Actuators and robots

Abstract

The present invention discloses an actuator and a robot, wherein the actuator comprises a housing, a driving motor, and a first-stage planetary reducer; the driving motor comprises a stator, a rotor, and a rotor bracket; the first-stage planetary reducer comprises a first-stage inner gear ring, a first-stage sun gear, a first-stage planetary gear, and a first-stage planetary bracket; the first-stage inner gear ring is fixedly matched with the housing and fixedly connected to the inner edge surface of the stator, and the first-stage sun gear is synchronously connected to the rotor bracket; the inner gear ring is provided with a first supporting surface extending axially, and the rotor bracket is provided with a second supporting surface extending axially and located inside the first supporting surface, and an installation space is formed between the first supporting surface and the second supporting surface, and a main bearing is embedded in the installation space, and the outer ring and the inner ring of the main bearing are fixedly connected to the first supporting surface and the second supporting surface respectively. The present invention enables the rotor to have better rotation stability and improves the precision of the actuator.

Description

Technical Field

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

[0002] The actuator of a robot is usually used in the joint part of the robot to drive the relevant parts of the robot to make corresponding movements. The actuator is usually composed of a driving mechanism, a reduction mechanism and a control unit. The driving mechanism is usually a motor. The motor is the input end, and its output power is transmitted to the output end of the actuator through the reduction mechanism. The reduction mechanism of existing actuators includes three types, namely planetary reduction mechanism, RV reduction mechanism and harmonic reduction mechanism. Among them, the planetary reduction mechanism is widely used in robot actuators due to its relatively mature technology and high stability. Figure 1 As shown, in the existing actuator using a planetary reduction mechanism, the inner gear ring 16 of the planetary reduction mechanism is usually fixed to the inner edge of the stator 12, and the rotor 13 is located on the periphery of the stator 12. The rotor 13 is connected to a rotor bracket 14, and the housing 11 is connected to a mounting bracket 15. A main bearing 17 is installed between the rotor bracket 14 and the mounting bracket 15. The rotor 13 is rotatably mounted inside the housing 11 through the main bearing 17. During the rotation of the rotor 13, the main bearing 17 supports the rotor 13 and the housing 11 in the radial direction. The housing 11 is used as the main positioning member, and the mounting bracket 15, the outer ring of the main bearing 17, the inner ring of the main bearing 17, the rotor bracket 14, and the rotor 13 are sequentially arranged. In this way, there are more assembly relationships in the entire mechanism, the dimensional chain is longer, and the assembly errors of the parts are larger, which leads to poor stability of the rotor 13 during the rotation process, affecting the accuracy of the actuator. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the purpose of the present invention is to provide an actuator and a robot to solve the problem of poor positioning stability of the motor in the prior art actuator.

[0004] To achieve the above purpose, the present invention adopts the following technologies:

[0005] The actuator includes a housing, a drive motor, and a first-stage planetary reducer;

[0006] The driving motor comprises a stator, a rotor located outside the stator, and a rotor bracket fixedly connected to the rotor;

[0007] The primary planetary reducer comprises a primary inner gear ring, a primary sun gear, a primary planetary gear, and a primary planetary support; the primary inner gear ring is fixedly matched with the housing and fixedly connected to the inner edge surface of the stator, the primary planetary gear is installed on the primary planetary support and is meshed between the primary sun gear and the primary inner gear ring, and the primary sun gear is synchronously connected with the rotor support;

[0008] The primary inner gear ring is provided with a first supporting surface extending axially, and the rotor bracket is provided with a second supporting surface extending axially and located inside the first supporting surface. An installation space is formed between the first supporting surface and the second supporting surface, and a main bearing is embedded in the installation space. The outer ring and the inner ring of the main bearing are fixedly connected to the first supporting surface and the second supporting surface respectively.

