Actuator, joint module, joint arm, bipedal robot, quadruped robot, four-wheel-foot robot, humanoid robot and robot

Abstract

The present application relates to the field of robot technology, and provides an actuator, a joint module, a joint arm, a biped robot, a quadruped robot, a four-wheel leg robot, a humanoid robot, and a robot. The actuator includes: a housing that is generally hollow and cylindrical, a motor assembly, and a speed reducer assembly. The speed reducer assembly includes an internal gear ring that is generally hollow and cylindrical; the internal gear ring is embedded within the housing and fixedly connected to the housing through a plurality of first fasteners. The plurality of first fasteners are all arranged along the radial direction of the housing, so that the housing and the internal gear ring are radially fixedly connected. The present application can make the actuator have smaller axial and radial dimensions, meet the current requirements of compact and miniaturized products in the robot field, and at the same time facilitate the cooperation and installation of the housing and the internal gear ring, reduce the assembly error, and improve the transmission accuracy and stability of the actuator.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and specifically relates to an actuator, and also relates to a joint module, an articulated arm, a biped robot, a quadruped robot, a four-wheeled leg robot, a humanoid robot, and a robot related to the actuator. Background Art

[0002] Actuators are core components in the field of robotics. They are used in articulated arms, robots and other products. Multiple actuators are needed to achieve joint movement. For example, in a robot product, only one leg needs five actuators to support leg swinging, leg turning, thigh rotation and calf rotation. Therefore, the structural design, assembly, weight, volume and control of the actuator directly affect the motion performance of the articulated arm and robot. The actuator includes a motor assembly and a reducer assembly. The stator and rotor in the motor assembly cooperate to output power. The output end of the motor assembly is connected to the input end of the reducer assembly to transmit power to the reducer assembly. Then, the sun gear, planetary gear set, planetary gear holder and inner ring gear in the reducer assembly cooperate to provide power for the joint movement of articulated arms, robots and the like.

[0003] The shell and inner gear ring in the existing actuator are generally connected to each other axially or fixed through an intermediate component. It is necessary to set physical dimensions for the axial and radial directions of the shell or the inner gear ring for the installation of the connecting parts. This makes the radial size and weight of the actuator relatively large. When multiple actuators are used, the overall weight or size of the articulated arm and the robot is increased, which does not meet the current development needs of miniaturization and lightweight products in the field of robotics. Summary of the invention

[0004] The purpose of the present application is to provide an actuator and a joint module, an articulated arm, a biped robot, a quadruped robot, a four-wheeled robot, a humanoid robot and a robot related to the actuator, aiming to reduce the size and weight of the actuator and improve the transmission accuracy and transmission stability.

[0005] In a first aspect, the actuator provided by the present application comprises:

[0006] a housing, the housing being substantially in the shape of a hollow cylinder; and

[0007] A reducer assembly, the reducer assembly comprising an inner gear ring that is generally hollow cylindrical;

[0008] The inner gear ring is embedded in the shell, and the inner gear ring is fixedly connected to the shell via a plurality of first fasteners, and the plurality of first fasteners are all arranged along the radial direction of the shell.

[0009] In some embodiments of the present application, several first connection holes penetrating the side wall of the housing are provided in the radial direction around the side wall of the housing; several second connection holes penetrating the side wall of the internal gear ring are provided in the radial direction around the side wall of the internal gear ring; one end of the first fastener passes through the first connection hole and then is connected to the second connection hole, so that the internal gear ring is fixedly connected to the housing.

[0010] In some embodiments of the present application, the speed reducer assembly includes a two-stage planetary speed reducer, the two-stage planetary speed reducer includes a first-stage planetary gear set and a second-stage planetary gear set, and an annular groove is formed on the inner wall of the internal gear ring located between the first-stage planetary gear set and the second-stage planetary gear set. In the projection of the internal gear ring in the radial direction, the annular groove overlaps the projections of several first connection holes and several second connection holes respectively.

[0011] In some embodiments of the present application, the annular groove is formed by radially recessing outward from the inner wall of the internal gear ring in a direction away from the two-stage planetary speed reducer, and the width of the annular groove is approximately 1 to 2 times the diameter of the second connection hole.

[0012] In some embodiments of the present application, a first internal tooth portion and a second internal tooth portion that cooperate with the first-stage planetary gear set and the second-stage planetary gear set respectively are provided on the inner wall of the internal gear ring. The first internal tooth portion and the second internal tooth portion are arranged at intervals, the annular groove is provided between the first internal tooth portion and the second internal tooth portion, and the bottom surface of the annular groove is lower than the tooth roots of the first internal tooth portion and the second internal tooth portion relative to the inner wall of the internal gear ring.

