Actuator, joint module and robot

Abstract

The application relates to an actuator, a joint module and a robot, and belongs to the technical field of actuators. The actuator comprises a motor shell, a motor rotor, a motor output shaft, a sun gear and a planet carrier. The motor rotor is fixedly connected with the motor output shaft. The motor shell has an inner extension part. The inner extension part, the motor rotor, the planet carrier and the sun gear are respectively provided with a first bearing and a second bearing. The concentricity between the input end and the output end of the actuator and the rotating parts is ensured. There is no rotating part in a cantilever state in the actuator. The radial swing of the rotating parts during rotation is not prone to occurring. The vibration of the rotating parts during high-speed rotation is reduced. The noise during operation of the actuator is reduced. The stability of the actuator during operation is improved.

Description

Technical Field

[0001] This application belongs to the field of actuator technology, specifically, it relates to actuators, joint modules and robots. Background Technology

[0002] The existing actuator mainly consists of a motor assembly and a planetary reducer. The output shaft of the motor assembly is coaxially and fixedly connected to the input end of the planetary reducer, transmitting power into the planetary reducer, and finally outputting power through the power output flange of the planetary reducer.

[0003] For example, patent CN116104913A, published on May 12, 2023, is titled "A Rotary Power Unit and a Two-Stage Reduction Rotary Power Unit, and a Robot." Figure 1 As shown in the patent, an actuator is specifically disclosed. The motor output shaft is coaxially and fixedly connected to the first-stage sun gear. A first bearing is provided between the first-stage sun gear and the first-stage planetary carrier, and a second bearing is provided between the first-stage planetary carrier and the gear ring. The gear ring is fixedly connected to the housing. The first and second bearings are used to position and support the motor rotor and the first-stage sun gear, ensuring the concentricity of each rotating component at the actuator's power input end. A third bearing is provided between the second-stage planetary carrier and the reducer housing to position and support the second-stage planetary carrier, ensuring the concentricity of each rotating component at the actuator's power output end.

[0004] Since the motor rotor is fixed to the input end of the planetary reducer through the motor output shaft, the motor rotor and the motor output shaft are in a cantilever state relative to the planetary reducer. The concentricity difference between the rotating parts at the power input end and the power output end of the actuator can easily cause radial oscillation when rotating at high speed. This leads to increased vibration of the rotating parts of the actuator, increased noise during actuator operation, and affects the stability of actuator operation. Summary of the Invention

[0005] To address the aforementioned issues, this application proposes an actuator, a joint module, and a robot. The aim is to resolve the technical problems of low concentricity of the actuator's rotating components, high noise levels, and poor operational stability.

[0006] To achieve the above objectives, one embodiment of this application provides...

[0007] An actuator comprising:

[0008] A motor housing with an inwardly extending, hollow, annular inner portion;

[0009] A motor output shaft with a connecting end, a support platform and a central connecting shaft; a motor rotor.

[0010] A planetary reducer having a sun gear and a planet carrier, wherein the sun gear has a first coupling section and a second coupling section at both ends, and the planet carrier has a flange section at one end; and

[0011] First bearing, second bearing;

[0012] The motor rotor is fixedly connected to the connecting end, the central connecting shaft is coaxially fixedly connected to the first connecting shaft section, and the second connecting shaft section is disposed within the flange section.

[0013] The outer ring of the first bearing abuts against the inner wall of the inner extension, the inner ring of the first bearing abuts against the outer wall of the bearing platform, the second bearing is sleeved on the second connecting shaft section, the inner ring of the second bearing abuts against the outer wall of the second connecting shaft section, and the outer ring of the second bearing abuts against the inner wall of the flange section.

[0014] In one embodiment, this application also provides an actuator, comprising:

[0015] A motor housing with an inwardly extending, hollow, annular inner portion;

[0016] A motor output shaft with a connecting end, a support platform and a central connecting shaft; a motor rotor.

[0017] A planetary reducer comprising a first-stage sun gear, a first-stage planetary carrier, a second-stage sun gear, and a second-stage planetary carrier, wherein the first-stage sun gear has a first connecting section, the first-stage planetary carrier has a hollow annular first end, the second-stage sun gear has a second connecting section and a third connecting section at each end, and one end of the second-stage planetary carrier has a flange section; and

[0018] First bearing, second bearing and third bearing;

[0019] The motor rotor is fixedly connected to the connecting end, the central connecting shaft is coaxially fixedly connected to the first connecting shaft section, the second connecting shaft section is disposed within the flange section, and the first end is disposed at the end of the first-stage planetary carrier near the motor output shaft.

[0020] The other end of the first-stage planetary carrier relative to the first end is fixedly connected to the third coupling segment;

[0021] The first bearing is embedded between the inner extension and the motor output shaft, the outer ring of the first bearing abuts against the inner wall of the inner extension, and the inner ring of the first bearing abuts against the outer wall of the bearing platform;

[0022] The second bearing is embedded between the flange section and the second connecting shaft section, with the inner ring of the second bearing abutting against the outer wall of the second connecting shaft section and the outer ring of the second bearing abutting against the inner wall of the flange section.

