Actuator, joint module, biped robot, quadruped robot, four-wheeled robot, robot arm, and robot

Abstract

The invention relates to the technical field of robots, and discloses an actuator, a joint module, a biped robot, a quadruped robot, a four-wheeled robot, a mechanical arm and a robot. The actuator mainly comprises a first-stage planet carrier, a first bearing, a gear ring and a supporting frame, the first-stage planet carrier enables the first bearing to be installed between a first supporting part and a second supporting part of the supporting frame so as to provide support for the first-stage planet carrier, the requirement for the size of the first bearing is reduced through the supporting mode, the outer diameter of the planet carrier does not need to be matched, and the supporting effect is good. The structure is more compact, and the weight and cost of the actuator can be reduced by reducing the size of the first bearing.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and relates to an actuator, a joint module, a biped robot, a quadruped robot, a four-wheeled robot, a robotic arm, and a robot. Background Art

[0002] In robotics, actuators are often used to provide driving force for the robot's various motion structures to support the robot in completing predetermined actions. The motor and reducer are the two main components of the actuator. The motor is used as a driving element to provide power, and the input end of the reducer is connected to the motor rotor. The reducer is used as a power transmission mechanism to reduce the power output by the motor or increase the torque. By connecting the robot's components to be driven with the output end of the reducer, the robot's motion is driven.

[0003] In the prior art, for example, in the actuator disclosed in patent CN202311292686.1, the motor and the reducer overlap axially, and the first-stage sun gear is coaxially configured with the motor shaft. The support bearing of the first-stage sun gear will be configured between the first-stage sun gear and the first-stage planetary carrier, and the first-stage planetary carrier is supported on the inner gear ring through the planetary carrier bearing. In this way, the planetary carrier bearing can only choose large-diameter bearings that are sleeved on the outside of the first-stage planetary carrier. Large-diameter bearings are heavy and costly, which will make the overall weight of the actuator heavy and costly. Summary of the invention

[0004] The present application provides an actuator, a joint module, a biped robot, a quadruped robot, a four-wheeled robot, a robotic arm and a robot, aiming to solve the problems of large overall mass and high bearing cost of existing actuators.

[0005] In one embodiment, an actuator is provided, which mainly includes: a first-stage planetary carrier, a first bearing, a ring gear and a support frame, wherein the first-stage planetary carrier is constructed with a first support portion which is roughly hollow cylindrical and a plurality of axial hole portions which are roughly hollow cylindrical structures, the axial hole portion is used to assemble one end of the first-stage planetary shaft, and the plurality of axial hole portions are arrayed and arranged around the outer side of the first support portion; the support frame is constructed with a connecting portion, a covering portion and a second supporting portion, the outer side of the covering portion is connected to the connecting portion, and the inner side thereof is connected to the second supporting portion; wherein the connecting portion is fixedly connected to the ring gear, the outer side of the second support portion abuts against the inner ring of the first bearing, and the inner side of the first support portion abuts against the outer ring of the first bearing.

[0006] In one embodiment, the first support portion includes a cylindrical portion and a first retaining ring, the inner side of the cylindrical portion is defined as a bearing position, the first retaining ring is arranged at one end of the cylindrical portion away from the support frame, and the first retaining ring abuts against one end of the outer ring of the first bearing.

[0007] In one scheme, the second support portion includes a circular ring portion and a ring platform, and the outer side of the circular ring portion is defined as a bearing position. The outer side of the circular ring portion abuts against the first bearing. The ring platform is arranged at one end of the circular ring portion away from the first planetary carrier, and the ring platform abuts against one end of the inner ring of the first bearing.

[0008] In one embodiment, a first gap is provided between the first support portion and the inner side surface of the cover portion, and an axial distance from the first retaining ring to the top surface of the first support portion is equal to or less than an axial height of the first bearing.

[0009] In one embodiment, the actuator further includes a second bearing and a primary sun gear, the second support portion abuts against an outer ring of the second bearing, and the primary sun gear abuts against an inner ring of the second bearing.

[0010] In one embodiment, the second support portion also includes a second retaining ring, which is arranged on the inner side of the second support portion and adjacent to one end of the first-stage planetary carrier. A wave spring is arranged between the second bearing and the second retaining ring, and the wave spring is used to provide an axial preload force on the outer ring of the second bearing.

[0011] In one solution, radial projections of the first bearing and the second bearing partially overlap.

[0012] In one embodiment, the first support portion and the plurality of shaft hole portions are integrally formed, and a closed cavity formed among the gear ring, the cover portion, the first support portion and the plurality of shaft hole portions is defined as an oil storage cavity.

[0013] In one embodiment, the radial distance between the connecting portion and the second supporting portion is twice or more of the thickness of the radial distance from the outer side surface of the first supporting portion to the inner side surface of the second supporting portion.

[0014] In one embodiment, the distance between the outer ring and the inner ring of the covering portion is twice or more of the radial thickness of the first supporting portion.

[0015] In one embodiment, the gear ring is provided with a first assembly hole, and the connecting part is provided with a second assembly hole. The gear ring and the connecting part are fastened and connected through the aligned first assembly hole and the second assembly hole. After the gear ring and the connecting part are assembled, a closed structure is formed.