[0009] According to the actuator of the embodiment of the present invention, a rotor bracket is installed on the rotor, a main bearing is arranged between the rotor bracket and the first-stage inner gear ring, and the rotor bracket is rotatably installed on the first-stage inner gear ring by using the main bearing, so that the rotor can rotate stably; the first-stage inner gear ring fixedly matched with the outer shell is used as the main positioning member, so that the dimensional chain in the rotating structure of the rotor is relatively small, the cumulative assembly error is small, and the accuracy of the installation space reserved for the main bearing is relatively high, thereby making the rotor have better rotation stability and improving the accuracy of the actuator.

[0010] As a preferred embodiment, the outer shell includes a lower shell, the lower shell includes an axially extending vertical wall, and a retaining wall extending radially inward from the top of the vertical wall, the retaining wall is located below the stator and the rotor, the lower end face of the primary inner gear ring is supported on the retaining wall and fixedly connected to the retaining wall by bolts; the rotor bracket is located above the stator and the rotor. A retaining wall extending radially inward is provided on the lower shell, and the primary inner gear ring is fixed by the retaining wall on the lower shell, so that the primary inner gear ring and the outer shell are kept in fixed cooperation, and then the primary inner gear ring is placed on the inner side of the stator, so that the primary inner gear ring can not only serve as the main positioning member, but also can make the installation position of the primary inner gear ring adapt to the size of the stator, so that the structure of the entire actuator is more compact.

[0011] In a preferred embodiment, the top surface of the primary inner gear ring is provided with a support rib extending upward, and the inner edge surface of the support rib forms the first support surface, and the rotor bracket is provided with an annular support rib extending downward from the inner upper side of the support rib, and the outer edge surface of the annular support rib forms the second support surface. The inner edge surface of the support rib extending upward from the top of the inner gear ring is used to form the first support surface fixed to the outer ring of the main bearing, so that the main bearing can be pressed into the support rib from the inner side of the top of the support rib, thereby facilitating the installation of the main bearing.

[0012] As a preferred embodiment, the top surface of the stator is flush with the top surface of the primary inner gear ring, and a plurality of pressure seats are fixedly connected to the top surface of the primary inner gear ring by bolts, and the pressure seat includes a bottom plate pressed on the top surface of the primary inner gear ring and the top surface of the stator, and a top plate pressed on the top surface of the supporting rib, and the inner edge of the top plate protrudes from the first supporting surface so that the inner edge of the top plate is pressed on the top surface of the outer ring of the main bearing, and the bottom surface of the outer ring of the main bearing is supported on the step surface set on the inner edge surface of the primary inner gear ring. After the main bearing is pressed onto the supporting rib, the top plate of the pressure seat is used to press down the top surface of the outer ring of the main bearing, and the pressure seat is fixedly connected to the primary inner gear ring by bolts, and the downward pressing degree of the pressure seat on the outer ring of the main bearing can be adjusted by adjusting the bolts, and then the clearance of the main bearing can be adjusted to ensure that the main bearing can rotate flexibly while reducing the deflection amplitude of the rotor bracket, further improving the accuracy of the actuator.

[0013] As a preferred embodiment, the first-stage sun gear is synchronously connected with an adapter plate, the adapter plate is fixedly connected to the rotor bracket by bolts, the outer edge of the adapter plate forms a support flange located below the bottom of the second support surface, the rotor bracket is provided with a limit surface located at the top of the second support surface, and the two ends of the outer ring of the main bearing are respectively pressed against the limit surface and the support flange. By connecting the adapter plate between the first-stage sun gear and the rotor bracket, the rotor bracket and the first-stage sun gear are synchronously fixed, and at the same time, the support flange on the adapter plate cooperates with the limit surface on the rotor bracket to clamp the inner ring of the main bearing, so as to reduce the clearance of the inner ring of the main bearing shaking up and down, and further improve the stability of the rotation of the rotor bracket.