[0013] In some embodiments of the present application, the projections of several first fasteners, several first connection holes and several second connection holes in the radial direction do not overlap with the first internal tooth portion and the second internal tooth portion.

[0014] In some embodiments of the present application, the connection length of the first fastener and the second connection hole is approximately equal to the axial length of the second connection hole.

[0015] In some embodiments of the present application, the bottom of the first fastener passes through the second connection hole and is placed in the annular groove, and the bottom end surface of the first fastener is lower than the tooth roots of the first internal tooth portion and the second internal tooth portion relative to the inner wall of the internal gear ring.

[0016] In some embodiments of the present application, a first protruding section is formed along the axial direction of the outer wall of the internal gear ring, the outer wall of the first protruding section abuts against the inner wall of the housing and is in interference fit with the inner wall of the housing, and several second connection holes are arranged radially on the first protruding section.

[0017] In some embodiments of the present application, a second protruding section is further constructed axially on the outer wall of the internal gear ring. The second protruding section is arranged near the output end of the reducer. The second protruding section is arranged at an interval from the first protruding section, so that a substantially annular groove section is formed between the first protruding section and the second protruding section on the outer wall of the internal gear ring. The second protruding section and the first protruding section are concentric and have substantially the same outer ring diameter.

[0018] In a second aspect, the present application further provides a joint module, including the actuator described above; an encoder assembly for detecting the displacement signal or position information of the output end of the motor assembly and the displacement signal or position information of the output end of the reducer assembly.

[0019] In a third aspect, the present application further provides a joint arm, and at least one drive joint of the joint arm adopts the joint module described above.

[0020] In a fourth aspect, the present application further provides a biped robot, and at least one drive joint of the biped robot adopts the joint module described above.

[0021] In a fifth aspect, the present application further provides a quadruped robot, and at least one drive joint of the quadruped robot adopts the joint module described above.

[0022] In a sixth aspect, the present application further provides a four-wheel-foot robot, and at least one drive joint of the four-wheel-foot robot adopts the joint module described above.

[0023] In a seventh aspect, the present application further provides a humanoid robot, and at least one drive joint of the humanoid robot adopts the joint module described above.

[0024] In an eighth aspect, the present application further provides a robot, and at least one drive joint of the robot adopts the joint module described above.

[0025] In the structural design of the actuator of the present application, the internal gear ring used for meshing with the planet gear in the reducer is embedded in the actuator housing, and the internal gear ring and the housing are radially connected by fasteners, so that the connection between the housing and the internal gear ring is simple, direct, and convenient for assembly, which can reduce the assembly error, improve the transmission accuracy and stability of the actuator, and at the same time can shorten the axial dimension of the housing, which is convenient for the processing, fitting and installation of the housing and the internal gear ring, meeting the requirements of compact and miniaturized products in the field of robot technology.

[0026] The joint arm and each robot of the present application adopt the above actuator. Since the axial dimension of the actuator is reduced, it is beneficial to the structural design of the joint arm, can reduce the overall weight of the robot, improve the motion performance, reduce the energy consumption, and enhance the flexibility and operability. Description of the Drawings

[0027] To more clearly illustrate the technical solutions in the embodiments of the present application, a brief introduction will be given in conjunction with the accompanying drawings required to be used below. Obviously, the accompanying drawings in the following description are only some embodiments of the specification of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0028] Figure 1 Schematic diagram of the housing and internal gear ring structure in the actuator structure provided by the embodiment of the present application;

[0029] Figure 2 Schematic diagram of the assembly structure of the housing and internal gear ring in the actuator structure provided by the embodiment of the present application;

[0030] Figure 3 Schematic diagram of the structural embodiment after the assembly of the housing and the speed reducer assembly in the actuator structure provided by the embodiment of the present application Figure 1 ;

[0031] Figure 4 Schematic diagram of the structural embodiment after the assembly of the housing and the speed reducer assembly in the actuator structure provided by the embodiment of the present application Figure 2 ;

[0032] Figure 5 Schematic diagram of the disassembly of the actuator structure provided by the embodiment of the present application (only showing the housing and speed reducer assembly parts);

[0033] Figure 6 Schematic diagram of the disassembly of the joint module structure provided by the embodiment of the present application;

[0034] Figure 7 Schematic diagram of the three-dimensional structure of a joint arm provided by the embodiment of the present application;

[0035] Figure 8 Schematic diagram of the three-dimensional structure of a biped robot provided by the embodiment of the present application;

[0036] Figure 9 Schematic diagram of the three-dimensional structure of a quadruped robot provided by the embodiment of the present application;

[0037] Figure 10 Schematic diagram of the three-dimensional structure of a four-wheel-foot robot provided by the embodiment of the present application;

[0038] Figure 11 Schematic diagram of the three-dimensional structure of a humanoid robot provided by the embodiment of the present application.

