Joint actuators and robot joints

Abstract

The present invention discloses a joint actuator and a robot joint. In the present invention, the joint actuator includes: a housing; a double-stator permanent magnet motor, which is arranged in the housing, and the double-stator permanent magnet motor includes: an inner stator, a rotor, and an outer stator coaxially arranged from the inside to the outside, the outer stator is connected to the housing, and the rotor is rotatably arranged between the inner stator and the outer stator; and the rotor includes a permanent magnet; a planetary reduction mechanism, which is arranged in the housing and connected to the rotor, and drives the planetary reduction mechanism to operate when the rotor rotates; and a controller, which is arranged in the housing and is electrically connected to the inner stator and the outer stator. The joint actuator has high power density, high torque density, good heat dissipation, and fast control response.

Description

Technical Field

[0001] The present invention relates to the technical field of motors, and in particular to a joint actuator and a robot joint. Background Art

[0002] A humanoid robot is a robot with a human-like appearance and functions. At present, humanoid robots have gradually moved from science fiction to reality and have become one of the research hotspots in the field of robotics. Many companies and research institutions at home and abroad are actively investing in the research and development and application of humanoid robots. Humanoid robots have broad application prospects in the fields of manufacturing, service, health care, education, etc. They can perform repetitive and heavy tasks, improve production efficiency and service quality; they can search and rescue in dangerous environments; they can also enter ordinary families as home assistants, educational robots, etc.

[0003] Robot joint actuators are an important part of the robot system, responsible for driving the robot's joints to achieve various movements. Its working principle is based on the synergy of the motor and the reducer to achieve high-precision movement. Through the combination of multiple actuators and joints, multi-degree-of-freedom position control can be achieved, which facilitates kinematics in robotics and other fields. In the robot structural system, the joint actuator is both the power source for the robot's actions and the load for the robot to move. At the same time, a large number of joint actuators are required to drive the robot to achieve the desired movement. However, the existing actuators are large in size, low in power, and low in torque, which cannot meet the design requirements of humanoid robots. Summary of the invention

[0004] The object of the present invention is to provide a joint actuator and a robot joint, so as to achieve a joint actuator with high power density, high torque density, good heat dissipation and fast control response.

[0005] In order to solve the above technical problems, an embodiment of the present invention provides a joint actuator, comprising:

[0006] shell;

[0007] A double-stator permanent magnet motor, the double-stator permanent magnet motor is arranged in the housing, the double-stator permanent magnet motor comprises: an inner stator, a rotor, and an outer stator coaxially arranged from the inside to the outside, the outer stator is connected to the housing, the rotor is rotatably arranged between the inner stator and the outer stator; and the rotor comprises a permanent magnet;

[0008] a planetary reduction mechanism, wherein the planetary reduction mechanism is disposed in the housing and connected to the rotor, and the planetary reduction mechanism is driven to operate when the rotor rotates; and

[0009] A controller is disposed in the housing and is electrically connected to the inner stator and the outer stator.

[0010] Compared with the prior art, the embodiment of the present invention applies controlled electromagnetic force to the rotor including the permanent magnet at the same time by the outer stator and the inner stator to rotate the rotor. At this time, the coaxially arranged double stator structure actually drives the rotor. The torque of the conventional motor is increased by at least 30% under the same outer diameter, the output torque is increased, the torque constant is increased, and the number of winding turns in a certain space is more, that is, the torque density is increased. The rotation of the rotor drives the planetary reduction mechanism to operate. After the planetary reduction mechanism decelerates and increases the torque, the power is output to the mechanical arm from the output end, that is, the joint actuator outputs a larger torque to the mechanical arm. While the joint actuator outputs a larger torque, the overall structure volume is small, which can meet the needs of applying it to humanoid robots. At the same time, the controller of the joint actuator is arranged in the shell, realizing the integrated built-in of various components, making the layout more compact, and reducing the internal wiring harness of the trunk, reducing the possibility of signal interference and wiring harness loss, so that the double-stator permanent magnet motor can respond faster, and the host computer only needs to receive signals and give demand signals, especially for humanoid robots, which need to control the movement of hundreds of joint actuators at the same time, which can reduce the control difficulty of the host computer.