[0016] In one embodiment, the connecting portion is a thin-walled circular ring structure, an inwardly protruding boss is provided on the inner side of the connecting portion, the second assembly hole is at least partially located and extends into the boss, and the second assembly hole is a blind hole.

[0017] In one embodiment, the gear ring is provided with a coupling portion, which is a cylindrical structure extending outward from the tooth end surface of the gear ring, and the connecting portion is assembled and connected to the coupling portion, and the connecting portion abuts or has a clearance fit with the tooth end surface.

[0018] In one embodiment, a joint module is provided, which mainly includes the actuator as described above.

[0019] In one embodiment, a biped robot is provided, wherein at least one driving joint adopts a joint module as described above, or an actuator as described above.

[0020] In one embodiment, a point-legged robot is provided, wherein at least one driving joint adopts a joint module as described above, or an actuator as described above.

[0021] In one embodiment, a quadruped robot is provided, wherein at least one driving joint adopts a joint module as described above, or an actuator as described above.

[0022] In one embodiment, a four-wheeled legged robot is provided, wherein at least one driving joint adopts a joint module as described above, or an actuator as described above.

[0023] In one embodiment, a robotic arm is provided, wherein at least one driving joint adopts a joint module as described above, or an actuator as described above.

[0024] In one embodiment, a robot is provided, wherein at least one driving joint adopts the joint module as described above, or the actuator as described above.

[0025] Beneficial effects of this application:

[0026] In an actuator, joint module, biped robot, quadruped robot, quadruped robot, mechanical arm and robot of the present application, the actuator mainly includes: a primary planetary frame, a first bearing, a gear ring and a support frame, the primary planetary frame installs the first bearing between the first support part and the second support part of the support frame to provide support for the primary planetary frame, and the first support part is located between the shaft hole part and the rotation axis of the primary planetary frame. Such a support method can reduce the diameter of the first bearing, the first bearing does not need to adapt to the outer diameter of the planetary frame, the structure is more compact, and the size and weight of the bearing can be reduced by reducing the size of the first bearing, thereby reducing the weight and cost of the actuator.

[0027] In addition, the first-stage planet carrier does not need to be provided with a support bearing on the outside, which reduces the radial size of the structure supporting the bearing. The outer ring of the first bearing abuts against the inner side of the first support portion, and the outer side thereof is vacant, and no support structure is required, thereby reducing the material of the first-stage planet carrier and further reducing the weight of the actuator. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0029] Figure 1 is a partial cross-sectional schematic diagram of an actuator in one embodiment of the present application;

[0030] Figure 2 is a schematic exploded view of a part of an actuator in a cross-sectional state in an embodiment of the present application;

[0031] Figure 3 is a cross-sectional schematic diagram of an actuator in one embodiment of the present application;

[0032] Figure 4 is a partial exploded schematic diagram of an actuator in one embodiment of the present application;

[0033] Figure 5 is a cross-sectional schematic diagram of an actuator in a three-dimensional state in an embodiment of the present application;

[0034] Figure 6 is an exploded schematic diagram of an actuator in a three-dimensional state in one embodiment of the present application;

[0035] Figure 7 is a partial exploded schematic diagram of an actuator in an embodiment of the present application in a three-dimensional cross-sectional state;

[0036] Figure 8 is a cross-sectional schematic diagram of an actuator in one embodiment of the present application;

[0037] Fig. 9 yes Figure 8 An enlarged schematic diagram of the actuator at position A;

[0038] Fig.10 yes Figure 8 An enlarged schematic diagram of the actuator at position B;

[0039] Fig.11 is a schematic diagram of the assembly of a support frame and a primary planetary frame of an actuator in a cross-sectional state in an embodiment of the present application;

[0040] Fig.12 is a schematic diagram of the three-dimensional structure of a support frame of an actuator in one embodiment of the present application;

[0041] Fig.13 is a schematic top view of a support frame of an actuator in one embodiment of the present application;

[0042] Fig.14 is a bottom view schematic diagram of a support frame of an actuator in one embodiment of the present application;

[0043] Fig.15 yes Fig.14 A schematic cross-sectional view of the middle support frame along the CC direction;

[0044] Fig.16 yes Fig.14A schematic cross-sectional view of the middle support frame along the DD direction;

[0045] Fig.17 is a schematic diagram of the three-dimensional structure of the first-stage planetary mechanism of the actuator after assembly in one embodiment of the present application;

[0046] Fig.18 is a schematic top view of a primary planet carrier of an actuator in one embodiment of the present application;

[0047] Fig.19 is a cross-sectional schematic diagram of a primary planet carrier of an actuator in an embodiment of the present application;

[0048] Fig. 20 is a cross-sectional schematic diagram of the cooperation between the primary planet carrier and the support frame of the actuator in one embodiment of the present application;

[0049] Fig.21 is a schematic diagram of a three-dimensional structure of a robot in one embodiment of the present application;

[0050] Fig. 22 is a schematic diagram of the three-dimensional structure of another robot in one embodiment of the present application;

[0051] Fig.23 is a schematic diagram of a three-dimensional structure of another robot in an embodiment of the present application;

[0052] Fig.24 It is a three-dimensional structural schematic diagram of a mechanical arm structure in one embodiment of the present application.