[0014] As a preferred embodiment, it also includes a two-stage planetary reducer, which includes a two-stage inner gear ring, a two-stage sun gear, a two-stage planetary gear, and a two-stage planetary bracket. The two-stage inner gear ring is fixedly matched with the lower shell, the two-stage sun gear is synchronously connected with the one-stage planetary bracket, and the two-stage planetary gear is installed on the two-stage planetary bracket and meshed between the two-stage sun gear and the two-stage inner gear ring. The one-stage planetary reducer and the two-stage planetary reducer form a two-stage planetary reduction mechanism, which increases the transmission ratio of the reduction mechanism in the actuator, so that the output end of the actuator can output a relatively large torque.

[0015] As a preferred embodiment, the housing further comprises a lower cover located below the lower housing and connected to the lower housing by bolts, the secondary inner gear ring is clamped and fixed between the lower housing and the lower cover, and an output end bearing is arranged between the inner edge of the lower cover and the outer edge of the secondary planetary support. The secondary inner gear ring is clamped and fixed by the cooperation between the lower cover and the lower housing, which facilitates the assembly of the secondary inner gear ring and other components of the secondary planetary reducer, and the secondary planetary support as the output end of the actuator is directly pivoted to the lower cover as a part of the housing through the output end bearing, so that the rotation of the output end is more stable.

[0016] As a preferred embodiment, a code disc shaft is fixedly connected to the secondary planetary support, and the code disc shaft passes through the secondary sun gear and the primary sun gear from bottom to top in sequence so that its top end extends to the top of the rotor support. By passing the code disc shaft through the secondary sun gear and the sun gear, the code disc shaft is located at the central axis of the actuator, so that the angular velocity of the output end of the actuator can be accurately detected by the detection unit on the top of the actuator.

[0017] As a preferred embodiment, the housing also includes an upper shell detachably fixedly connected to the upper part of the lower shell, the upper shell is arranged around the periphery of the stator and is matched with the stator gap. An upper shell is detachably fixed on the lower shell, and the upper shell is used to protect the stator; at the same time, based on the present application, the main bearing is installed by using the primary inner gear ring as the main positioning member, and the primary inner gear ring bears the radial force generated when the rotor swings, and the upper shell is not required to bear the radial force generated during the rotation of the stator. The upper shell and the rotor gap match, which can help to dissipate the heat generated by the drive motor during operation on the one hand, and on the other hand, when the actuator is installed on the limb of the robot, if the installation space does not allow, the upper shell can be directly disassembled to meet the space requirements, and the actuator can operate normally.

[0018] The present invention also provides a robot, which comprises the above-mentioned actuator.

[0019] The drawings in the specification, which constitute a part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of an actuator in the prior art;

[0021] Figure 2 It is a structural schematic diagram of an actuator of the present invention;

[0022] Figure 3 is a cross-sectional view of the actuator of the present invention;

[0023] Figure 4 for Figure 3 Magnified view at A in the middle;

[0024] Figure 5 for Figure 2 Schematic diagram of the cooperation between the middle-stage inner gear ring and the pressure seat;

[0025] Figure 6 for Figure 2 Schematic diagram of the structure of the mid-rotor bracket.

[0026] In the figure: 20, outer shell; 21, lower shell; 211, vertical wall; 212, retaining wall; 22, lower cover; 23, upper shell; 30, driving motor; 31, rotor; 32, stator; 33, rotor bracket; 330, annular support rib; 331, second support surface; 332, limit surface; 34, adapter plate; 341, support flange; 35, pressure seat; 351, top plate; 352, bottom plate; 40, main bearing; 41, bearing inner ring; 42, shaft Bearing outer ring; 50, primary planetary reducer; 51, primary inner gear ring; 510, first supporting surface; 511, top surface; 512, supporting ribs; 513, step surface; 52, primary sun gear; 53, primary planetary gear; 541, upper bracket; 542, lower bracket; 60, secondary planetary reducer; 61, secondary inner gear ring; 62, secondary sun gear; 63, secondary planetary gear; 641, upper bracket; 642, lower bracket; 70, code disk shaft. DETAILED DESCRIPTION

[0027] Below, in conjunction with the accompanying drawings and specific embodiments, the present invention is further described. It should be noted that, under the premise of no conflict, the various embodiments described below or the various technical features can be arbitrarily combined to form a new embodiment. Except for special instructions, the materials and equipment used in this embodiment can be purchased from the market. Examples of embodiments are shown in the accompanying drawings, in which the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and the limitations of the present application cannot be understood.