[0011] In one embodiment, the rotor further includes a rotor bracket, and the permanent magnet is arranged on the rotor bracket; the dual-stator permanent magnet motor further includes: a stator bracket connected to the outer shell; and the inner stator is connected to the stator bracket.

[0012] In one embodiment, the housing comprises a housing body and a sealing end cover arranged at one end of the housing body, and the outer stator is fixedly connected to the housing body;

[0013] The stator bracket has a connecting portion embedded in one end of the shell body, and a mounting portion connected to the connecting portion; the mounting portion protrudes inside the shell; the inner stator ring is fixed outside the mounting portion; the cover end cover covers the connecting portion;

[0014] The rotor bracket comprises a frame body portion annularly arranged between the inner stator and the outer stator, a docking portion rotatably connected to the mounting portion, and a first end face portion connecting the frame body portion and the docking portion; the permanent magnet is fixedly connected to the frame body portion.

[0015] In one embodiment, the frame portion and the docking portion are arranged in a circle to form an installation space; the installation portion and the inner stator are located in the installation space;

[0016] A through hole communicating with the installation space is provided on the first end surface portion; blades are arranged on the first end surface portion; the planetary reduction mechanism is connected to the first end surface portion; the through hole, the installation space, the gap in the inner stator, and the gap in the outer stator are connected to form an air flow channel.

[0017] In one embodiment, there are a plurality of through holes, which are arranged in a circle on the first end surface portion, and the blade is connected to the inner walls of two adjacent through holes.

[0018] In one embodiment, the blade is detachably connected to the rotor bracket and is located on a side of the first end surface portion facing the planetary reduction mechanism.

[0019] In one embodiment, the rotor bracket has permanent magnets on both the side facing the inner stator and the side facing the outer stator. The permanent magnets on the side facing the inner stator and the permanent magnets on the side facing the outer stator are arranged in a Halbach array structure, and the permanent magnets on the side facing the inner stator and the permanent magnets on the side facing the outer stator are staggered.

[0020] In one embodiment, the controller is disposed on the stator bracket; the controller is a single-port drive controller or a dual-port drive controller.

[0021] In one embodiment, the inner stator and the outer stator are connected in parallel;

[0022] The planetary reduction mechanism comprises:

[0023] A reduction housing, the reduction housing being connected to the outer housing;

[0024] A sun gear, the sun gear is coaxially fixed with the rotor;

[0025] A gear ring, the gear ring is connected to the reduction housing and is coaxially arranged on the outer periphery of the sun gear;

[0026] Planetary gear carrier;

[0027] A planetary gear set, the planetary gear set comprising: an axle fixed to the planetary wheel carrier and a planetary gear rotating around the axle, the planetary gear meshing with the ring gear and the sun gear; and

[0028] The output end cover is fixedly connected to the planetary wheel carrier; the planetary wheel revolves around the sun wheel and drives the wheel axle, and the movement of the wheel axle drives the output end cover and the planetary wheel carrier.

[0029] An embodiment of the present invention provides a robot joint, comprising: a joint actuator as described in any one of the above. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0031] Figure 1 is an assembly diagram of a joint actuator according to an embodiment of the present invention;

[0032] Figure 2 is an assembly diagram of a housing, a stator bracket, and a reduction housing according to an embodiment of the present invention;

[0033] Figure 3 is an assembly diagram of a double-stator permanent magnet motor arranged in a housing according to an embodiment of the present invention;

[0034] Figure 4 is a diagram showing the installation of blades and a rotor support according to an embodiment of the present invention;

[0035] Figure 5 is an assembly diagram of a planetary reduction mechanism according to an embodiment of the present invention;

[0036] Figure 6 is a schematic diagram of a staggered double-sided Halbach array magnetization structure according to an embodiment of the present invention;