[0023] The third bearing is embedded between the first end and the first connecting shaft section, the inner ring of the third bearing abuts against the outer wall of the first connecting shaft section, and the outer ring of the second bearing abuts against the inner wall of the first end.

[0024] In one embodiment, the actuator further includes: a reducer housing;

[0025] The planetary reducer also includes a gear ring;

[0026] The reducer housing is fixed to the other end of the motor housing relative to the inner extension, and the gear ring is fixed to the reducer housing;

[0027] The first-stage planet carrier is arrayed with several first-stage planet gears, one side of which meshes with the first-stage sun gear and the other side meshes with the gear ring.

[0028] The secondary planetary carrier is arrayed with several secondary planetary gears, one side of which meshes with the secondary sun gear and the other side meshes with the gear ring.

[0029] In one embodiment, the first end is integrally formed with the primary planetary carrier.

[0030] In one embodiment, the first bearing, the second bearing, and the third bearing are coaxially arranged, with the third bearing positioned between the first bearing and the second bearing.

[0031] The axial projections of the second bearing and the third bearing overlap.

[0032] The third bearing and the radial projection of the connecting end at least partially overlap, while the radial projection of the third bearing does not overlap with the radial projection of the bearing platform and the central connecting shaft.

[0033] In one embodiment, the actuator further includes a fourth bearing; the gear ring has a connecting section at one end near the motor output shaft.

[0034] The fourth bearing is sleeved on the first end, the inner ring of the fourth bearing abuts against the outer wall of the first end, and the outer ring of the fourth bearing abuts against the inner wall of the connecting section.

[0035] In one embodiment, the axial projection of the fourth bearing overlaps with that of the first bearing, and the radial projection of the fourth bearing overlaps with that of the third bearing.

[0036] In one embodiment, the radial projection of the flange segment completely covers the projection of the second bearing.

[0037] In one embodiment, the radial projection of the motor rotor at least partially overlaps with that of the planetary reducer.

[0038] In one embodiment, the actuator further includes:

[0039] The fifth bearing, the reducer housing is in the shape of a hollow ring, the reducer housing has a connecting flange on the outer side and a hollow ring-shaped support portion on the inner side;

[0040] The gear ring is fixed to one side of the support portion, and the flange section extends through the support portion to the other side of the support portion;

[0041] The fifth bearing is embedded between the reducer housing and the flange section. The inner ring of the fifth bearing abuts against the outer wall of the flange section, and the outer ring of the fifth bearing abuts against the inner wall of the reducer housing and is fixedly connected to the support part by fasteners.

[0042] In one embodiment, the fifth bearing and the second bearing at least partially overlap in the radial direction.

[0043] In one embodiment, this application provides a joint module, including the aforementioned actuator, and

[0044] An encoding assembly having an encoding adapter and a first code disk, the encoding adapter being mounted on the side of the platform opposite to the planetary reducer, the encoding adapter having a shoulder;

[0045] The first code disk is mounted on the encoding adapter, the inner ring portion of the first bearing abuts against the shoulder, the inner ring portion of the first bearing abuts against the support, and the shoulder abuts against the support.

[0046] In one embodiment, the encoding component further includes an output encoder shaft, which includes a drive shaft and a stop portion. The stop portion is constructed in a disc shape, and one end of the drive shaft is fixedly connected to the center portion of the stop portion.

[0047] The stop portion abuts against and is fixed relative to the inner wall of the flange section. One side of the stop portion has a protruding structure, which abuts against the outer ring of the second bearing.

[0048] In one embodiment, the joint module further includes

[0049] The sixth bearing and the second encoder disc;

[0050] The output encoder shaft also includes an encoder receiving component. One end of the encoder receiving component is equipped with the second encoder disk, and the other end is constructed with a fourth connecting shaft section. The encoder receiving component is constructed with a cavity that is recessed along its axial direction.

[0051] The coding receiving component is embedded in the cavity, and the other end of the drive shaft relative to the stop portion passes through the planetary reducer, the central connecting shaft portion and the middle of the coding adapter and is fixedly connected to the coding receiving component.

[0052] The sixth bearing is sleeved on the fourth connecting shaft section, the inner ring of the sixth bearing abuts against the outer wall of the fourth connecting shaft section, and the outer ring of the sixth bearing abuts against the side wall of the cavity.

[0053] In one embodiment, a robotic arm is provided, wherein at least one joint of the robotic arm employs the joint module described above.

[0054] In one embodiment, a bipedal robot is provided, wherein at least one joint of the bipedal robot employs the joint module described above.

[0055] In one embodiment, a point-footed robot is provided, wherein at least one joint of the point-footed robot employs the joint module described above.

[0056] In one embodiment, a quadruped robot is provided, wherein at least one joint of the quadruped robot employs the joint module described above.

[0057] In one embodiment, a four-wheeled robot is provided, wherein at least one joint of the four-wheeled robot employs the joint module described above.

[0058] In one embodiment, a robot is provided in which at least one joint employs the joint module described above.