[0053] Reference numerals in the figures:

[0054] 1. primary planet carrier; 11. first support portion; 111. cylindrical portion; 112. bearing position; 113. first retaining ring;

[0055] 12. Shaft hole; 13. Primary planetary shaft; 14. Primary planetary gear; 15. Connecting wing;

[0056] 21. First bearing; 22. Second bearing; 23. First-stage sun gear;

[0057] 3. gear ring; 31. first assembly hole; 32. joint;

[0058] 4. Support frame;

[0059] 41. connecting portion; 411. second assembly hole; 412. boss;

[0060] 42, covering portion; 43, second supporting portion; 431, annular portion; 432, ring platform; 433, second retaining ring;

[0061] 51. first gap; 52. oil storage chamber; 53. axial gap; 54. oil storage space;

[0062] 6. Wave spring;

[0063] 7. Reducer; 71. Output flange; 72. Hollow transmission shaft;

[0064] 8. Motor; 81. Stator; 82. Rotor;

[0065] 91. driving plate; 92. upper shell; 93. side shell; 94. bottom shell; 95. third bearing; 96. fourth bearing;

[0066] 1000. Joint module. DETAILED DESCRIPTION

[0067] The specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings and Examples. The following examples are used to illustrate the present application, but are not intended to limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application rather than all embodiments, and all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.

[0068] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0069] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0070] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0071] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0072] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0073] In the present invention, the general concept of "roughly" describes the main features of an overall structure or shape. When describing the shape of an object, it means that the object mainly presents a certain specific shape, but may differ in non-functional details. These detailed differences do not affect the overall characteristics, so they can be classified as "roughly" a certain shape. For example, when describing a round object, the expression "roughly round" means that the overall shape of the object is round, but there are differences in some non-functional details. Similarly, when describing a cube, the expression "roughly cubic" means that the overall shape of the object is a cube, but there are differences in some non-functional details.

[0074] In one embodiment, see Figures 1 to 10, an actuator is provided, which mainly includes a primary planetary carrier 1, a first bearing 21, a ring gear 3 and a support frame 4, the primary planetary carrier is constructed with a first support portion 11 which is roughly hollow cylindrical and a plurality of shaft hole portions 12 which are roughly hollow cylindrical structures, the shaft hole portion 12 is used to assemble one end of a primary planetary shaft 13, and the plurality of shaft hole portions 12 are arrayed and arranged around the outer side of the first support portion 11; the support frame is constructed with a connecting portion 41, a covering portion 42 and a second supporting portion 43, the outer side of the covering portion 42 is connected to the connecting portion 41, and the inner side thereof is connected to the second supporting portion 43; wherein the connecting portion 41 is fixedly connected to the ring gear 3, the outer side of the second supporting portion 43 abuts against the inner ring of the first bearing 21, and the inner side of the first supporting portion 11 abuts against the outer ring of the first bearing 21.

[0075] The first-stage planet carrier 1 installs the first bearing 21 between the first support portion 11 and the second support portion 43 of the support frame 4 to provide support for the first-stage planet carrier 1. The first support portion 11 is located between the shaft hole portion 12 and the rotation axis of the first-stage planet carrier 1. This support method reduces the size requirements for the first bearing 21, does not need to adapt to the outer diameter of the planet carrier, has a more compact structure, and can reduce the size and weight of the bearing by reducing the size of the first bearing 21.

[0076] The shaft hole portion 12 is used to assemble one end of a first-stage planetary shaft 13, and a first-stage planetary wheel 14 is sleeved on the first-stage planetary shaft 13. The first-stage planetary wheel 14 is meshed with the internal teeth of the ring gear 3. That is, the span between the radial inner side of the first support portion 11 and the ring gear 3 is roughly at least larger than the radius of the first-stage planetary wheel 14 plus the inner diameter of the shaft hole portion 12. That is, compared with the traditional planetary carrier bearing arrangement scheme, the radial dimension of the first bearing 21 is at least reduced by the radius of the first-stage planetary wheel 14 plus the inner diameter of the shaft hole portion 12, which can effectively reduce the volume and mass of the first bearing 21, thereby achieving the purpose of lightweighting the actuator.

[0077] The first-stage planet carrier 1 moves the first bearing 21 originally located on the outside to the inside to achieve the supporting function, that is, the first bearing 21 now supports the first-stage planet carrier 1 from the inside rather than the outside. This design not only changes the position of the support point, so that the first bearing 21 is in the internal area formed by the first-stage planet shaft 13 around the rotation axis of the first-stage planet carrier 1, so that the support of the first-stage planet carrier 1 does not need to rely on its radial outer side to directly contact and cooperate with the ring gear 3, and the space on its outside is released, and no additional support structure is needed to maintain the stability of the first-stage planet carrier 1. This change not only simplifies the overall design, but also effectively reduces the amount of material used, especially for the first-stage planet carrier 1. The reduction in the amount of material used means a reduction in the weight of the first-stage planet carrier 1, which further reduces the weight of the actuator.

[0078] In one embodiment, see Figures 1 to 16The first support portion 11 includes a cylindrical portion 111 and a first retaining ring 113 , which defines the inner side of the cylindrical portion 111 as a bearing position 112 . The first retaining ring 113 is disposed at one end of the cylindrical portion 111 away from the support frame 4 , and the first retaining ring 113 abuts against one end of the outer ring of the first bearing 21 .