[0037] Figure 7 is a schematic diagram of magnetizing a two-stage Halbach array according to an embodiment of the present invention;

[0038] Figure 8 is a schematic diagram of magnetizing a three-segment Halbach array according to an embodiment of the present invention;

[0039] Fig. 9 is a schematic diagram of magnetizing a four-segment Halbach array according to an embodiment of the present invention;

[0040] Among them, 100, joint actuator; 1, outer shell; 11, shell body; 12, cover end cover; 21, inner stator; 22, rotor; 23, outer stator; 24, stator bracket; 241, connecting part; 242, mounting part; 221, rotor bracket; 2211, frame part; 2212, docking part; 2213, first end face part; 2214, through hole; 222, permanent magnet; 3, planetary reduction mechanism; 31, reduction housing; 32, sun gear; 33, ring gear; 34, planetary wheel carrier; 35, planetary gear set; 351, wheel axle; 352, planetary gear; 36, output end cover; 4, controller; 5, installation space; 6, blades. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the following will be described in detail with reference to the accompanying drawings. However, it will be appreciated by those skilled in the art that in the various embodiments of the present invention, many technical details are provided in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can be implemented.

[0042] In the following description, certain specific details are set forth for the purpose of illustrating various disclosed embodiments to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the relevant art will recognize that the embodiments may be practiced without one or more of these specific details. In other cases, well-known devices, structures, and techniques associated with the present application may not be shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

[0043] Unless the context requires otherwise, throughout the specification and claims, the word "comprise" and variations such as "include" and "have" should be construed in an open, inclusive sense, ie, should be interpreted as "including, but not limited to."

[0044] The following will be described in detail with reference to the accompanying drawings to provide a clearer understanding of the purpose, features and advantages of the present invention. It should be understood that the embodiments shown in the accompanying drawings are not intended to limit the scope of the present invention, but are only intended to illustrate the essential spirit of the technical solution of the present invention.

[0045] References throughout the specification to "one embodiment" or "an embodiment" indicate that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of "in one embodiment" or "in an embodiment" in various places throughout the specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any manner in one or more embodiments.

[0046] As used in this specification and the appended claims, the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. It should be noted that the term "or" is generally employed in its sense including "and / or" unless the context clearly dictates otherwise.

[0047] In the following description, in order to clearly show the structure and working mode of the present invention, many directional words will be used for description, but the words "front", "back", "left", "right", "outside", "inside", "outward", "inward", "up", "down", etc. should be understood as convenient terms and should not be understood as restrictive terms.

[0048] Embodiments of the present invention are described below with reference to the accompanying drawings.

[0049] An embodiment of the present invention relates to a joint actuator 100. Figure 1 , Figure 2 , Figure 3 As shown, the joint actuator 100 is used on a humanoid robot, and the joint actuator 100 includes: a housing 1, a double-stator permanent magnet motor, a planetary reduction mechanism 3 and a controller 4. The double-stator permanent magnet motor is arranged in the housing 1, and the double-stator permanent magnet motor includes: an inner stator 21, a rotor 22, and an outer stator 23 coaxially arranged from the inside to the outside, the rotor 22 includes a permanent magnet 222, the outer stator 23 is connected to the housing 1, and the rotor 22 is rotatably arranged between the inner stator 21 and the outer stator 23. The planetary reduction mechanism 3 is arranged in the housing 1 and is connected to the rotor 22. When the rotor 22 rotates, it drives the planetary reduction mechanism 3 to operate. The controller 4 is arranged in the housing 1, and the controller 4 is electrically connected to the inner stator 21 and the outer stator 23. The housing 1 of the joint actuator 100 is fixed on the upper arm. When running, the rotor 22 drives the planetary reduction mechanism 3 to reduce speed and increase torque through the planetary reduction mechanism 3, and then outputs power from the output end to drive the forearm to move.