[0059] The beneficial effects of this application are:

[0060] This application ensures the concentricity between the rotating parts at the input and output ends of the actuator by setting bearings between the motor output shaft and the motor housing, and between the planetary carrier and the sun gear at the output end. There are no rotating parts in a cantilever state in the actuator, and the radial oscillation of each rotating part is not easy to occur during the rotation of each rotating part. This reduces the vibration of each rotating part when rotating at high speed, reduces the noise during the operation of the actuator, and improves the stability of the actuator during operation. Attached Figure Description

[0061] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0062] Figure 1 This is a schematic diagram of a joint module structure in the prior art;

[0063] Figure 2 This is a schematic diagram of the structure of a joint module in one embodiment of this application;

[0064] Figure 3 yes Figure 2 A schematic diagram of the assembly structure of the actuator part in the joint module;

[0065] Figure 4 This is a schematic diagram of the structure of a joint module in one embodiment of this application;

[0066] Figure 5 This is a schematic diagram of the first bearing of the actuator in one embodiment of this application;

[0067] Figure 6 This is a schematic diagram of the installation of the second and fifth bearings of the actuator in one embodiment of this application;

[0068] Figure 7 This is a schematic diagram of the installation of the third and fourth bearings of the actuator in one embodiment of this application;

[0069] Figure 8 This is a schematic diagram of the installation of the sixth bearing of the actuator in one embodiment of this application;

[0070] Figure 9 This is a schematic diagram of the installation of the first-stage planetary gear of the actuator in one embodiment of this application;

[0071] Figure 10 This is a schematic diagram of the installation of the secondary planetary gear of the actuator in one embodiment of this application;

[0072] Figure 11 This is a schematic diagram of the structure of the robotic arm in one embodiment of this application;

[0073] Figure 12 This is a schematic diagram of the structure of a bipedal robot according to one embodiment of this application;

[0074] Figure 13 This is a schematic diagram of the structure of a point-foot robot in one embodiment of this application;

[0075] Figure 14 This is a schematic diagram of the structure of a quadruped robot in one embodiment of this application;

[0076] Figure 15 This is a schematic diagram of the structure of a four-wheeled legged robot in one embodiment of this application;

[0077] Figures 2-3In the middle section, 1a is the motor housing; 1-1a is the inner extension; 2a is the motor output shaft; 2-1a is the connecting end; 2-2a is the bearing platform; 2-3a is the central connecting shaft; 3a is the motor rotor; 4a is the planetary reducer; 4-1a is the sun gear; 4-11a is the first connecting shaft section; 4-12a is the second connecting shaft section; 4-2a is the planetary carrier; 4-21a is the flange section; 5a is the first bearing; and 6a is the second bearing.

[0078] A is defined as the rotation axis of the actuator; B is defined as the radial direction of the actuator.

[0079] Figures 4-15 In the middle section, 1. Motor housing; 1-1. Inner extension; 2. Motor output shaft; 2-1. Connecting end; 2-2. Support platform; 2-3. Central connecting shaft section; 3. Motor rotor; 4. Planetary reducer; 4-1. First-stage sun gear; 4-11. First connecting shaft section; 4-2. First-stage planetary carrier; 4-21. First end; 4-3. Second-stage sun gear; 4-31. Second connecting shaft section; 4-32. Third connecting shaft section; 4-4. Second-stage planetary carrier; 4-41. Flange section; 4-5. Gear ring; 4-51. Connecting section; 4-6. First-stage planetary gear; 4-7. Second-stage planetary gear;

[0080] 5. First bearing; 6. Second bearing; 7. Third bearing; 8. Reducer housing; 8-1. Connecting flange; 8-2. Support; 9. Fourth bearing; 10. Fifth bearing; 11. Encoding assembly; 11-1. Encoding adapter; 11-11. Shoulder; 11-2. First code disk; 11-3. Output encoder shaft; 11-31. Drive shaft; 11-32. Stop; 11-33. Encoding receiver; 11-34. Fourth connecting shaft section; 11-4. Second encoding disk; 12. Sixth bearing; 13. Joint module;

[0081] A is defined as the rotation axis of the actuator; B is defined as the radial direction of the actuator; and C is defined as the axial direction of the actuator. Detailed Implementation

[0082] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0083] 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0084] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0085] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0086] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0087] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

[0088] The above description is merely an optional embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

[0089] Please see Figures 2-3 , Figure 2 This is a schematic diagram of the joint module in one embodiment of this application. Figure 3 yes Figure 2 A schematic diagram of the actuator part of the joint module is shown in this application. The actuator adopts a single-stage planetary reducer and includes a motor housing 1a, a motor output shaft 2a, a motor rotor 3a, a planetary reducer 4a (not shown in the figure), a first bearing 5a, and a second bearing 6a. The motor housing 1a has an upper port and a lower port. The upper port has an inwardly extending and hollow annular inner extension 1-1a. The motor output shaft 2a has a connecting end 2-1a, a support 2-2a, and a central connecting shaft part 2-3a. The planetary reducer 4a has a sun gear 4-1a and a planet carrier 4-2a. The two ends of the sun gear 4-1a have a first connecting shaft section 4-11a and a second connecting shaft section 4-12a, respectively. In the view, the first connecting shaft section 4-11a is located above and the second connecting shaft section 4-12a is located below. One end of the planet carrier 4-2a has a flange section 4-21a.