[0079] The first retaining ring 113 is provided to achieve abutment against the outer ring of the first bearing 21, specifically, one end of the first bearing 21 close to the output flange 71 of the reducer 7. This arrangement enables the outer ring of the first bearing 21 to be clamped radially inward and limited at the bottom, thereby increasing the degree of engagement between the outer ring of the first bearing 21 and the first support portion 11, ensuring that the outer ring of the first bearing 21 is stationary relative to the first support portion 11, and no relative movement occurs therebetween, thereby helping to reduce wear and providing stable support. The service life of the outer ring of the first bearing 21 is also guaranteed, while effectively reducing vibration and noise.

[0080] In one embodiment, see Figures 1 to 10 as well as Figures 17 to 19 The second support portion 43 includes a circular portion 431 and a ring platform 432. The outer side of the circular portion 431 is defined as the bearing position 112. The outer side of the circular portion 431 abuts against the first bearing 21. The ring platform 432 is arranged at one end of the circular portion 431 away from the primary planetary carrier 1, and the ring platform 432 abuts against one end of the inner ring of the first bearing 21.

[0081] The annular portion 431 and the ring stage 432 are arranged to abut against the inner ring of the first bearing 21, and the relative positions of the three will not change, so that the inner ring of the first bearing 21 is kept from moving, wear is reduced, and a stable support effect is achieved, and the service life of the inner ring of the first bearing 21 is also guaranteed. The inner ring of the first bearing 21 does not move, so no friction is generated, which can effectively reduce vibration and noise.

[0082] In addition, the contact direction between the ring stage 432 and the inner ring of the first bearing 21 is opposite to the contact direction between the first retaining ring 113 and the outer ring of the first bearing 21. The first bearing 21 is completely limited by the support of the cylindrical part 111 on the inner ring of the first bearing 21 and the support of the annular part 431 on the outer ring of the first bearing 21. The inner ring and the outer ring are respectively combined with the second support part 43 and the first support part 11, thus ensuring the support of the first bearing 21 and providing a basis for the stable operation of the first-stage planetary carrier 1. Such cooperation is conducive to reducing the wear of the first bearing 21, and the service life of the inner and outer rings of the first bearing 21 is also guaranteed, while vibration and noise can be effectively reduced.

[0083] In one embodiment, see Figure 1 , Figure 3 , Figure 5 as well as Figure 8A first gap 51 is defined between the first support portion 11 and the inner side surface of the cover portion 42 , and an axial distance from the first retaining ring 113 to the top surface of the first support portion 11 is equal to or less than an axial height of the first bearing 21 .

[0084] A first gap 51 is reserved between the ring stage 432 and the inner side surface of the cover portion 42, and the axial distance from the first retaining ring 113 to the top surface of the first support portion 11 is equal to or less than the axial height of the first bearing 21. Such a structural design not only enables a more compact installation layout of the first bearing 21 in the axial direction, but also ensures that a certain gap is maintained between the top surface of the first support portion 11 and the cover portion 42, avoiding direct contact between the two, and ensuring that the first-stage planet carrier 1 will not interfere during operation.

[0085] In addition, by directly connecting the first gap 51 to the axial end face of the first bearing 21 away from the first retaining ring 113, an effective path is provided for the lubricating grease to enter the first bearing 21. This design ensures that the first bearing 21 can be fully lubricated, thereby improving its working performance and service life.

[0086] In one embodiment, see Figures 3 to 6 as well as Figure 8 The actuator further includes a second bearing 22 and a primary sun gear 23 , the second support portion 43 abuts against the outer ring of the second bearing 22 , and the primary sun gear 23 abuts against the inner ring of the second bearing 22 .

[0087] The second support portion 43 is in close contact with the outer ring of the second bearing 22, while the primary sun gear 23 is in contact with the inner ring of the second bearing 22. The main purpose of this configuration is to support the primary sun gear 23 and ensure its stability and accuracy during rotation.

[0088] Compared with the traditional design of placing the bearing between the planet carrier and the sun gear, the supporting point of the primary sun gear 23, that is, the outer ring of the second bearing 22, is directly in contact with the second support portion 43. This not only enhances the supporting effect on the primary sun gear 23, but also, because the second support portion 43 is located between the support frame 4 and the gear ring 3 and exists as a stationary component, it effectively avoids the situation where the inner and outer rings of the second bearing 22 are in dynamic state at the same time, thereby providing more stable support and significantly reducing the noise level during operation.

[0089] In addition, the two sides of the second support part 43 bear the pressure from the outer ring of the second bearing 22 and the inner ring of the first bearing 21 respectively. The two preload forces are in opposite directions and can offset each other to a certain extent, reducing the actual pressure borne by the second support part 43 and further ensuring the stability of its structure. In this way, the inner ring of the first bearing 21 and the outer ring of the second bearing 22 on both sides of the second support part 43 can remain relatively stationary, effectively preventing wear caused by relative movement of the inner and outer rings of the bearings and extending the service life of the entire system.