[0028] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In the description of the present application, "plurality" means two or more, unless otherwise precisely and specifically specified.

[0029] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, or it can be connected through an intermediary medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0030] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] Please refer to Figure 2-6 As shown, an actuator of the present invention includes a housing 20, a drive motor 30, and a first-stage planetary reducer 50; the drive motor 30 includes a stator 32, a rotor 31 located outside the stator 32, and a rotor bracket 33 fixedly connected to the rotor 31, the stator 32 includes an iron core and a winding arranged on the iron core, the rotor 31 surrounds the periphery of the stator 32, and forms a frameless torque motor with the stator 32; the first-stage planetary reducer 50 includes a first-stage inner gear ring 51, a first-stage sun gear 52, a first-stage planetary gear 53, and a first-stage planetary bracket; the first-stage inner gear ring 51 is fixedly matched with the housing 20, and the first-stage inner gear ring 51 is fixedly connected to the inner edge surface of the stator 32, the first-stage planetary gear 53 is installed on the first-stage planetary bracket, and It is meshed between the primary sun gear 52 and the primary inner gear ring 51, and the primary sun gear 52 is synchronously connected with the rotor bracket 33, and the primary sun gear 52 is driven to rotate through the stator 32, thereby rotating the primary planetary bracket; the primary inner gear ring 51 is provided with a first support surface 510 extending axially (i.e., the Z direction in the figure), and the rotor bracket 33 is provided with a second support surface 331 extending axially and located on the inner side of the first support surface 510, and an installation space is formed between the first support surface 510 and the second support surface 331, and a main bearing 40 is embedded in the installation space, and the bearing outer ring 42 and the bearing inner ring 41 of the main bearing 40 are respectively fixedly connected to the first support surface 510 and the second support surface 331.

[0032] In the present invention, the rotor bracket 33 is installed on the rotor 31, and the main bearing 40 is arranged between the rotor bracket 33 and the primary inner gear ring 51. The rotor bracket 33 is rotatably installed on the primary inner gear ring 51 by means of the main bearing 40, so that the rotor 31 can rotate stably; the primary inner gear ring 51 fixedly matched with the outer shell 20 is used as the main positioning member, so that the dimensional chain in the rotating structure of the rotor 31 is relatively small, the cumulative assembly error is small, and the accuracy of the installation space reserved for the main bearing 40 is relatively high, thereby making the rotor 31 have better rotation stability and improving the accuracy of the actuator.

[0033] In the above structure, in order to facilitate the installation of the first-stage planetary gear 53, the first-stage planetary bracket includes an upper bracket 541 and a lower bracket 542, and the upper bracket 541 and the lower bracket 542 are fixedly connected by bolts.

[0034] In a preferred embodiment of the present invention, the housing 20 includes a lower housing 21, the lower housing 21 includes an axially extending vertical wall 211, and a retaining wall 212 extending radially inward (i.e., the X direction in the figure) from the top of the vertical wall 211, the retaining wall 212 is located below the stator 32 and the rotor 31, the lower end surface of the primary inner gear ring 51 is supported on the retaining wall 212 and fixedly connected to the retaining wall 212 by bolts; the rotor bracket 33 is located above the stator 32 and the rotor 31. The retaining wall 212 extending radially inward is provided on the lower housing 21, and the primary inner gear ring 51 is fixed by the retaining wall 212 on the lower housing 21, so that the primary inner gear ring 51 and the housing 20 are kept fixedly matched, and then the internal gear ring is placed on the inner side of the stator 32, so that the primary inner gear ring 51 can not only serve as a main positioning member, but also can make the installation position of the primary inner gear ring 51 adapt to the size of the stator 32, so that the structure of the entire actuator is more compact.