[0039] Reference numerals:

[0040] 1 - Housing;

[0041] 11 - Inner wall of the housing; 12 - First connection hole; 13 - First fastener;

[0042] 2 - Reducer assembly;

[0043] 21 - Internal gear ring;

[0044] 211 - Internal teeth; 2111 - First internal tooth part; 2112 - Second internal tooth part; a - Tooth root;

[0045] 212 - Inner wall of the internal gear ring;

[0046] 213 - Outer wall of the internal gear ring; 2131 - First protruding section; 2132 - Second protruding section; 2133 - Concave section;

[0047] 214 - Annular groove; b - Bottom surface;

[0048] 215 - Second connection hole;

[0049] 22 - First - stage sun gear; 23 - Planet gear set; 231 - First - stage planet gear set; 232 - Second - stage planet gear set;

[0050] 24 - First - stage planet gear carrier; 25 - Second - stage sun gear; 26 - Bearing; 27 - Second - stage planet gear carrier;

[0051] 28 - Crossed roller bearing;

[0052] 3 - Motor assembly; 31 - Stator; 32 - Rotor; 33 - Rotor adapter;

[0053] 4 - Output end cover;

[0054] 100 - Actuator;

[0055] 200 - Encoder assembly; 201 - Encoder at the motor output end; 202 - Encoder at the reducer output end;

[0056] 1000 - Joint module. Detailed implementation manners

[0057] In order to make the purpose, technical solutions and advantages of this application clearer, the following further elaborates on this application in combination with embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit this application.

[0058] It should be noted that when a component is referred to as "installed" or "set" on another component, it can be directly on the other component or there may be an intermediate component present at the same time. When a component is referred to as "fixed", "connected" or "joined" to another component, it can be directly connected to the other component or there may be an intermediate component present at the same time, and its "connection" can be a fixed connection, a detachable connection, or integrated.

[0059] It should also be noted that the orientation terms such as "inside", "outside", "upper end", "lower end", "bottom end", "top", "bottom", "bottom surface", "one end", "the other end", "both ends", "side end", "axial direction", "radial direction", "outer wall", "inner wall", "side wall", etc. described in the embodiments of the present application are only relative concepts to each other or are referenced based on the normal use state of the product, or are referenced based on the positions shown in the drawings of the embodiments of the present application. They are only for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be considered restrictive.

[0060] In the description of the present application, "a number of" means two or more, unless otherwise specifically defined.

[0061] The concept of "substantially in" in the present application describes the main features of an overall structure or shape. When describing the shape of an object, this means that the object mainly presents a certain specific shape, but there may be differences in non-functional details. These detail differences do not affect the overall characteristics, so it can be classified as "substantially in" a certain shape. For example, when describing a rectangular object, it is described as "substantially in an annular shape", which means that the overall shape of the object is annular, but there are differences in some non-functional details.

[0062] The terms "first", "second", etc. in the embodiments of the present application are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first", "second" may explicitly or implicitly include at least one of such features.

[0063] The terms "one embodiment", "some embodiments", etc. in the embodiments of the present application mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. These embodiments may be some preferred embodiments or representative examples. In the specification of the present application, the schematic description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in the specification of the present application and the features of different embodiments or examples.

[0064] Some specific embodiments of the present application will be described below with reference to the accompanying drawings.

[0065] See Figures 1-4 , the actuator 100 provided in the embodiment of the present application includes a housing 1, a speed reducer assembly 2, and a motor assembly 3. The housing 1 is a cylindrical member that is generally hollow and is used to accommodate the speed reducer assembly 2 and the motor assembly 3. The speed reducer assembly 2 includes an internal gear ring 21 and a planetary gear set 23. The internal gear ring 21 is also a cylindrical structure that is generally hollow and has an inner wall 212 and an outer wall 213 of the internal gear ring. There are internal teeth 211 on the inner wall 212 of the internal gear ring, and the internal teeth 211 are used to cooperate with the planetary gear set 23. See Figures 2-4 , the internal gear ring 21 is embedded in the housing 1 so that the outer wall 213 of the internal gear ring fits against the inner wall 11 of the housing. During assembly, the internal gear ring 21 is fixedly connected to the housing 1 by a plurality of first fasteners 13. Each first fastener 13 is arranged along the radial direction of the housing 1, so that the internal gear ring 21 is radially connected to the housing 1 and fixed to the inner wall 11 of the housing.