[0090] In one embodiment, see Figure 3 and Figure 6 The second support portion 43 also includes a second retaining ring 433, which is arranged on the inner side of the second support portion 43 and adjacent to one end of the first-stage planetary carrier 1. A wave spring 6 is arranged between the second bearing 22 and the second retaining ring 433. The wave spring 6 is used to provide an axial preload force on the outer ring of the second bearing 22 to eliminate the gap between the inner and outer rings of the second bearing 22 and the ball.

[0091] Specifically, the wave spring 6 is located in the space between the second bearing 22 and the second retaining ring 433, and its two ends are in contact with the second bearing 22 and the second retaining ring 433, thereby providing the second bearing 22 with a prestress in a direction away from the second retaining ring 433. This prestress ensures that the second bearing 22 can maintain stable and smooth operation even in a high-speed rotation state.

[0092] It is worth noting that there may be an axial gap between the outer ring of the second bearing 22 and the ball, and the bottom of the outer ring is not in direct contact with the second retaining ring 433, which may cause the axial gap to increase, thereby affecting the stability of the bearing operation. The prestress provided by the wave spring 6 can keep the axial gap within a smaller range, ensuring the performance under high-speed operation conditions.

[0093] In addition, the second bearing 22 is tightly connected to the primary sun gear 23, and the prestress applied by the wave spring 6 also helps to limit the movement of the primary sun gear 23 toward the secondary sun gear, ensuring that an appropriate distance is maintained between the two to avoid contact and friction, thereby reducing wear and improving transmission efficiency.

[0094] During long-term operation, due to external factors such as wear and temperature changes, the bearings and related components may undergo axial displacement. The elastic characteristics of the wave spring 6 can automatically compensate for such displacement, maintain the smooth operation of the primary sun gear 23, and effectively reduce the vibration and noise caused by the displacement.

[0095] During the operation of the reducer 7, temperature changes will cause the material to expand and contract, which may cause changes in the axial clearance of the bearing. With its elastic properties, the wave spring 6 can automatically adjust the axial clearance changes caused by temperature changes to ensure the stability of the system operation. By reducing vibration, wear and impact, the wave spring 6 not only helps to extend the service life of the bearing, but also improves the durability and reliability of the entire transmission system.

[0096] In one embodiment, see Figures 1 to 8 The radial projections of the first bearing 21 and the second bearing 22 overlap. Such a configuration is compact, effectively utilizes radial space, saves axial space, and is conducive to reducing the volume of the actuator.

[0097] At the same time, the first bearing 21 and the second bearing 22 share a support component, and the radial projections overlap, so that the load can be more evenly distributed between the two bearings, thereby improving the load-bearing capacity and operational stability of the entire system. The assembly process can be simplified because only one support frame 4 needs to be correctly installed, rather than adjusting the positions of the two bearings independently.

[0098] Optionally, the cross-sectional shapes and sizes of the first bearing 21 and the second bearing 22 are substantially equal, so that the load capacities of the two are close and the axial fitting distance is easy to adjust.

[0099] In one embodiment, see Figures 7 to 16 The first support portion 11 and the plurality of shaft holes 12 are integrally formed, and the closed cavity formed between the gear ring 3, the cover portion 42, the first support portion 11 and the plurality of shaft holes 12 is defined as the oil storage cavity 52. ​​The oil storage cavity 52 formed in this way can contain lubricating grease, which increases the storage position of lubricating grease compared with the traditional method, improves the lubrication effect of various components in the reducer 7, and meets the lubrication requirements of the reducer 7.

[0100] In addition, the setting of the support frame 4 effectively separates the interior of the reducer 7 from the motor assembly of the actuator. This design not only maintains the sealing of the interior of the reducer 7 and prevents the lubricating grease from diffusing to the motor assembly and affecting it, but also prevents foreign matter and dust inside the motor assembly or the actuator from entering the interior of the reducer 7, thereby providing a clean and good operating environment for the reducer 7. Under sufficient lubricating grease and sealing conditions, the failure rate of the reducer 7 can be significantly reduced, and the frequency of replenishing lubricating grease is also reduced. This comprehensive reduction in maintenance frequency not only extends the service life of the reducer 7 and even the entire actuator, but also effectively reduces the cost of use.

[0101] In one embodiment, see Figures 7 to 16The two adjacent shaft holes 12 and the outer side of the first support part 11 form an oil storage space 54, and the oil storage space 54 is connected to the oil storage cavity 52. ​​Such an arrangement enables the first-stage planet carrier 1 to form an oil storage space 54, further improving the storage capacity of lubricating grease.

[0102] In one embodiment, see Figures 1 to 8 An axial gap 53 is provided between the cover portion 42 and the first support portion 11. The axial gap 53 is provided along the axial direction to provide an additional space for storing lubricating grease, which can increase its storage capacity, and such a setting can allow the lubricating grease to enter the end of the first bearing 21 facing the cover portion 42, which is convenient for lubricating the first bearing 21. The lubricating grease in the axial gap 53 can also play a role in hindering noise transmission. Even if some noise is generated, the transmission will be reduced due to the properties of the lubricating grease, thereby reducing the noise transmitted out of the reducer 7.