[0090] In some embodiments, the motor rotor 3a is fixedly connected to the connecting end 2-1a, the central connecting shaft portion 2-3a is coaxially fixedly connected to the first connecting shaft section 4-11a, and the second connecting shaft section 4-12a is disposed within the flange section 4-21a; the outer ring of the first bearing 5a abuts against the inner wall of the inner extension portion 1-1a, and the inner ring of the first bearing 5a abuts against the outer wall of the bearing platform 2-2a, thereby radially positioning the motor output shaft 2a through the first bearing 5a to ensure the concentricity of the motor output shaft 2a, that is, to ensure the concentricity between the rotating components at the upper end of the actuator rotation axis; the second bearing 6a is sleeved on the second connecting shaft section 4-12a, the inner ring of the second bearing 6a abuts against the outer wall of the second connecting shaft section 4-12a, and the outer ring of the second bearing 6a abuts against the inner wall of the flange section 4-21a, thereby radially positioning the lower end of the sun gear 4-1a through the second bearing 6a to ensure the concentricity of the lower end of the sun gear 4-1a.

[0091] In this embodiment, the motor output shaft 2a is used as the input end of the actuator, and the flange section 4-21a of the planetary carrier is used as the output end of the actuator. The sun gear 4-1a is fixedly connected to the central connecting portion 2-3a of the motor output shaft 2a via the first connecting shaft section 4-11a, forming a rigid, roughly shaft-shaped transmission component. At this time, the motor output shaft 2a is radially positioned against the motor housing 1a via the first bearing 5a, ensuring the accurate radial position of the input end of this rigid component. Furthermore, the sun gear 4-1a is radially positioned against the output flange at the position of the second connecting shaft section 4-12a via the second bearing 6a, ensuring the accurate radial position of the output end of this rigid transmission component, thereby ensuring the concentricity of the input and output ends of the actuator.

[0092] Furthermore, in this embodiment, the first bearing 5a and the second bearing 6a are used to radially position the rotating components located at the upper and lower ends of the actuator rotation axis, respectively, and the concentricity between the rotating components at the upper and lower ends of the rotation axis is ensured by coaxial connection, and there are no rotating components in the actuator in a cantilever state.

[0093] This improves the concentricity of the rotating parts of the actuator, prevents radial oscillation during rotation, reduces vibration at high speeds, lowers noise during actuator operation, and enhances the stability of the actuator during operation.

[0094] Please see Figures 4-7 , Figure 4 This is a schematic diagram of the joint module in one embodiment of this application. Figures 5-4 The schematic diagram of the actuator part in the joint module is shown in this application. This application also provides an actuator, which adopts a two-stage planetary reducer, including a motor housing 1, a motor output shaft 2, a motor rotor 3, a planetary reducer 4, a first bearing 5, a second bearing 6, and a third bearing 7; the upper port of the motor housing 1 has an inwardly extending and hollow annular inner extension 1-1; the motor output shaft 2 has a connecting end 2-1, a support 2-2, and a central connecting shaft 2-3; the planetary reducer 4 has a first-stage sun gear 4-1, a first-stage planetary carrier 4-2, a second-stage sun gear 4-3, and a second-stage planetary carrier 4-4, the first-stage sun gear 4-1 has a first connecting shaft section 4-11, the first-stage planetary carrier 4-2 has a hollow annular first end 4-21, the two ends of the second-stage sun gear 4-3 have a second connecting shaft section 4-31 and a third connecting shaft section 4-32 respectively, and one end of the second-stage planetary carrier 4-4 has a flange section 4-41.

[0095] The motor rotor 3 is fixedly connected to the connecting end 2-1, the central connecting shaft part 2-3 is coaxially fixedly connected to the first connecting shaft section 4-11, the second connecting shaft section 4-31 is set inside the flange section 4-41, and the first end 4-21 is set at the end of the first-stage planetary carrier 4-2 near the motor output shaft 2; the other end of the first-stage planetary carrier 4-2 relative to the first end 4-21 is fixedly connected to the third connecting shaft section 4-32; the first bearing 5 is embedded between the inner extension part 1-1 and the motor output shaft 2, the outer ring of the first bearing 5 abuts against the inner wall of the inner extension part 1-1, and the inner ring of the first bearing 5 abuts against the outer wall of the bearing platform 2-2, thereby radially positioning the motor output shaft 2 through the first bearing 5 to ensure the concentricity of the motor output shaft 2, that is, to ensure the concentricity between the rotating parts at the upper end of the actuator rotation axis.