[0035] Of course, in other embodiments, the lower shell 21 can be set as a vertical cylindrical structure, and a connecting component extending radially outward is set at the lower end of the stator 32, and the connecting component is placed below the bottom end surface of the lower shell 21, and the connecting component is fixedly connected to the bottom end surface of the lower shell 21 by bolts.

[0036] In a preferred embodiment of the present invention, the top surface 511 of the primary inner gear ring 51 is provided with a support rib 512 extending upward, and the inner edge surface of the support rib 512 forms the first support surface 510. The rotor bracket 33 is provided with an annular support rib 330 extending downward from the inner upper side of the support rib 512, and the outer edge surface of the annular support rib 330 forms the second support surface 331. The inner edge surface of the support rib 512 extending upward from the top of the primary inner gear ring 51 is used to form the first support surface 510 fixed to the bearing outer ring 42 of the main bearing 40, so that the main bearing 40 can be pressed into the support rib 512 from the inner side of the top of the support rib 512, so as to facilitate the installation of the main bearing 40. It should be pointed out that in other embodiments, it is not necessary to set the supporting rib 512 on the top of the first-stage internal gear ring 51 to form the first supporting surface 510. The axial gear of the first-stage planetary gear 53 can also be reduced so that the inner edge surface of the first-stage internal gear ring 51 protrudes from the first-stage planetary gear 53 to form the first supporting surface 510.

[0037] In a preferred embodiment of the present invention, the top surface 511 of the stator 32 is flush with the top surface 511 of the primary inner gear ring 51, and a plurality of pressure seats 35 are fixedly connected to the top surface 511 of the primary inner gear ring 51 by bolts, and the pressure seats 35 include a bottom plate 352 pressed on the top surface 511 of the primary inner gear ring 51 and the top surface 511 of the stator 32, and a top plate 351 pressed on the top surface 511 of the supporting rib 512, the inner edge of the top plate 351 protrudes from the first supporting surface 510 so that the inner edge of the top plate 351 is pressed on the top surface 511 of the bearing outer ring 42 of the main bearing 40, and the bottom surface of the bearing outer ring 42 of the main bearing 40 is supported on the step surface 513 set on the inner edge surface of the primary inner gear ring 51. After the main bearing 40 is pressed onto the supporting rib 512, the top plate 351 of the pressure seat 35 is used to press down the top surface 511 of the outer ring 42 of the main bearing 40. The pressure seat 35 is fixedly connected to the primary inner gear ring 51 by bolts. The downward pressing degree of the outer ring 42 of the main bearing 40 by the pressure seat 35 can be adjusted by adjusting the bolts, and then the clearance of the main bearing 40 can be adjusted to ensure that the main bearing 40 can rotate flexibly while reducing the deflection amplitude of the rotor bracket 33, thereby further improving the accuracy of the actuator.

[0038] In a preferred embodiment of the present invention, an adapter plate 34 is synchronously connected to the primary sun gear 52, and the adapter plate 34 is fixedly connected to the rotor bracket 33 by bolts. The outer edge of the adapter plate 34 forms a support flange 341 located below the bottom of the second support surface 331. The rotor bracket 33 is provided with a limit surface 332 located at the top of the second support surface 331, and the two ends of the bearing outer ring 42 of the main bearing 40 are respectively pressed against the limit surface 332 and the support flange 341. By connecting the adapter plate 34 between the primary sun gear 52 and the rotor bracket 33, the rotor bracket 33 and the primary sun gear 52 are synchronously fixed, and at the same time, the support flange 341 on the adapter plate 34 cooperates with the limit surface 332 on the rotor bracket 33 to clamp the bearing inner ring 41 of the main bearing 40, so as to reduce the clearance of the inner ring of the main bearing 40 shaking up and down, and further improve the stability of the rotation of the rotor bracket 33.