[0050] The outer stator 23 and the inner stator 21 simultaneously apply a controlled electromagnetic force to the rotor 22 including the permanent magnet 222, so that the rotor 22 rotates. At this time, the coaxially arranged double stator structure actually drives the rotor 22, which increases the torque by at least 30% compared with conventional motors at the same outer diameter, increases the output torque, increases the torque constant, and increases the number of winding turns in a certain space, that is, increases the torque density. The rotation of the rotor 22 drives the planetary reduction mechanism 3 to operate. After the planetary reduction mechanism 3 reduces speed and increases torque, the power is output to the robot arm from the output end, that is, the joint actuator 100 outputs a larger torque to the robot arm. While outputting a larger torque in the joint actuator 100, the overall structure is small in size, which can meet the needs of using it in a humanoid robot. At the same time, the controller 4 of the joint actuator 100 is arranged in the outer shell 1, realizing the integrated internal integration of various components, making the layout more compact, and reducing the internal wiring harness of the torso, reducing the possibility of signal interference and wiring harness loss, and making the dual-stator permanent magnet motor respond faster. The upper computer only needs to receive signals and give demand signals, which can reduce the control difficulty of the upper computer, especially for a humanoid robot system that needs to control the movement of hundreds of joint actuators 100 at the same time.

[0051] The existing actuator scheme of the outer rotor permanent magnet motor and the reducer in parallel generally takes the unloaded slow walking as the rated working condition, and the action is formed by the combined force of multiple joints. When walking with a load, the motor is overloaded and cannot operate reliably for a long time, especially when walking fast with a load, it will directly overload and cause a short-term temperature limit shutdown. If the joint actuator scheme uses the maximum load index as the rated working condition, the torque capacity of the motor will far exceed the torque requirements of the robot when it is marking time, walking slowly, and walking fast, resulting in a waste of motor performance. In addition, when a joint motor fails, the continuous action of the combined force of multiple joints will not be able to proceed. In this embodiment, dual drive or single drive can be used, and the controller can be equipped with single-port drive control or dual-port drive control. The latter can control the inner stator and the outer stator respectively, and realize the power distribution. The dual-drive redundant design is adopted in the key parts to realize the high-reliability operation of the robot. The dual-drive dual-stator motor can adjust the power ratio of the inner / outer stator according to the working condition requirements, realize the overall lowest temperature operation of the motor, and improve the operating reliability and life.

[0052] The dual-stator permanent magnet motor in this embodiment can be used in the actuator of the humanoid robot with dual drive or single drive, and dual drive redundancy design is adopted in key parts to achieve high reliability operation of the robot. The dual-drive dual-stator motor can adjust the power ratio of the inner / outer stator according to the working conditions, achieve the lowest temperature operation of the motor as a whole, and improve the operating reliability and life.

[0053] Furthermore, if Figure 1 , Figure 2 , Figure 3 As shown, the rotor 22 further includes a rotor support 221 , and the dual-stator permanent magnet motor further includes: a stator support 24 connected to the housing 1 . The inner stator 21 is connected to the stator support 24 , and the permanent magnet 222 is arranged on the rotor support 221 .

[0054] like Figure 6 As shown, the rotor support 221 has permanent magnets 222 on both the side facing the inner stator 21 and the side facing the outer stator 23. The permanent magnets 222 are arranged around the rotor support 221. The permanent magnets on the side facing the inner stator 21 and the permanent magnets on the side facing the outer stator 23 are arranged in a Halbach array structure. The permanent magnets on the side facing the inner stator 21 and the permanent magnets on the side facing the outer stator 23 are staggered.

[0055] Torque pulsation will affect the smooth operation of the humanoid robot joints, which is mainly caused by magnetic circuit saturation caused by cogging torque and armature reaction. Compared with a single-stator permanent magnet motor, a dual-stator permanent magnet motor has a dual air gap structure, has double the cogging torque and armature effect, and theoretically has a larger torque pulsation. At present, the inner / outer stator displacement angle offset method is used to weaken the cogging torque to reduce torque pulsation, but this method also reduces the average output torque amplitude. In this embodiment, the inner and outer permanent magnets of the rotor are offset, and the offset angle is 0 to 90°. The angle range is unequal to match different pole slots, weakening the air gap harmonics to reduce torque pulsation.