[0103] The position of the axial hole portion 12 is coaxial with the first-stage planetary shaft 13, and the first support portion 11 is located in the space surrounded by the axial hole portion 12, that is, the span of the oil storage space 54 is the radial outer side of the axial hole portion 12 away from the first support portion 11 and the radial outer side of the first support portion 11, which is roughly equal to the diameter of the axial hole portion 12, effectively increasing the overall oil storage capacity of the reducer 7.

[0104] In one embodiment, see Fig. 20 , the radial distance between the connecting portion 41 and the second supporting portion 43 is L1, the radial distance from the outer side of the first supporting portion 11 to the inner side of the second supporting portion 43 is L2, and L1 is twice or more of L2. Such a setting ensures that the span of the oil storage cavity 52 is larger than the area that cannot store grease, so as to ensure the storage capacity of the oil storage cavity 52, which can meet the lubrication requirements inside the reducer 7, reduce the frequency of grease replenishment, and reduce maintenance costs.

[0105] In one embodiment, see Figures 12 to 15 The axial hole portion 12 is connected to the outer side of the first support portion 11, and connecting wings 15 are provided on both sides of the axial hole portion 12 adjacent to the first support portion. The connecting wings 15 are arc-shaped in radial cross section, and the shape of the connecting wings 15 in radial cross section is opposite to the bending direction of the shapes in radial cross section of the axial hole portion 12 and the first support portion 11 at the corresponding connection.

[0106] The connection wing 15 increases the connection area between the shaft hole 12 and the cylindrical part 111, and improves the supporting effect of the shaft hole 12 on the cylindrical part 111. Together with the shaft hole 12 uniformly surrounding the outer side of the cylindrical part 111, the combination of the three can play a role in increasing the overall structural strength.

[0107] The shape of the connecting wing 15 on the radial cross section is opposite to the curvature direction of the shape of the corresponding connecting shaft hole portion 12 and the cylindrical portion 111 on the radial cross section. This arrangement enables the shaft hole portion 12, the cylindrical portion 111 and the connecting wing 15 to be located outside the arc-shaped area of ​​the other two, so that the arc-shaped structure is abutted, and the three support each other, which is conducive to enhancing the structural strength.

[0108] In one embodiment, see Figures 1 to 4 The ring gear 3 is provided with a first assembly hole 31, and the connecting part 41 is provided with a second assembly hole 411. The ring gear 3 and the connecting part 41 are fastened and connected by aligning the first assembly hole 31 and the second assembly hole 411, and the ring gear 3 and the connecting part 41 are assembled to form a closed structure. The precise alignment of the first assembly hole 31 and the second assembly hole 411 ensures a high-precision connection between the connecting part 41 and the ring gear 3. This high-precision connection not only improves the sealing of the reducer 7, but also enhances its structural stability. The sealing design between the ring gear 3 and the connecting part 41 effectively prevents the leakage of lubricating grease from the junction of the two, ensures a clean environment between the reducer 7 and the motor 8, and also prevents foreign matter such as dust from invading the connection, further ensuring the normal operation of the reducer 7.

[0109] The extension direction of the first assembly hole 31 and the second assembly hole 411 are both perpendicular to the rotation axis direction of the reducer 7. This design not only ensures the overall structural integrity of the cover portion 42, but also makes full use of the lateral space of the ring gear 3, avoiding the need to increase the thickness of the ring gear 3 in the radial direction to set the assembly holes, thereby reducing the use of materials and achieving a lightweight design.

[0110] The plurality of first assembly holes 31 are evenly distributed on the outside of the gear ring 3, and the corresponding plurality of second assembly holes 411 are also arranged accordingly. Such a layout not only increases the bonding strength between the connection portion 41 and the gear ring 3, but also provides a good support effect through evenly distributed connection points. The first assembly holes 31 and the second assembly holes 411 are fixedly connected by threaded fasteners (such as bolts and nuts), ensuring the firmness and reliability of the connection.

[0111] In one embodiment, see Figures 1 to 4 The connecting portion 41 is a thin-walled circular ring structure, and a boss 412 protruding inward is arranged on the inner side of the connecting portion 41. The second assembly hole 411 is at least partially located in the boss 412, and the second assembly hole 411 is a blind hole. The thin-walled circular ring structure is arranged so that its outer side can adapt to the gear ring 3, and at the same time, it can reduce weight and save materials while maintaining the necessary strength and rigidity. The boss 412 is on the inner side, which can play a supporting role, maintain the structural stability of the connecting portion 41, and also facilitate the reducer 7 to improve the sealing and stability.

[0112] The thin-walled circular ring structure is set so that its outer side can adapt to the gear ring 3, while reducing weight and saving materials. The force in the radial direction of the circular ring structure will not be concentrated, thereby maintaining the necessary strength and rigidity. The boss 412 is on the inner side, which can play a supporting role, maintain the structural stability of the connecting part 41, and also facilitate the reducer 7 to improve the sealing and stability. It can be understood that the "thin-walled circular ring structure" described in this embodiment, the thin wall, for example, is relative to the thick-walled structure of the gear ring 3 of this reducer, or can be understood as a thin-walled part relative to the boss 412.