[0096] The second bearing 6 is embedded between the flange section 4-41 and the second connecting shaft section 4-31. The inner ring of the second bearing 6 abuts against the outer wall of the second connecting shaft section 4-31, and the outer ring of the second bearing 6 abuts against the inner wall of the flange section 4-41. Thus, the second bearing 6 is used to radially position the second-stage sun gear 4-3, ensuring the concentricity of each rotating component at the lower end of the second-stage sun gear 4-3, that is, ensuring the concentricity between each rotating component at the lower end of the actuator rotation axis.

[0097] The third bearing 7 is embedded between the first end 4-21 and the first connecting shaft section 4-11. The inner ring of the third bearing 7 abuts against the outer wall of the first connecting shaft section 4-11, and the outer ring of the second bearing 6 abuts against the inner wall of the first end 4-21. Thus, the upper end of the first-stage planetary carrier 4-2 is radially positioned by the third bearing 7.

[0098] In this embodiment, the transmission component is roughly divided into two parts:

[0099] In the first part, the central connecting shaft 2-3 located at the center of the motor output shaft 2 is coaxially fixed with the first-stage sun gear 4-1, forming a rigid transmission component that is approximately shaft-shaped. The motor output shaft 2, which serves as the input end of the actuator, is radially positioned between the first bearing 5 and the motor housing 1. Next, the first-stage planetary carrier 4-2 is driven by the first-stage sun gear 4-1. By setting a third bearing 7 between the first-stage sun gear 4-1 and the first-stage planetary carrier 4-2, the first-stage sun gear 4-1 is radially positioned, thereby ensuring the coaxiality of the two ends of the rigid component formed by the motor output shaft 2 and the first-stage sun gear 4-1. This allows the first-stage sun gear 4-1 to output power smoothly and accurately, driving the first-stage planetary carrier 4-2 to rotate smoothly, or allowing the first-stage planetary carrier 4-2 to rotate accurately and stably around the first-stage sun gear 4-1.

[0100] In the second part, the primary planetary carrier 4-2 and the secondary sun gear 4-3 are coaxially fixed at one end, forming another rigid transmission component that is roughly shaft-shaped. At this time, the primary planetary carrier 4-2 is radially positioned by the third bearing 7. By setting the second bearing 6 between the output flange of the secondary sun gear 4-3 and the secondary planetary carrier 4-4, both ends of the rigid transmission component formed by the primary planetary carrier 4-2 and the secondary sun gear 4-3 can maintain accurate coaxiality, allowing the secondary sun gear 4-3 to output power smoothly and accurately, driving the secondary planetary carrier 4-4 to rotate, or allowing the secondary planetary carrier 4-4 to accurately rotate around the secondary sun gear 4-3. In this embodiment, the first bearing 5 and the third bearing 7 ensure the coaxiality of the motor output shaft 2 and the primary sun gear 4-1, that is, ensure the smooth and accurate rotation of the primary planetary carrier 4-2. On this basis, the second bearing 6 is also set to ensure the coaxiality between the secondary sun gear 4-3 and the output flange, thereby achieving radial positioning at the input and output ends of the actuator rotation axis and ensuring the concentricity of the rotating components at both ends of the actuator. Furthermore, the actuator does not have any rotating parts in a cantilever state, and there will be no radial oscillation during rotation. This reduces the vibration of each rotating part when rotating at high speed, reduces the noise during the operation of the actuator, and improves the stability of the actuator during operation.

[0101] Please see Figure 9 and Figure 10 In one embodiment, the actuator further includes a reducer housing 8; the planetary reducer 4 further includes a gear ring 4-5; the reducer housing 8 is fixed to the other end of the motor housing 1 relative to the inner extension 1-1, and the gear ring 4-5 is fixed to the reducer housing 8; a plurality of first-stage planetary gears 4-6 are arranged in an array on the first-stage planetary carrier 4-2, one side of the first-stage planetary gears 4-6 meshes with the first-stage sun gear 4-1, and the other side meshes with the gear ring 4-5; a plurality of second-stage planetary gears 4-7 are arranged in an array on the second-stage planetary carrier 4-4, one side of the second-stage sun gear 4-3 meshes with the second-stage sun gear 4-3, and the other side meshes with the gear ring 4-5; when the actuator is running, the motor rotor 3 drives the first-stage sun gear 4-1 to rotate, thereby driving the first-stage planetary gears 4-6 to rotate around the first-stage sun gear 4-1, and outputs power through the first-stage planetary carrier 4-2; the first-stage planetary carrier 4-2 drives the second-stage sun gear 4-3 to rotate, thereby driving the second-stage planetary gears 4-7 to rotate around the second-stage sun gear 4-3, and outputs power through the first-stage planetary carrier 4-2.

[0102] In one embodiment, such as Figure 7 As shown, the first end 4-21 and the first-stage planetary carrier 4-2 are integrally formed. The connection strength between the first end 4-21 and the first-stage planetary carrier 4-2 is high, and there will be no radial sway during rotation, which effectively ensures the concentricity of the first-stage planetary carrier 4-2.

[0103] In one embodiment, such as Figures 4-7As shown, the first bearing 5, the second bearing 6, and the third bearing 7 are coaxially arranged. The third bearing 7 is arranged between the first bearing 5 and the second bearing 6, which effectively ensures the concentricity between the rotating parts of the actuator, thereby reducing the noise during the operation of the actuator and improving the stability of the actuator during operation.