[0056] Furthermore, the magnetizing structure of the rotor 22 is a multi-segment Halbach array, and the magnetizing angle β between two adjacent permanent magnets is 15°~90°.

[0057] Furthermore, if Figure 7 As shown in the figure, the arrow indicates the magnetization direction, and the magnetization structure of the rotor 22 is a two-stage Halbach array, in which the magnetization direction of one permanent magnet is radial magnetization, and the magnetization direction of the other permanent magnet is at a preset angle with the radial direction, and the preset angle β is less than 90°. Preferably, the preset angle β is 30°.

[0058] In other implementations, such as Figure 8 As shown in the figure, the arrow is the magnetization direction, the magnetization structure of the rotor 22 is a three-segment Halbach array, in which the magnetization direction of a central permanent magnet is radial magnetization, and the magnetization directions of the permanent magnets 222 located on both sides are symmetrical and form a preset angle with the radial direction, and the preset angle β is less than 90°. Preferably, the preset angle β is 30°; or Fig. 9 As shown in the figure, the arrow is the magnetization direction, and the magnetization structure of the rotor 22 is a four-segment Halbach array, in which the magnetization direction of one permanent magnet is tangential magnetization, and the magnetization directions of the two permanent magnets adjacent to the tangential magnetization are symmetrical and form a preset angle with the radial direction, and the preset angle β is less than 90°, and the magnetization direction of the last permanent magnet is radial and the magnetization direction is the same as the magnetization direction of the adjacent permanent magnet. Preferably, the preset angle β is 70°.

[0059] Furthermore, if Figure 1 , Figure 2 , Figure 3As shown, the housing 1 has a housing body 11, and a cover end cap 12 arranged at one end of the housing body 11, and the outer stator 23 is fixedly connected to the housing body 11. The stator support 24 has a connecting portion 241 embedded in one end of the housing body 11, and a mounting portion 242 connected to the connecting portion 241. The mounting portion 242 protrudes inside the housing 1, the inner stator 21 is annularly fixed outside the mounting portion 242, and the cover end cap 12 covers the connecting portion 241. The rotor support 221 has a frame portion 2211 annularly arranged between the inner stator 21 and the outer stator 23, a docking portion 2212 rotatably connected to the mounting portion 242, and a first end face portion 2213 connecting the frame portion 2211 and the docking portion 2212, and the permanent magnet 222 is fixedly connected to the frame portion 2211.

[0060] The rotor support 221 has a rotor yoke, i.e., a frame body 2211, for fixing the permanent magnet 222. The rotor yoke is a non-magnetic light-weight part, so that the whole has a lower moment of inertia and better rapid response performance. The rotor support 221 as a whole can be a non-magnetic light-weight part.

[0061] Specifically, the non-magnetic conductive lightweight part includes one of aluminum alloy, titanium alloy, magnesium alloy, glass fiber, carbon fiber or polyethylene.

[0062] In addition, if Figure 1 , Figure 2 , Figure 3 As shown, the frame portion 2211 and the docking portion 2212 are arranged in a circle to form an installation space 5 , and the installation portion 242 and the inner stator 21 are located in the installation space 5 .

[0063] like Figure 1 , Figure 3 and Figure 4 As shown, a through hole 2214 communicating with the installation space 5 is provided on the first end surface 2213, a blade 6 is provided on the first end surface 2213, the rotor bracket 221 is open on the side away from the first end surface 2213, the planetary reduction mechanism 3 is connected to the first end surface 2213, the through hole 2214, the installation space 5, the gap in the inner stator 21, and the gap in the outer stator 23 are connected to form an airflow channel, and the airflow flows as shown in FIG. Figure 3 As shown by arrow A in FIG. , the air inside the joint actuator 100 can flow, so as to achieve better heat exchange and have better heat dissipation performance.