[0066] The radial direction in the above structural description refers to the radius direction that radiates outward from the center of the transverse section of the housing 1 and the internal gear ring 21, and the axial direction refers to the central axis direction of the housing 1 and the internal gear ring 21. It should be noted that the expressions of the axial direction and the radial direction are also consistent with the expressions of the axial direction and the radial direction directly cited in each component and the transmission center in the subsequent housing 1, speed reducer assembly 2, and motor assembly 3, and will not be specifically described again.

[0067] In the above technical solution of the present application, the radial connection and fixation between the housing 1 and the internal gear ring 21 make the connection between the housing 1 and the internal gear ring 21 simple and direct, without the need for an intermediate member connection. This simplifies the overall structure of the actuator 100, makes assembly more convenient, and reduces the influence of assembly errors caused by the connection of multiple components on the transmission accuracy and stability of the actuator 100. Since there is no longer a need to provide an installation entity for the connecting member in the axial direction of the housing 1 or the internal gear ring 21, the design of this part at this axial position can be omitted, shortening the length dimension of the housing 1 and the internal gear ring 21 in the axial direction. The actuator 100 can be designed to be smaller in size, which is beneficial to the miniaturization and light weight of the actuator 100. At the same time, since the internal gear ring 21 is embedded in the housing 1 and the concentricity between the two is high, not only the assembly accuracy between the housing 1 and the internal gear ring 21 is improved, but also the overall assembly accuracy of the speed reducer assembly 2 is correspondingly improved. Moreover, the radial connection between the housing 1 and the internal gear ring 21 also facilitates the positioning and fixation of the internal gear ring 21 and the installation and positioning of the planetary gear set 23 meshing with the internal gear ring 21.

[0068] Furthermore, a radial connection method is adopted between the housing 1 and the internal gear ring 21. The first fastener 13 only needs to select an appropriate mating diameter and connection length to meet the set connection strength requirements between the internal gear ring 21 and the housing 1, ensuring that the housing 1 and the internal gear ring 21 are always firmly combined, and can bear the meshing force between each planetary gear and the internal gear ring 21 during the long-term operation of the actuator 100 and the impact load of the external environment to the greatest extent. Moreover, this connection method changes the bearing direction of the first fastener 13 relative to the meshing force, reduces the force conduction distance, and has a good bearing effect, which is beneficial to improving the transmission accuracy and transmission stability.

[0069] Please refer to again Figures 1-4 , in some embodiments of the present application, several first connection holes 12 penetrating the side wall of the housing 1 are provided radially around the side wall of the housing 1; several second connection holes 215 penetrating the side wall of the internal gear ring 21 are correspondingly provided radially around the side wall of the internal gear ring 21. After the first connection holes 12 and the second connection holes 215 are assembled, they are on the same axis. One end of the first fastener 13 passes through the first connection hole 12 and then connects with the second connection hole 215 to fixedly connect the internal gear ring 21 and the housing 1. The first fastener 13 can be a screw, a pin, etc., preferably a countersunk screw. Correspondingly, the first connection hole 12 is a countersunk hole, which is designed according to the head shape of the first fastener 13 to ensure that the first connection hole 12 fits with the head of the first fastener 13 and reduces the gap during the cooperation of components. The structure of the first connection hole 12 should also ensure that most or all of the head of the first fastener 13 is sunk into the first connection hole 12, so that the top of the first fastener 13 is basically flush with the outer surface of the housing 1. Refer to Figures 1-4The second connection hole 215 in the illustrated embodiment of the present application is a threaded hole, the first fastener 13 is threadedly connected to the second connection hole 215, and the threaded portion of the first fastener 13 passes through the first connection hole 12 and is screwed into the second connection hole 215, so that the housing 1 and the inner gear ring 21 are connected as a whole. It can be understood that the radial connection between the housing 1 and the inner gear ring 21 can also adopt other connection structures and fasteners, as long as it can ensure that the housing 1 and the inner gear ring 21 are firmly and reliably connected in the radial direction, they are all within the protection scope of the present application.