[0113] The second assembly hole 411 is a blind hole, and such a setting allows the second assembly hole 411 to extend from the connecting portion 41 into the inner side of the boss 412. On the one hand, the setting of the boss 412 can ensure that the second assembly hole 411 has sufficient extension space, and on the other hand, the position of the blind hole can prevent the lubricating grease from leaking from the second assembly hole 411 to the first assembly hole 31 in sequence. Such a tight assembly maintains the structural stability of the first assembly hole 31 and the second assembly hole 411 after assembly, and can also reduce the vibration and noise caused by loose components, thereby improving the running quality of the reducer.

[0114] In one embodiment, the first assembly hole 31 is a countersunk through hole, and the second assembly hole 411 is a threaded hole. The threaded section of the threaded fastener is threadedly matched with the second assembly hole 411. The nut section enters the first assembly hole 31 and forms a limit in the axial direction thereof. The nut section is completely located in the first assembly hole 31 and will not cause assembly interference to the circumferential side of the gear ring 3. Such a setting structure is compact and the connection is reliable.

[0115] In one embodiment, see Figures 1 to 4 The gear ring 3 is provided with a coupling portion 32, which is a cylindrical structure extending outward from the tooth end surface of the gear ring 3. The connecting portion 41 is assembled and connected with the coupling portion 32, and the connecting portion 41 abuts or has a clearance fit with the tooth end surface. The setting of the coupling portion 32 is intended to provide a reliable docking surface for the connecting portion 41 to ensure a tight connection between the connecting portion 41 and the gear ring 3. The coupling portion 32 not only forms a circumferential limit for the connecting portion 41, but also makes the two more tightly and reliably combined.

[0116] Specifically, the radial outer diameter of the coupling portion 32 is equal to the radial outer diameter of the gear ring 3, and the radial inner diameter of the coupling portion 32 is matched with the radial outer diameter of the connecting portion 41, so that the two can be tightly coupled. The axial dimension of the coupling portion 32 is less than or equal to the axial dimension of the connecting portion 41, so that the structural strength of the coupling portion 32 can be ensured while achieving a lightweight design, reducing the axial dimension of the reducer 7, and making the overall structure more compact and reliable.

[0117] The connecting portion 41 and the tooth end surface can be in abutment or clearance fit. This design not only makes the structure more compact, but also improves the sealing performance and effectively prevents the intrusion of external foreign matter.

[0118] In addition, the coupling portion 32 and the connecting portion 41 may be interference-fitted in the radial direction, which can further ensure the sealing performance of the coupling and ensure the cleanliness and stable operation of the interior of the reducer 7 .

[0119] In one embodiment, the actuator is roughly cylindrical in structure, and further includes a motor 8, a reducer 7, an upper shell 92, a side shell 93 and a bottom shell 94. The side shell 93 is used to cover the motor 8 and the reducer 7. The side shell 93 is fixedly connected to the drive plate 91 away from the motor 8. The motor 8 is an outer rotor motor, including an inner stator 81 and an outer rotor 82. The rotor connector is connected to the side shell 93 through a third bearing 95. The bottom shell 94 is connected to the outer ring of the output flange 71 through a fourth bearing 96. The upper shell 92 is fixed to the side shell 93 through a fixing member and covers the drive plate 91. The fourth bearing 96 can be a cross roller bearing. The reducer 7 includes an output flange 71 and a hollow transmission shaft 72 that are connected to each other. The output flange 71 outputs power to the outside, and the hollow transmission shaft 72 is used to cooperate with the drive plate 91 to record the real-time rotation speed of the output flange 71.

[0120] In one embodiment, a joint module 1000 is provided, which includes an actuator as described in any of the above embodiments. The specific structure of the actuator ensures efficient power transmission and precise motion control.

[0121] In one embodiment, see Fig.23 , provides a biped robot, wherein at least one driving joint adopts the joint module 1000 as in any of the above embodiments, or the actuator as in any of the above embodiments. The biped robot can meet the requirements of achieving stable walking, balance control, adaptability to complex terrain, efficient movement, load capacity, and high adaptability to multiple terrain environments in terms of driving joints.

[0122] In one embodiment, see Fig.21 , a point-legged robot is provided, wherein at least one driving joint adopts the joint module 1000 as in any of the above embodiments, or the actuator as in any of the above embodiments. The point-legged robot can meet the requirements of driving joints to achieve stable walking, balance control, adaptability to complex terrain, efficient movement, load capacity, and high adaptability to multiple terrain environments.

[0123] In one embodiment, a quadruped robot is provided, wherein at least one driving joint adopts the joint module 1000 in any of the above embodiments, or the actuator in any of the above embodiments. The quadruped robot can meet the requirements of driving joints to achieve stable walking, balance control, adaptability to complex terrain, efficient movement, load capacity, and high adaptability to multiple terrain environments.

[0124] In one embodiment, see Fig. 22 , provides a four-wheeled leg robot, at least one of whose driving joints adopts the joint module 1000 in any of the above embodiments. The four-wheeled leg robot can meet the requirements of driving joints to achieve stable walking, balance control, adaptability to complex terrain, efficient movement, load capacity and high adaptability to multiple terrain environments.

[0125] In one embodiment, see Fig.24 , a mechanical arm is provided, at least one driving joint of which adopts the joint module 1000 in any of the above embodiments. The above mechanical arm usually includes a plurality of driving joints, and the application of the above reducer, actuator or joint module 1000 can ensure the multi-degree-of-freedom motion capability of the mechanical arm.