[0039] In a preferred embodiment of the present invention, the actuator of the present invention further includes a two-stage planetary reducer 60, the two-stage planetary reducer 60 includes a two-stage inner gear ring 61, a two-stage sun gear 62, a two-stage planetary gear 63, and a two-stage planetary bracket, the two-stage inner gear ring 61 is fixedly matched with the lower shell 21, the two-stage sun gear 62 is synchronously connected with the one-stage planetary bracket, and the two-stage planetary gear 63 is installed on the two-stage planetary bracket and meshes between the two-stage sun gear 62 and the two-stage inner gear ring 61. The one-stage planetary reducer 50 and the two-stage planetary reducer 60 form a two-stage planetary reduction mechanism, which increases the transmission ratio of the reduction mechanism in the actuator, so that the output end of the actuator can output a relatively large torque. In order to facilitate the installation of the two-stage planetary gear 63, the above-mentioned two-stage planetary bracket includes an upper bracket 641 and a lower bracket 642, and the upper bracket 641 and the lower bracket 642 are fixedly connected by bolts.

[0040] In a preferred embodiment of the present invention, the housing 20 further includes a lower cover 22 located below the lower housing 21 and connected to the lower housing 21 by bolts, the secondary inner gear ring 61 is clamped and fixed between the lower housing 21 and the lower cover 22, and an output end bearing is provided between the inner edge of the lower cover 22 and the outer edge of the secondary planetary support. The secondary inner gear ring 61 is clamped and fixed by the cooperation between the lower cover 22 and the lower housing 21, which facilitates the assembly of the secondary inner gear ring 61 and other components of the secondary planetary reducer 60, and the secondary planetary support as the output end of the actuator is directly pivoted to the lower cover 22 as a part of the housing 20 through the output end bearing, so that the rotation of the output end is more stable.

[0041] In a preferred embodiment of the present invention, a code disc shaft 70 is fixedly connected to the secondary planetary bracket, and the code disc shaft 70 passes through the secondary sun gear 62 and the primary sun gear 52 in sequence from top to top so that its top end extends to the top of the rotor bracket 33. By passing the code disc shaft 70 through the secondary sun gear 62 and the sun gear, the code disc shaft 70 is located at the central axis of the actuator, so that the angular velocity of the output end of the actuator can be accurately detected by the detection unit at the top of the actuator.

[0042] In a preferred embodiment of the present invention, the housing 20 further includes an upper housing 23 fixedly connected to the upper part of the lower housing 21 in a detachable manner, and the upper housing 23 is arranged around the periphery of the stator 32 and is loosely matched with the stator 32. An upper housing 23 is detachably fixed on the upper part of the lower housing 21, and the upper housing 23 is used to protect the stator 32; at the same time, based on the present application, the main bearing 40 is installed by using the primary inner gear ring 51 as the main positioning member, and the primary inner gear ring 51 bears the radial force generated when the rotor 31 swings, and the upper housing 23 is not required to bear the radial force generated during the rotation of the stator 32. The upper housing 23 and the rotor 31 are loosely matched, which can help to dissipate the heat generated by the drive motor 30 when working, and on the other hand, when the actuator is installed on the limb of the robot, if the installation space does not allow, the upper housing 23 can be directly disassembled to meet the space requirements, and the actuator can operate normally.

[0043] The robot of the utility model comprises the above-mentioned actuator, and other structures of the robot are the same as those in the prior art, and will not be described in detail here.

[0044] Although only certain components and embodiments of the present application have been illustrated and described, many modifications and changes may be conceived by those skilled in the art without actually departing from the scope and spirit of the claims, such as changes in the size, dimensions, structure, shape and proportion of the various elements, mounting arrangements, material usage, color, orientation, etc.

[0045] The above implementation modes are only preferred implementation modes of the embodiments of the present invention and cannot be used to limit the protection scope of the embodiments of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of the embodiments of the present invention shall fall within the scope of protection required by the embodiments of the present invention.