[0070] See also Figures 3-5 In some embodiments of the present application, the reducer assembly 2 includes a two-stage planetary reducer, which may specifically include a primary sun gear 22, a primary planetary gear set 231, a primary planetary gear carrier 24, a secondary sun gear 25, a secondary planetary gear set 232, and a secondary planetary gear carrier 27. The primary sun gear 22 is a gear shaft structure, one end of which is connected to the motor assembly 3. The motor assembly 3 includes a stator 31, a rotor 32, and a rotor adapter 33 that rotates with the rotor 32. The primary sun gear 22 is connected to the rotor adapter 33 and rotates under the drive of the rotor adapter 33. The other end of the primary sun gear 22 has a transmission tooth, which is placed at the center of the primary planetary gear set 231 arranged around it, and is meshed with each primary planetary gear set 231. Each primary planetary gear set 231 is also meshed with the inner teeth 211. Each primary planetary gear set 231 is respectively mounted on the planetary gear shaft and is fixed to the primary planetary gear carrier 24 through the rotation of the planetary gear shaft. The secondary sun gear 25 is a gear shaft structure with two sections of transmission teeth. One end with the transmission teeth is respectively placed at the center of the primary planetary gear carrier 24 and the center of several secondary planetary gear sets 232 arranged around the secondary sun gear 25, and is respectively meshed with the internal of each secondary planetary gear set 232 and is transmission connected to the primary planetary gear carrier 24. Each secondary planetary gear set 232 is also externally meshed with the internal teeth 211. Each secondary planetary gear set 232 is respectively installed on the planetary gear shaft and is fixed to the secondary planetary gear carrier 27 through the planetary gear shaft. The other end of the secondary sun gear 25 is rotationally connected to the secondary planetary gear carrier 27 through a bearing 26. The inner ring of the bearing 26 near one end of the secondary planetary gear set 232 abuts against the secondary sun gear 25, and the outer ring abuts against the secondary planetary gear carrier 27. The secondary planetary gear carrier 27 is rotatably connected to the inner gear ring 21 through the cross roller bearing 28. The inner ring of the cross roller bearing 28 near one end of the secondary planetary gear set 232 abuts against the secondary planetary gear carrier 27, and the outer ring abuts against the inner gear ring 21. The secondary planetary gear carrier 27 is fixedly connected to the output end cover 4 to output power. Please refer to Figures 1-5, in the present application, an annular groove 214 is formed on the inner wall 212 of the internal gear ring. The annular groove 214 is located between the first-stage planetary gear set 231 and the second-stage planetary gear set 232. In the projection of the internal gear ring 21 in the radial direction, the annular groove 214 overlaps with the projections of a number of first connection holes 12 and a number of second connection holes 215 respectively. By providing the annular groove 214 on the inner wall 212 of the internal gear ring, on the one hand, the radial dimension of the non-engaging part of the internal gear ring 21 can be reduced, thereby reducing the weight of the internal gear ring 21, and thus reducing the weight of the actuator 100. For a joint arm and a robot provided with a plurality of actuators 100, the overall weight can be reduced significantly, which is beneficial to the lightweight of the actuator 100. On the other hand, since the second connection holes 215 are generally processed by drilling or broaching, penetrating the inner wall 212 of the internal gear ring from the radial direction of the outer wall 213 of the internal gear ring, after processing, there may be a small amount of burrs remaining at the orifice of the second connection hole 215 facing the planetary gear set 23. If the orifice of the second connection hole 215 facing the planetary gear set 23 is located on the inner wall 212 of the internal gear ring, when the planetary gear set 23 is assembled with the internal gear ring 21, the burrs may be scraped or collided and fall off, entering the transmission system, causing wear on the meshing surfaces of the planetary gears on the planetary gear set 23, the internal gear ring 21, the first-stage sun gear 22, and the second-stage sun gear 25, affecting the transmission reliability and generating noise. The provision of the annular groove 214 makes the orifice of the second connection hole 215 facing the planetary gear set 23 lower than the inner wall 212 of the internal gear ring, which can solve the above problems and effectively prevent the possibility of a small amount of burrs at the orifice of the second connection hole 215 from entering the transmission components due to scraping or touching.

[0071] See Figures 1-4 , in some embodiments of the present application, the annular groove 214 is a structure formed by radially recessing outward from the inner wall 212 of the internal gear ring in a direction away from the second-stage planetary reducer. It can be constructed during the molding of the internal gear ring 21 or processed. The width of the annular groove 214 is approximately 1 to 2 times the diameter of the second connection hole 215.