[0126] In one embodiment, a robot is provided, wherein at least one driving joint of the robot adopts a joint module 1000 as in any of the above embodiments, or an actuator as in any of the above embodiments.

[0127] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. An actuator, characterized in that: include: A primary planet carrier, a first bearing, a gear ring and a support frame, wherein the primary planet carrier is configured with a first support portion that is substantially in the shape of a hollow cylinder and a plurality of shaft hole portions that are substantially in the shape of a hollow cylinder, wherein the shaft hole portion is used to assemble one end of a primary planet shaft, and the plurality of shaft hole portions are arrayed and arranged around the outer side of the first support portion; The support frame is constructed with a connecting portion, a covering portion and a second supporting portion, wherein the outer side of the covering portion is connected to the connecting portion, and the inner side of the covering portion is connected to the second supporting portion; The connecting portion is fixedly connected to the gear ring, the outer side of the second supporting portion abuts against the inner ring of the first bearing, and the inner side of the first supporting portion abuts against the outer ring of the first bearing.

2. The actuator according to claim 1, characterized in that The first support portion includes a cylindrical portion and a first retaining ring, defining the inner side of the cylindrical portion as a bearing position, the first retaining ring being arranged at one end of the cylindrical portion away from the support frame, and the first retaining ring abutting against one end of the outer ring of the first bearing.

3. The actuator according to claim 2, characterized in that The second support portion includes a circular ring portion and an annular platform, and the outer side of the circular ring portion is defined as a bearing position. The outer side of the circular ring portion abuts against the first bearing. The annular platform is arranged at one end of the circular ring portion away from the primary planetary carrier, and the annular platform abuts against one end of the inner ring of the first bearing.

4. The actuator according to claim 3, characterized in that A first gap is provided between the first support portion and the inner side surface of the cover portion, and an axial distance from the first retaining ring to the top surface of the first support portion is equal to or less than an axial height of the first bearing.

5. The actuator according to claim 1, characterized in that: Also includes A second bearing and a primary sun gear, wherein the second support portion abuts against an outer ring of the second bearing, and the primary sun gear abuts against an inner ring of the second bearing.

6. The actuator according to claim 5, characterized in that The second support portion also includes a second retaining ring, which is arranged on the inner side of the second support portion and adjacent to one end of the first-stage planetary carrier. A wave spring is arranged between the second bearing and the second retaining ring, and the wave spring is used to provide an axial preload force on the outer ring of the second bearing.

7. The actuator according to claim 5, characterized in that The projections of the first bearing and the second bearing in the radial direction partially overlap.

8. The actuator according to claim 1, characterized in that The first support portion and the plurality of shaft hole portions are integrally formed, and a closed cavity formed among the gear ring, the cover portion, the first support portion and the plurality of shaft hole portions is defined as an oil storage cavity.

9. The actuator according to claim 8, characterized in that A radial distance between the connecting portion and the second supporting portion is twice or more of a radial distance from an outer side surface of the first supporting portion to an inner side surface of the second supporting portion.

10. The actuator according to claim 8, characterized in that The axial hole portion is connected to the outer side of the first support portion, and connecting wings are provided on both sides of the axial hole portion adjacent to the first support portion. The connecting wings are arc-shaped in radial cross section, and the shape of the connecting wings in radial cross section is opposite to the bending direction of the shapes in radial cross section of the axial hole portion and the first support portion at the corresponding connection.

11. The actuator according to claim 1, characterized in that The gear ring is provided with a first assembly hole, and the connecting part is provided with a second assembly hole. The gear ring and the connecting part are fastened and connected through the aligned first assembly hole and the second assembly hole. After the gear ring and the connecting part are assembled, a closed structure is formed.

12. The actuator according to claim 11, characterized in that The connecting portion is a thin-walled circular ring structure, an inwardly protruding boss is arranged on the inner side of the connecting portion, the second assembly hole is at least partially located and extends into the boss, and the second assembly hole is a blind hole.

13. The actuator according to claim 11, characterized in that The gear ring is provided with a coupling portion, which is a cylindrical structure extending outward from the tooth end surface of the gear ring. The connecting portion is assembled and connected to the coupling portion, and the connecting portion is in abutment or clearance fit with the tooth end surface.

14. A joint module, characterized in that: Comprising an actuator as claimed in any one of claims 1 to 13.

15. A bipedal robot, characterized in that: At least one driven joint adopts the joint module as claimed in claim 14, or the actuator as claimed in any one of claims 1 to 13.

16. A point-foot robot, characterized in that: At least one driven joint adopts the joint module as claimed in claim 14, or the actuator as claimed in any one of claims 1 to 13.

17. A quadruped robot, characterized in that: At least one driven joint adopts the joint module as claimed in claim 14, or the actuator as claimed in any one of claims 1 to 13.

18. A four-wheeled legged robot, characterized in that: At least one driven joint adopts the joint module as claimed in claim 14, or the actuator as claimed in any one of claims 1 to 13.

19. A robotic arm, characterized in that: At least one driven joint adopts the joint module as claimed in claim 14, or the actuator as claimed in any one of claims 1 to 13.

20. A robot, characterized in that: At least one driven joint adopts the joint module as claimed in claim 14, or the actuator as claimed in any one of claims 1 to 13.

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