[0104] The axial projections of the second bearing 6 and the third bearing 7 overlap.

[0105] The radial projections of the third bearing 7 and the connecting end 2-1 at least partially overlap, which helps to shorten the axial dimension of the actuator and promotes the miniaturization of the actuator.

[0106] The third bearing 7 does not overlap with the radial projection of the bearing 2-2 and the central connecting shaft 2-3, thereby causing the third bearing 7 to be misaligned with the bearing 2-2 and the central connecting shaft 2-3 in the axial direction, ensuring the smooth operation of the motor output shaft 2.

[0107] In one embodiment, such as Figure 7 As shown, the actuator also includes a fourth bearing 9; the gear ring 4-5 has a connecting section 4-51 at one end near the motor output shaft 2, the fourth bearing 9 is sleeved on the first end 4-21, the inner ring of the fourth bearing 9 abuts against the outer wall of the first end 4-21, and the outer ring of the fourth bearing 9 abuts against the inner wall of the connecting section 4-51, thereby rotatably connecting the first-stage planetary carrier 4-2 and the reducer housing 8 through the gear ring 4-5 and the fourth bearing 9, further improving the concentricity of the upper end of the first-stage planetary carrier 4-2, reducing the noise during actuator operation, and improving the stability of actuator operation.

[0108] In one embodiment, such as Figure 4 As shown, the axial projections of the fourth bearing 9 and the first bearing 5 overlap, and the radial projections of the fourth bearing 9 and the third bearing 7 overlap, so that the forces exerted by the third bearing 7 and the fourth bearing 9 on the first-stage planetary carrier 4-2 are on the same straight line, and no torque is generated on the first-stage planetary carrier 4-2. This ensures the stable operation of the first-stage planetary carrier 4-2, helps to reduce the vibration during the rotation of the first-stage planetary carrier 4-2, and thus reduces the noise during the operation of the actuator and improves the stability of the actuator during operation.

[0109] In one embodiment, such as Figure 6 As shown, the projection of flange section 4-41 in the radial direction completely covers the projection of the second bearing 6, enabling flange section 4-41 to provide sufficient mounting cavity for the second bearing 6 and hide the second bearing 6 inside flange section 4-41. Flange section 4-41 is also easier to connect to external equipment and output power.

[0110] In one embodiment, such as Figure 4As shown, the radial projections of the motor rotor 3 and the planetary reducer 4 at least partially overlap, effectively shortening the axial dimension of the actuator, making it easier to ensure the concentricity between the rotor and the planetary reducer 4, and making the rotor rotation more stable, which is beneficial to improving the stability of the actuator during operation.

[0111] In one embodiment, such as Figure 4 and Figure 6 As shown, the actuator also includes a fifth bearing 10. The reducer housing 8 is hollow annular in shape, and has a connecting flange 8-1 on the outer side and a hollow annular support portion 8-2 on the inner side.

[0112] The gear ring 4-5 is fixed on one side of the support 8-2, and the flange section 4-41 extends through the support 8-2 to the other side of the support 8-2. The fifth bearing 10 is embedded between the reducer housing 8 and the flange section 4-41. The inner ring of the fifth bearing 10 abuts against the outer wall of the flange section 4-41, and the outer ring of the fifth bearing 10 abuts against the inner wall of the reducer housing 8. Thus, the second-stage planetary carrier 4-4 and the reducer housing 8 are rotatably connected through the fifth bearing 10, ensuring the concentricity of the lower end of the second-stage planetary carrier 4-4, reducing the noise during actuator operation, and improving the stability during actuator operation.

[0113] The outer ring of the fifth bearing 10 is fixedly connected to the support part 8-2 by fasteners, which makes the installation of the outer ring of the fifth bearing 10 convenient.

[0114] In one embodiment, the radial projections of the fifth bearing 10 and the second bearing 6 at least partially overlap, so that the forces exerted by the fifth bearing 10 and the second bearing 6 on the secondary planetary carrier 4-4 are on the same straight line, and no torque is generated on the secondary planetary carrier 4-4, which ensures the stable operation of the secondary planetary carrier 4-4, helps to reduce the vibration during the rotation of the secondary planetary carrier 4-4, thereby reducing the noise during the operation of the actuator and improving the stability of the actuator during operation.

[0115] Please see Figures 4-6 and Figure 8 In one embodiment, this application provides a joint module including the aforementioned actuator and an encoding assembly 11 having an encoding adapter 11-1 and a first code disk 11-2. The encoding adapter 11-1 is mounted on the other side of the platform 2-2 opposite to the planetary reducer 4, that is, the encoding adapter 11-1 is mounted on the upper side of the platform 2-2. When the motor output shaft 2 rotates, the encoding adapter 11-1 rotates accordingly. The encoding adapter 11-1 has a shoulder 11-11.