[0072] See Figures 1-4 , in some embodiments of the present application, the inner wall 212 of the internal gear ring is provided with a first internal tooth portion 2111 and a second internal tooth portion 2112 that cooperate with the first-stage planetary gear set 231 and the second-stage planetary gear set 232 respectively. The first internal tooth portion 2111 and the second internal tooth portion 2112 are arranged at intervals. The annular groove 214 is provided between the first internal tooth portion 2111 and the second internal tooth portion 2112. The bottom surface b of the annular groove 214 is lower than the tooth roots a of the first internal tooth portion 2111 and the second internal tooth portion 2112 in the radial direction away from the second-stage planetary reducer relative to the inner wall 212 of the internal gear ring. In this way, when the planetary gear set 23 is assembled with the internal gear ring 21, the orifice of the second connection hole 215 will not be touched, and the possibility of burrs at the orifice of the second connection hole 215 facing the planetary gear set 23 entering the transmission system can be completely avoided.

[0073] Please see again Figures 1-4 In some embodiments of the present application, the projections of the first fasteners 13, the first connection holes 12 and the second connection holes 215 do not overlap with the projections of the first inner tooth portion 2111 and the second inner tooth portion 2112 in the radial direction, that is, the first connection holes 12 and the second connection holes 215 are arranged between the first inner tooth portion 2111 and the second inner tooth portion 2112, which can be the interval center between the first inner tooth portion 2111 and the second inner tooth portion 2112. In this way, the internal tooth structure position of the first inner tooth portion 2111 and the second inner tooth portion 2112 on the inner gear ring 21 can be avoided, and the second connection holes 215 and the first inner tooth portion 2111 and the second inner tooth portion 2112 will not be affected in terms of strength, precision, etc. when they are in the same processing position. Moreover, since the second connection holes 215 are staggered with the first inner tooth portion 2111 and the second inner tooth portion 2112, the arrangement and formation of the annular groove 214 can also be facilitated. The above-mentioned association layout between the first fastener 13, the first connection hole 12 and the second connection hole 215 and the first inner tooth portion 2111 and the second inner tooth portion 2112 is a preferred embodiment of the present application. It can be understood that the first fastener 13, the first connection hole 12 and the second connection hole 215 can also be arranged to overlap with the projection of the first inner tooth portion 2111 or the second inner tooth portion 2112 in the radial direction as needed, as long as the radial connection between the housing 1 and the inner gear ring 21 can be fixed reliably.

[0074] Please see again Figure 3 In some embodiments of the present application, the connection length between the first fastener 13 and the second connecting hole 215 is approximately equal to the axial length of the second connecting hole 215, that is, the bottom end surface of the first fastener 13 is approximately at the hole position of the second connecting hole 215 facing the planetary gear set 23, so that the connection length between the first fastener 13 and the inner ring gear 21 is approximately the thickness of the side wall of the inner ring gear 21, thereby ensuring the fastening force.

[0075] See also Figure 4In some embodiments of the present application, the bottom of the first fastener 13 can also pass through the second connection hole 215 and be placed in the annular groove 214. The bottom end surface of the first fastener 13 is opposite to the inner wall 212 of the inner gear ring, and is lower than the tooth root a of the first inner tooth portion 2111 and the second inner tooth portion 2112 in the radial direction away from the two-stage planetary reducer, so as to prevent the planetary gear from hitting the first fastener 13 when the planetary gear set 23 is assembled with the inner gear ring 21. The above structure, on the one hand, can make the connection length between the first fastener 13 and the second connection hole 215 equal to the thickness of the entire side wall of the inner gear ring 21, which can maximize the connection length between the first fastener 13 and the inner gear ring 21, so that the connection between the housing 1 and the inner gear ring 21 is more firmly established. On the other hand, a standard part of the first fastener 13 length that matches the thickness of the inner gear ring 21 can be selected to reduce the processing cost. Moreover, the use of standard parts can ensure the quality and connection reliability of the first fastener 13, and is also easy to replace.