[0064] Furthermore, if Figure 4 As shown, there are a plurality of through holes 2214 , which are arranged in a circle on the first end surface portion 2213 , and the blade is connected to the inner walls of two adjacent through holes 2214 .

[0065] In addition, if Figure 4 As shown, blades are connected between two adjacent through holes 2214 , and a plurality of blades are equidistantly arranged around the center of the first end surface portion 2213 .

[0066] In addition, if Figure 4 As shown, the blade 6 and the rotor support 221 are an integral part, and are located on the side of the first end surface 2213 facing the planetary reduction mechanism 3, and the cost is reduced by integrated production. In other embodiments, the blade 6 and the rotor support 221 can also be two independent parts, and the blade 6 is clamped with the inner wall of the through hole 2214.

[0067] In addition, if Figure 1 , Figure 2 , Figure 3 As shown, the frame body 2211 is provided with permanent magnets 222 on one side facing the inner stator 21 and the other side facing the outer stator 23, and the permanent magnets 222 can be stuck in the frame body 2211. It can be understood that the frame body 2211 can be provided with permanent magnets 222 on both sides or on one side.

[0068] In addition, if Figure 1 As shown, the controller is arranged on the stator bracket 24, realizing the integrated built-in controller, making the layout more compact, reducing the internal wiring harness of the trunk, reducing the possibility of signal interference and wiring harness loss, and making the dual-stator permanent magnet motor respond faster. At the same time, the controller 4 is arranged in the housing 1, and the host computer only needs to receive the position signal and give the demand signal, especially for a system such as a humanoid robot that needs to control the movement of hundreds of joint actuators 100 at the same time, which can reduce the control difficulty of the host computer.

[0069] Specifically, Figure 1 , Figure 5 As shown, the inner stator 21 and the outer stator 23 are connected in parallel, and the planetary reduction mechanism 3 includes: a reduction housing 31, a sun gear 32, a ring gear 33, a planetary gear carrier 34, a planetary gear set 35 and an output end cover 36. The reduction housing 31 is connected to the housing 1, the sun gear 32 is coaxially fixed to the rotor 22, the ring gear 33 is connected to the reduction housing 31, and the coaxial ring is arranged on the outer periphery of the sun gear 32. The planetary gear set 35 includes: an axle 351 fixed to the planetary gear carrier 34 and a planetary gear 352 rotating around the axle 351, and the planetary gear 352 is meshed with the ring gear 33 and the sun gear 32. The output end cover 36 is fixedly connected to the planetary gear carrier 34. There are multiple planetary gears 352, and the axle 351 is fixedly installed on the planetary carrier and corresponds to the planetary gear 352 one by one. The planetary gear 352 rotates around the corresponding axle 351 as the center, and the planetary gear 352 revolves around the sun gear 32 as the center. The planetary gear 352 revolves around the sun gear 32 and drives the wheel shaft 351 . The wheel shaft 351 moves to drive the output end cover 36 and the planetary gear carrier 34 .

[0070] An embodiment of the present invention also relates to a robot joint for a humanoid robot, comprising: a joint actuator 100 as in the above embodiment, the machine joint can be a knee joint, a shoulder joint or a wrist joint, etc. When the machine joint is a wrist joint, the joint actuator 100 connects the forearm and the palm; when the robot joint is a knee joint, the joint actuator 100 connects the thigh and the calf; when the machine joint is a shoulder joint, the joint actuator 100 connects the back and the upper arm.

[0071] Another embodiment of the present invention also relates to a humanoid robot, comprising: a robot arm, and a joint actuator 100 such as the one in the above embodiment, wherein the joint actuator 100 is connected to the robot arm and drives the robot arm to move.

[0072] Preferred embodiments of the present invention have been described above in detail, but it should be understood that aspects of the embodiments can be modified, if necessary, to employ aspects, features and concepts of the various patents, applications and publications to provide further embodiments.

