in that, it includes: A body, including a mounting body, a first transmission shaft and a second transmission shaft, and the second transmission shaft is rotatably sleeved on the first transmission shaft; And Two driving mechanisms, which are respectively fixed on both sides of the mounting body and are symmetrically arranged; wherein, the driving mechanism includes a transmission mechanism, a power output assembly, a power source and a support frame fixed on the side surface of the mounting body; The power output assembly includes a first power output ring and a second power output ring, which are respectively rotatably installed on the support frame; and the outer circumferential surfaces of the first power output ring and the second power output ring are respectively provided with outwardly extending first power output points and second power output points, and the first power output point and the second power output point are respectively used as power output ends for an external connecting rod to be pivotally connected and drive the external connecting rod to move; The transmission mechanism includes a plurality of connecting rods and a swinging member; one end of some of the plurality of connecting rods is pivotally connected to one end of the swinging member, and the other end is pivotally connected to the first power output point or the second power output point; And the transmission mechanism further includes a first sun gear fixed on the first transmission shaft, a second sun gear fixed on the second transmission shaft and a planetary gear set installed in the support frame; the planetary gear set includes at least one first planetary gear and at least one second planetary gear uniformly arranged around the first transmission shaft, and the first planetary gear and the second planetary gear are arranged offset axially; wherein, the first planetary gear meshes with the first sun gear, the second planetary gear meshes with the second sun gear, the first power output ring surrounds at least one of the first planetary gears and meshes with each of the first planetary gears, and the second power output ring surrounds at least one of the second planetary gears and meshes with each of the second planetary gears; The support frame includes two circular mounting parts arranged at intervals, and the first power output ring and the second power output ring are respectively rotatably installed on the two mounting parts, and the first planetary gear and the second planetary gear are located between the two mounting parts; The power source includes a first motor assembly and a second motor assembly, the first motor assembly is connected to the first transmission shaft to drive the first transmission shaft to drive the first power output ring to rotate relative to the support frame, and the second motor assembly is connected to the second transmission shaft to drive the second transmission shaft to drive the second power output ring to rotate relative to the support frame.

2. The actuator according to claim 1, characterized in that, The support frame further includes a first mounting post and a second mounting post located between the two mounting parts, the first mounting post and the second mounting post are respectively arranged on the inner sides of the two mounting parts, the first planetary gear is installed on the first mounting post, and the second planetary gear is installed on the second mounting post.

3. The actuator according to claim 1, characterized in that, The support frame further includes a limiting member. The end of the first transmission shaft passes through the two mounting portions and is fixed to the limiting member. A bearing is provided between the limiting member and the support frame, and the limiting member can rotate relative to the support frame.

4. The actuator according to claim 1, wherein, the first motor assembly includes a first motor, a first magnetic member and a first control module. The first motor is connected to the first transmission shaft to drive the first transmission shaft to rotate. The first magnetic member is fixed to the first transmission shaft and can rotate synchronously with the first transmission shaft to generate a first magnetic field change signal. The first control module is electrically connected to the first motor to control the operation of the first motor and cooperate with the first magnetic member to detect the motion state of the first transmission shaft.

5. A robot, wherein, it includes the actuator according to any one of claims 1 to 4.

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