[0076] Please see again Figures 1-4 In some embodiments of the present application, the outer wall 213 of the inner gear ring is axially constructed with a first protruding section 2131, which is roughly annular. The outer wall of the first protruding section 2131 abuts against the inner wall 11 of the shell and has an interference fit with the inner wall 11 of the shell. The second connecting hole 215 is radially arranged in the first protruding section 2131, that is, the first protruding section 2131 is arranged in the connecting area between the inner gear ring 21 and the shell 1. In this way, on the one hand, an annular reinforcing rib structure can be formed radially outwardly on the inner gear ring 21, which can enhance the strength of the inner gear ring 21 itself and reduce the weight of the inner gear ring 21. On the other hand, a protruding structure is provided at the connection position between the inner gear ring 21 and the housing 1 where the second connecting hole 215 is provided, which can increase the axial length of the second connecting hole 215, thereby increasing the fastening length of the first fastener 13 on the inner gear ring 21, and enhancing the reliability and stability of the connection between the inner gear ring 21 and the housing 1. Thirdly, the first protruding section 2131 is interference fit with the inner wall 11 of the housing, which can avoid defects such as radial movement and noise caused by the gap between the connection between the housing 1 and the inner gear ring 21. At the same time, the interference fit connection between the two can effectively ensure the coaxiality of the axial center of the housing 1 and the axial center of the inner gear ring 21, so as to improve the coaxiality between the transmission center of the reducer assembly 2 and the axial center of the housing 1, and further ensure the transmission accuracy and stability of the actuator 100. Moreover, since the overall axial length of the first protruding section 2131 is smaller than that of the inner gear ring 21, it is convenient to fine-process the outer wall of the first protruding section 2131, thereby ensuring the effective length of the interference fit between the first protruding section 2131 and the inner wall 11 of the shell, and making the interference fit between the first protruding section 2131 and the inner wall 11 of the shell more convenient during assembly.

[0077] The axial length of the first protruding section 2131 should ensure that there is sufficient contact surface between it and the inner wall 11 of the housing to ensure the reliability of the connection between the internal gear ring 21 and the housing 1. The radial length (the thickness of the side wall of the internal gear ring 21 at this place) should enable the connection length of the first fastener 13 in the second connection hole 215 to bear the shear force generated by the meshing of the planetary gear set 23 and the internal gear ring 21 and external factors on the first fastener 13.

[0078] See Figures 1-4 , in some embodiments of the present application, a second protruding section 2132 is further constructed axially on the outer wall 213 of the internal gear ring. The second protruding section 2132 is substantially annular, and also forms an annular reinforcing rib structure radially outward of the internal gear ring 21, which can further enhance the strength of the internal gear ring 21 itself. The second protruding section 2132 is located at one end of the internal gear ring 21 adjacent to the output end of the speed reducer assembly 2, and is in contact with the inner wall 11 of the housing but not in an interference fit state. The second protruding section 2132 and the first protruding section 2131 are arranged at intervals, so that a substantially annular recessed section 2133 is formed between the outer wall 213 of the internal gear ring at the first protruding section 2131 and the second protruding section 2132. The second protruding section 2132 and the first protruding section 2131 are concentric, and the diameters of the outer rings are substantially the same. In this way, after the speed reducer assembly 2 and the housing 1 are assembled, the recessed section 2133 is in a closed state, forming a closed annular cavity, which can absorb and reduce the noise generated by the movement of the transmission parts in the housing 1, and can also reduce the weight of the internal gear ring 21. The setting of the second protruding section 2132 also provides an installation basis for the connection between the internal gear ring 21 and other associated components on its axial side.

[0079] See Figure 6 , the present application also provides a joint module 1000, including the actuator 100 and the encoder assembly 200 described above. The encoder assembly 200 includes a motor output end encoder 201 for detecting the displacement signal or position information of the output end of the motor assembly 3 and a speed reducer output end encoder 202 for detecting the displacement signal or position information of the output end of the speed reducer assembly 2. Among them, the motor output end encoder 201 is connected to the rotor adapter 33 to realize the detection of the displacement or rotation position of the rotor 32, and the speed reducer output end encoder 202 is connected to the output end cover 4 to realize the detection of the displacement or rotation position of the output end of the speed reducer.

[0080] See Figure 7 , in some embodiments of the present application, a joint arm is further provided, and at least one driving joint includes the joint module 1000 described above.

[0081] See Figure 8 , in some embodiments of the present application, a biped robot is further provided, and at least one driving joint includes the joint module 1000 described above.

[0082] See Figure 9, in some embodiments of the present application, a quadruped robot is further provided, and at least one drive joint includes the above-mentioned joint module 1000.

[0083] See Figure 10 , in some embodiments of the present application, a four-wheel-foot robot is further provided, and at least one drive joint includes the above-mentioned joint module 1000.

[0084] See Figure 11 , in some embodiments of the present application, a humanoid robot is further provided, and at least one of the swing leg joint, thigh joint, and calf joint of the point-foot robot adopts the above-mentioned joint module 1000.

[0085] In some embodiments of the present application, a robot is further provided, and at least one drive joint includes the above-mentioned joint module 1000.