[0116] The first code disk 11-2 is mounted on the encoding adapter 11-1. As the encoding adapter 11-1 rotates, the inner ring of the first bearing 5 abuts against the shoulder 11-11, the inner ring of the first bearing 5 abuts against the base 2-2, and the shoulder 11-11 abuts against the base 2-2. Thus, the first bearing 5 simultaneously provides radial positioning for the motor output shaft 2 and the encoding adapter 11-1, improving the concentricity of the encoding adapter 11-1 and the first code disk on it. This makes it less prone to axial runout of the first code disk 11-2 during rotation, thereby ensuring that the gap between the first code disk 11-2 and its reader is always maintained within a suitable range. This effectively avoids the problem of the encoding assembly 11 losing synchronization and improves the detection accuracy of the encoding assembly 11.

[0117] In one embodiment, the encoding assembly 11 further includes an output encoder shaft 11-3, which includes a drive shaft 11-31 and a stop portion 11-32. The stop portion 11-32 is disc-shaped, and one end of the drive shaft 11-31 is fixedly connected to the center of the stop portion 11-32. The stop portion 11-32 abuts against and is relatively fixed to the inner wall of the flange section 4-41. One side of the stop portion 11-32 has a protruding structure that abuts against the outer ring of the second bearing 6, thereby achieving radial positioning of the second bearing 6. When the secondary planetary carrier 4-4 rotates, it drives the stop portion to rotate, which in turn drives the drive shaft 11-31 to rotate synchronously.

[0118] In one embodiment, the joint module 13 further includes a sixth bearing 12 and a second encoder disk 11-4; the output encoder shaft 11-3 further includes an encoder receiving member 11-33, one end of which is equipped with the second encoder disk 11-4, and the other end is constructed with a fourth connecting shaft section 4-14. The encoder adapter 11-1 is constructed with a cavity that is recessed along its axial direction; the encoder receiving member 11-33 is embedded in the cavity, and the other end of the drive shaft 11-31 relative to the stop part 11-32 passes through the planetary reducer 4, the central connecting shaft part 2-3 and the middle part of the encoder adapter 11-1 and is fixedly connected to the encoder receiving member 11-33; thereby, the output flange position of the planetary reducer 4 is transferred to the upper end of the joint module for detection, which is beneficial to reduce the axial dimension of the joint module.

[0119] The sixth bearing 12 is sleeved on the third connecting shaft section 4-32. The inner ring of the sixth bearing 12 abuts against the outer wall of the fourth connecting shaft section 4-14, and the outer ring of the sixth bearing 12 abuts against the side wall of the cavity. Thus, the upper end of the output encoder shaft 11-3 is radially positioned through the sixth bearing 12, which improves the concentricity between the upper end of the output encoder shaft and the rotating parts of the actuator, reduces the swaying of the output encoder shaft 11-3 during rotation, reduces the noise of the joint module 13 during operation, and improves the stability of the joint module 13 during operation.

[0120] In one embodiment, such as Figure 11 As shown, this application provides a robotic arm, wherein at least one joint of the robotic arm employs the joint module 13 described above.

[0121] In one embodiment, such as Figure 12 As shown, this application provides a bipedal robot, wherein at least one joint of the bipedal robot employs the joint module 13 described above.

[0122] In one embodiment, such as Figure 13 As shown, this application provides a point-foot robot, wherein at least one joint of the point-foot robot adopts the joint module 13 described above.

[0123] In one embodiment, such as Figure 14 As shown, this application provides a quadruped robot, wherein at least one joint of the quadruped robot employs the joint module 13 described above.

[0124] In one embodiment, such as Figure 15 As shown, this application provides a four-wheeled legged robot, wherein at least one joint of the four-wheeled legged robot adopts the joint module 13 described above.

[0125] In one embodiment, such as Figures 12-15 As shown, this application provides a robot in which at least one joint employs the joint module 13 described above.

[0126] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made to it in form and detail without departing from the scope defined by the claims of this application; the dimensions of the drawings are not related to the specific physical object, and the physical object dimensions can be arbitrarily changed.

Claims

1. A joint module, characterized in that, include: An actuator, the actuator comprising a motor housing having an inwardly extending and hollow annular inner portion; A motor output shaft having a connecting end, a support platform, and a central connecting shaft; a motor rotor; a planetary reducer having a first-stage sun gear, a first-stage planetary carrier, a second-stage sun gear, and a second-stage planetary carrier, wherein the first-stage sun gear has a first connecting shaft section, the first-stage planetary carrier has a hollow annular first end, the two ends of the second-stage sun gear have a second connecting shaft section and a third connecting shaft section respectively, and one end of the second-stage planetary carrier has a flange section; and a first bearing, a second bearing, and a third bearing; The motor rotor is fixedly connected to the connecting end, the central connecting shaft part is coaxially fixedly connected to the first connecting shaft section, the second connecting shaft section is disposed within the flange section, the first end is disposed at the end of the first-stage planetary carrier near the motor output shaft; the other end of the first-stage planetary carrier relative to the first end is fixedly connected to the third connecting shaft section. The first bearing is embedded between the inner extension and the motor output shaft, with its outer ring abutting against the inner wall of the inner extension and its inner ring abutting against the outer wall of the bearing platform; the second bearing is embedded between the flange section and the second connecting shaft section, with its inner ring abutting against the outer wall of the second connecting shaft section and its outer ring abutting against the inner wall of the flange section; the third bearing is embedded between the first end and the first connecting shaft section, with its inner ring abutting against the outer wall of the first connecting shaft section and its outer ring abutting against the inner wall of the first end; and The encoding assembly includes an encoding adapter, an output encoder shaft, a second encoding disk, and a sixth bearing. The output encoder shaft includes an encoding support, one end of which is fitted with the second encoding disk, and the other end of which has a fourth connecting shaft section. The encoding adapter has a cavity recessed along its axial direction, and the encoding support is embedded in the cavity. The sixth bearing is sleeved on the fourth connecting shaft section, with the inner ring of the sixth bearing abutting against the outer wall of the fourth connecting shaft section and the outer ring of the sixth bearing abutting against the side wall of the cavity.