Claims

1. An actuator, characterized in that It includes a housing, a driving motor, and a first-stage planetary reducer; The driving motor comprises a stator, a rotor located outside the stator, and a rotor bracket fixedly connected to the rotor; The primary planetary reducer comprises a primary inner gear ring, a primary sun gear, a primary planetary gear, and a primary planetary support; the primary inner gear ring is fixedly matched with the housing and fixedly connected to the inner edge surface of the stator, the primary planetary gear is installed on the primary planetary support and is meshed between the primary sun gear and the primary inner gear ring, and the primary sun gear is synchronously connected with the rotor support; The primary inner gear ring is provided with a first supporting surface extending axially, and the rotor bracket is provided with a second supporting surface extending axially and located inside the first supporting surface. An installation space is formed between the first supporting surface and the second supporting surface, and a main bearing is embedded in the installation space. The outer ring and the inner ring of the main bearing are fixedly connected to the first supporting surface and the second supporting surface respectively.

2. The actuator according to claim 1, characterized in that The outer shell includes a lower shell, which includes an axially extending vertical wall and a retaining wall extending radially inward from the top of the vertical wall, the retaining wall is located below the stator and the rotor, and the lower end surface of the first-stage inner gear ring is supported on the retaining wall and fixedly connected to the retaining wall by bolts; the rotor bracket is located above the stator and the rotor.

3. The actuator according to claim 2, characterized in that The top surface of the primary inner gear ring is provided with a supporting rib extending upward, and the inner edge surface of the supporting rib forms the first supporting surface. The rotor bracket is provided with an annular supporting rib extending downward from the inner upper side of the supporting rib, and the outer edge surface of the annular supporting rib forms the second supporting surface.

4. The actuator according to claim 3, characterized in that The top surface of the stator is flush with the top surface of the primary inner gear ring, and a plurality of pressure seats are fixedly connected to the top surface of the primary inner gear ring by bolts, and the pressure seats include a bottom plate pressed on the top surface of the primary inner gear ring and the top surface of the stator, and a top plate pressed on the top surface of the supporting rib, the inner edge of the top plate protrudes from the first supporting surface so that the inner edge of the top plate is pressed on the top surface of the bearing outer ring of the main bearing, and the bottom surface of the bearing outer ring of the main bearing is supported on the step surface set on the inner edge surface of the primary inner gear ring.

5. The actuator according to claim 4, characterized in that: An adapter plate is synchronously connected to the first-stage sun gear, and the adapter plate is fixedly connected to the rotor bracket by bolts. The outer edge of the adapter plate forms a support flange located below the bottom of the second support surface. The rotor bracket is provided with a limiting surface located on the top of the second support surface, and both ends of the outer ring of the main bearing are respectively abutted against the limiting surface and the support flange.

6. The actuator according to claim 2, characterized in that: It also includes a secondary planetary reducer, which includes a secondary inner ring gear, a secondary sun gear, a secondary planetary gear, and a secondary planetary bracket. The secondary inner ring gear is fixedly matched with the lower shell, the secondary sun gear is synchronously connected with the primary planetary bracket, and the secondary planetary gear is installed on the secondary planetary bracket and meshed between the secondary sun gear and the secondary inner ring gear.

7. The actuator according to claim 6, characterized in that The outer shell also includes a lower cover located below the lower shell and connected to the lower shell by bolts, the secondary inner gear ring is clamped and fixed between the lower shell and the lower cover, and an output end bearing is arranged between the inner edge of the lower cover and the outer edge of the secondary planetary bracket.

8. The actuator according to claim 7, characterized in that A code disc shaft is fixedly connected to the secondary planetary bracket, and the code disc shaft passes through the secondary sun gear and the primary sun gear in sequence from bottom to top so that the top end thereof extends to the top of the rotor bracket.

9. The actuator according to claim 2, characterized in that: The housing further comprises an upper housing fixedly connected to the upper part of the lower housing in a detachable manner, wherein the upper housing surrounds the periphery of the stator and is gap-matched with the stator.

10. A robot, characterized in that An actuator comprising any one of claims 1 to 9.

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