[0086] The above embodiments shown in the present application are only part of the preferred embodiments of the present application, and the present application cannot be limited by this. Without departing from the essence of the present application, any modifications, equivalent replacements, and improvements made by those skilled in the art all fall within the protection scope of the present application.

Claims

1. Actuator of a robot, characterized in that, Comprising: A housing, the housing being generally hollow cylindrical, and a plurality of first connection holes penetrating the side wall of the housing being provided in the radial direction around the side wall of the housing; and A speed reducer assembly, the speed reducer assembly including an internal gear ring that is generally hollow cylindrical, and a plurality of second connection holes penetrating the side wall of the internal gear ring being provided in the radial direction around the side wall of the internal gear ring; Wherein, the internal gear ring is embedded within the housing, and one end of a plurality of first fasteners passes through the first connection holes along the radial direction of the housing and then is connected to the second connection holes, so that the internal gear ring and the housing are fixedly connected in the radial direction.

2. The actuator of the robot according to claim 1, characterized in that The speed reducer assembly includes a two-stage planetary speed reducer, the two-stage planetary speed reducer including a first-stage planetary gear set and a second-stage planetary gear set, an annular groove being formed on the inner wall of the internal gear ring located between the first-stage planetary gear set and the second-stage planetary gear set, and in the projection of the internal gear ring in the radial direction, the annular groove overlaps the projections of a plurality of the first connection holes and a plurality of the second connection holes respectively.

3. The actuator of the robot according to claim 2, characterized in that, The annular groove is formed by radially recessing outward from the inner wall of the internal gear ring in a direction away from the two-stage planetary speed reducer, and the width of the annular groove is 1 to 2 times the aperture of the second connection hole.

4. The actuator of the robot according to claim 2, wherein, The inner wall of the internal gear ring is provided with a first internal tooth portion and a second internal tooth portion that cooperate with the first-stage planetary gear set and the second-stage planetary gear set respectively, the first internal tooth portion and the second internal tooth portion being arranged at intervals, the annular groove being provided between the first internal tooth portion and the second internal tooth portion, and the bottom surface of the annular groove is lower than the tooth roots of the first internal tooth portion and the second internal tooth portion relative to the inner wall of the internal gear ring.

5. The actuator of the robot according to claim 4, wherein, The projections of a plurality of the first fasteners, a plurality of the first connection holes, and a plurality of the second connection holes do not overlap with the first internal tooth portion and the second internal tooth portion in the radial direction.

6. The actuator of the robot according to claim 1, characterized in that, The connection length of the first fastener and the second connection hole is substantially equal to the axial length of the second connection hole.

7. The actuator of the robot according to claim 4, characterized in that, The bottom of the first fastener passes through the second connection hole and is placed within the annular groove, and the bottom end surface of the first fastener is lower than the tooth roots of the first internal tooth portion and the second internal tooth portion relative to the inner wall of the internal gear ring.

8. The actuator of the robot according to claim 1, characterized in that, Along the axial direction of the outer wall of the internal gear ring, a first protruding section is formed, the outer wall of the first protruding section abuts against the inner wall of the housing and is in interference fit with the inner wall of the housing, and a plurality of the second connection holes are arranged radially on the first protruding section.

9. The actuator of the robot according to claim 8, characterized in that, A second protruding section is further formed on the axial direction of the outer wall of the internal gear ring, the second protruding section being arranged near the output end of the speed reducer, the second protruding section and the first protruding section being arranged at intervals, so that a generally annular groove section is formed between the first protruding section and the second protruding section on the outer wall of the internal gear ring, and the second protruding section and the first protruding section are concentric and the diameters of the outer rings are substantially the same.

10. Joint module, characterized in that, Comprising: The actuator of the robot according to any one of claims 1 to 9; An encoder assembly for detecting the displacement signal or position information of the output end of the motor assembly and the displacement signal or position information of the output end of the speed reducer assembly.

11. An articulated arm, characterized in that, At least one drive joint adopts the joint module according to claim 10.

12. Biped robot, characterized by At least one driving joint adopts the joint module described in claim 10.

13. Quadruped robot, characterized in that, At least one driving joint adopts the joint module described in claim 10.

14. Four-wheel-foot robot, characterized in that, At least one driving joint adopts the joint module described in claim 10.

15. Humanoid robot, characterized in that, At least one driving joint adopts the joint module described in claim 10.

16. A robot, characterized in that, At least one driving joint adopts the joint module described in claim 10.

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