2. The joint module according to claim 1, characterized in that, The encoding assembly further includes a first code disk, and the encoding adapter is mounted on the other side of the platform opposite to the planetary reducer, the encoding adapter having a shoulder; The first code disk is mounted on the encoding adapter, the inner ring portion of the first bearing abuts against the shoulder, the inner ring portion of the first bearing abuts against the support, and the shoulder abuts against the support.

3. The joint module according to claim 1, characterized in that, The output encoder shaft includes a drive shaft and a stop portion. The stop portion is constructed in the shape of a disc, and one end of the drive shaft is fixedly connected to the center of the stop portion. The stop portion abuts against and is fixed relative to the inner wall of the flange section. One side of the stop portion has a protruding structure, which abuts against the outer ring of the second bearing.

4. The joint module according to claim 3, characterized in that, The other end of the drive shaft, relative to the stop portion, passes through the planetary reducer, the central connecting shaft portion, and the middle portion of the coding adapter, and is fixedly connected to the coding receiving portion.

5. The joint module according to claim 1, characterized in that, Also includes: Gearbox housing; The planetary reducer also includes a gear ring; The reducer housing is fixed to the other end of the motor housing relative to the inner extension, and the gear ring is fixed to the reducer housing; The first-stage planet carrier is arrayed with several first-stage planet gears, one side of which meshes with the first-stage sun gear and the other side meshes with the gear ring. The secondary planetary carrier is arrayed with several secondary planetary gears, one side of which meshes with the secondary sun gear and the other side meshes with the gear ring.

6. The joint module according to claim 5, characterized in that, The first end is integrally formed with the first-stage planetary carrier.

7. The joint module according to claim 6, characterized in that, The first bearing, the second bearing, and the third bearing are coaxially arranged, with the third bearing positioned between the first bearing and the second bearing. The axial projections of the second bearing and the third bearing overlap. The third bearing and the radial projection of the connecting end at least partially overlap, while the radial projection of the third bearing does not overlap with the radial projection of the bearing platform and the central connecting shaft.

8. The joint module according to claim 1, characterized in that, Also includes The fourth bearing; the gear ring has a connecting section at one end near the motor output shaft. The fourth bearing is sleeved on the first end, the inner ring of the fourth bearing abuts against the outer wall of the first end, and the outer ring of the fourth bearing abuts against the inner wall of the connecting section.

9. The joint module according to claim 8, characterized in that, The axial projection of the fourth bearing overlaps with that of the first bearing, and the radial projection of the fourth bearing overlaps with that of the third bearing.

10. The joint module according to claim 1, characterized in that, The radial projection of the flange segment completely covers the projection of the second bearing.

11. The joint module according to claim 1, characterized in that, The motor rotor and the planetary reducer at least partially overlap in the radial direction.

12. The joint module according to claim 1, characterized in that, Also includes: The fifth bearing, the reducer housing is in the shape of a hollow ring, the reducer housing has a connecting flange on the outer side and a hollow ring-shaped support portion on the inner side; The gear ring is fixed to one side of the support portion, and the flange section extends through the support portion to the other side of the support portion; The fifth bearing is embedded between the reducer housing and the flange section. The inner ring of the fifth bearing abuts against the outer wall of the flange section, and the outer ring of the fifth bearing abuts against the inner wall of the reducer housing and is fixedly connected to the support part by fasteners.

13. The joint module according to claim 12, characterized in that, The fifth bearing and the second bearing at least partially overlap in the radial direction.

14. A robotic arm, characterized in that, At least one joint employs the joint module as described in any one of claims 1 to 13.

15. A bipedal robot, characterized in that, At least one joint employs the joint module as described in any one of claims 1-13.

16. A foot-pointing robot, characterized in that, At least one joint employs a joint module as described in any one of claims 1 to 13.

17. A quadruped robot, characterized in that, At least one joint employs the joint module as described in any one of claims 1 to 13.

18. A four-wheeled legged robot, characterized in that, At least one joint employs the joint module as described in any one of claims 1 to 13.

19. A robot, characterized in that, At least one joint employs the joint module as described in any one of claims 1-13.

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