[0073] These and other changes can be made to the embodiments in light of the above detailed description.In general, in the claims, the terms used should not be considered limited to the specific embodiments disclosed in the specification and the claims, but should be construed to include all possible embodiments along with the full scope of equivalents to which these claims are entitled.

[0074] Those skilled in the art will appreciate that the above embodiments are specific embodiments for implementing the present invention, and that in actual applications, various changes may be made in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A joint actuator, characterized in that: include: shell; A double-stator permanent magnet motor, the double-stator permanent magnet motor is arranged in the housing, the double-stator permanent magnet motor comprises: an inner stator, a rotor, and an outer stator coaxially arranged from the inside to the outside, the outer stator is connected to the housing, the rotor is rotatably arranged between the inner stator and the outer stator; and the rotor comprises a permanent magnet; a planetary reduction mechanism, wherein the planetary reduction mechanism is disposed in the housing and connected to the rotor, and when the rotor rotates, the planetary reduction mechanism is driven to operate; and A controller, the controller is disposed in the housing, and the controller is electrically connected to the inner stator and the outer stator; The rotor further comprises a rotor support, and the permanent magnet is arranged on the rotor support; the double-stator permanent magnet motor further comprises: a stator support connected to the housing; the inner stator is connected to the stator support; The rotor bracket has permanent magnets on both the side facing the inner stator and the side facing the outer stator. The permanent magnets on the side facing the inner stator and the permanent magnets on the side facing the outer stator are arranged in a Halbach array structure, and the permanent magnets on the side facing the inner stator and the permanent magnets on the side facing the outer stator are staggered.

2. The joint actuator according to claim 1, characterized in that: The shell has a shell body and a sealing end cover arranged at one end of the shell body, and the outer stator is fixedly connected to the shell body; The stator bracket has a connecting portion embedded in one end of the shell body, and a mounting portion connected to the connecting portion; the mounting portion protrudes inside the shell; the inner stator ring is fixed outside the mounting portion; the cover end cover covers the connecting portion; The rotor bracket comprises a frame body portion annularly arranged between the inner stator and the outer stator, a docking portion rotatably connected to the mounting portion, and a first end face portion connecting the frame body portion and the docking portion; the permanent magnet is fixedly connected to the frame body portion.

3. The joint actuator according to claim 2, characterized in that: The frame portion and the docking portion are arranged in a circle and spaced apart to form an installation space; the installation portion and the inner stator are located in the installation space; A through hole communicating with the installation space is provided on the first end surface portion; blades are arranged on the first end surface portion; the planetary reduction mechanism is connected to the first end surface portion; the through hole, the installation space, the gap in the inner stator, and the gap in the outer stator are connected to form an air flow channel.

4. The joint actuator according to claim 3, characterized in that: There are a plurality of through holes, which are arranged in a circle on the first end surface portion, and the blades are connected to the inner walls of two adjacent through holes.

5. The joint actuator according to claim 3, characterized in that: The blade is detachably connected to the rotor support and is located on a side of the first end surface portion facing the planetary reduction mechanism.

6. The joint actuator according to claim 1, characterized in that: The controller is arranged on the stator bracket; the controller is a single-port drive controller or a dual-port drive controller.

7. The joint actuator according to claim 1, characterized in that: The inner stator and the outer stator are connected in parallel; The planetary reduction mechanism comprises: A reduction housing, the reduction housing being connected to the outer housing; A sun gear, the sun gear is coaxially fixed with the rotor; A gear ring, the gear ring is connected to the reduction housing and is coaxially arranged on the outer periphery of the sun gear; Planetary gear carrier; A planetary gear set, the planetary gear set comprising: an axle fixed to the planetary wheel carrier and a planetary gear rotating around the axle, the planetary gear meshing with the ring gear and the sun gear; and The output end cover is fixedly connected to the planetary wheel carrier; the planetary wheel revolves around the sun wheel and drives the wheel axle, and the movement of the wheel axle drives the output end cover and the planetary wheel carrier.

8. A robot joint, characterized in that: include: A joint actuator as claimed in any one of claims 1 to 7.

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