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

Abstract

The invention provides an actuator, a joint module, a mechanical arm, a biped robot, a quadruped robot, a quadruped robot, a humanoid robot and a robot. The actuator comprises a shell, a motor assembly and a speed reducer assembly, the shell comprises an outer shell part, a first extension part and an inner cylinder part, and a first containing cavity with an opening is defined; the motor assembly is composed of a rotor, a stator, a rotor adapter and a rotary supporting assembly, the rotor adapter is provided with a rotor connecting part, a second extending part and a first connecting shaft part and is connected with the rotor, the rotor and the stator are arranged in the first containing cavity, and the rotary supporting assembly is arranged between the first connecting shaft part and the inner cylinder part; an input end transmission shaft of the speed reducer assembly is connected with the first connecting shaft part and rotates along with the rotor adapter, the second extension part is close to the speed reducer assembly, and the first extension part is far away from the speed reducer assembly relative to the second extension part. According to the invention, the transmission precision of the actuator and the stability of power output are ensured while the small size and compactness of the actuator are realized.

Description

Technical Field

[0001] The present application belongs to the field of actuator technology, specifically to actuators, and also to joint modules, robotic arms, biped robots, quadruped robots, four-wheeled robots, humanoid robots and robots related to actuators. Background Art

[0002] Actuators are important components in the field of robotics, used in products such as mechanical arms and robots, especially in the field of robotic applications, where multiple actuators are required to achieve joint motion. Actuators are generally composed of a motor assembly and a reducer assembly. The output end of the motor assembly is connected to the input end of the reducer assembly, and the power is transmitted to the reducer assembly, and then output through the output end of the reducer assembly. When more actuators are used in robotic products, the weight, volume, integration, transmission accuracy and smoothness of the actuator during operation have a decisive influence on the robot's kinematic performance, dynamic behavior and motion position.

[0003] Therefore, how to set the actuator to a smaller size, reduce the weight of the actuator as much as possible, and improve the transmission accuracy and power output stability of the actuator has always been a hot topic and difficulty 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, a robotic arm, a biped robot, a quadruped robot, a four-wheeled robot, a humanoid robot and a robot related to the actuator, which can shorten the axial size of the actuator and improve the transmission accuracy and operation stability of the actuator.

[0005] In a first aspect, the present application provides an actuator, comprising a housing, the housing comprising an outer housing portion that is substantially hollow cylindrical, a first extension portion that is substantially hollow disc-shaped, and an inner cylinder portion that is substantially hollow cylindrical, the outer edge of one end of the outer housing portion is connected to the outer ring of the first extension portion, the outer edge of one end of the inner cylinder portion is connected to the inner ring of the first extension portion, the radial projection of the inner cylinder portion overlaps with the outer housing portion, and a first accommodating cavity having an opening is defined by the outer housing portion, the first extension portion, and the inner cylinder portion; It also includes a motor assembly, including a rotor, a stator coaxially arranged in the rotor, a rotor adapter and a rotation support assembly, wherein the rotor adapter is configured with a rotor connecting portion, a second extension portion that is substantially annular, and a first coupling portion, wherein the rotor connecting portion is connected to the rotor and to the outer edge of the second extension portion, one end of the first coupling portion is connected to the inner ring of the second extension portion, and the outer diameter of the first coupling portion is smaller than the inner diameter of the inner cylinder portion; and a reducer assembly; Wherein, the rotor and the stator are arranged in the first accommodating cavity; The outer wall of the first coupling portion abuts against the inner ring portion of the rotation support assembly, and the inner wall of the inner cylinder portion abuts against the outer ring portion of the rotation support assembly, so that the rotor adapter is rotatably connected to the shell, and the radial projections of the first coupling portion and the inner cylinder portion at least mostly overlap, the first coupling portion is connected to the input end transmission shaft of the reducer assembly, the second extension portion is arranged adjacent to the reducer assembly, and the first extension portion is arranged away from the reducer assembly relative to the second extension portion.

[0006] In some embodiments of the present application, the rotation support assembly includes a first bearing and a second bearing spaced apart on the first coupling portion, and the projections of the first bearing and the second bearing in the axial direction of the actuator overlap.

[0007] In some embodiments of the present application, an annular limiting flange is radially extended toward the center from the inner wall of the inner cylinder portion, and the side ends of the outer rings of the first bearing and the second bearing which are arranged opposite to each other abut against the two side walls of the limiting flange respectively, so that the outer rings of the first bearing and the second bearing are axially positioned.

[0008] In some embodiments of the present application, a bearing sleeve and an elastic washer are arranged between the first bearing and the second bearing, one side end of the bearing sleeve abuts against the side end of the first bearing facing away from the reducer assembly, and the other side end is adjacent to the elastic washer, and the elastic washer is pressed against the side end of the second bearing facing the reducer assembly.

[0009] In some embodiments of the present application, a bearing sleeve is disposed between the first bearing and the second bearing, and both side ends of the bearing sleeve are respectively abutted against the side ends of the first bearing and the second bearing that are disposed opposite to each other.

[0010] In some embodiments of the present application, the center of the first coupling portion has a first through cavity that is roughly circular, so that the first coupling portion is a hollow cylindrical structure, and the first cavity has a first through hole, the first through hole is close to the reducer assembly, the center of the first through hole is in the same line with the rotation center of the rotor, and the input end transmission shaft of the reducer assembly extends into the first through hole and is fixedly sleeved with the first coupling portion.

[0011] In some embodiments of the present application, the radial projection surfaces of the portion of the input-end transmission shaft extending into the first through hole, the first through hole, and the rotor substantially overlap.

[0012] In some embodiments of the present application, the first coupling portion includes a first supporting segment, the rotation support assembly is disposed in the first supporting segment, and radial projections of the rotor, the rotation support assembly, and the first supporting segment substantially overlap.

[0013] In some embodiments of the present application, the first coupling portion also includes a first stop segment connected to the first supporting segment, the outer wall of the outer edge of one end of the first stop segment is connected to the inner ring of the second extension portion, and the end face of the outer edge of the other end is connected to the outer edge end face of one end of the first supporting segment, and the first stop segment is constructed with a first stop surface at the junction with the first supporting segment, forming an axial stop for the inner ring of the rotating support assembly close to the second extension portion.

[0014] In some embodiments of the present application, the second extension portion is a circular disk-shaped structure, the rotor connecting portion is formed by extending the disk surface of the outer edge of the second extension portion toward the vertical direction of the rotor, and the first connecting shaft portion and the rotor connecting portion are arranged on the same side relative to the second extension portion.

[0015] In some embodiments of the present application, the rotor adapter is further provided with a first boss for positioning the input-end drive shaft relative to the rotor adapter, and the first boss is formed to extend vertically outward along the inner ring of the second extension portion in a direction away from the first coupling portion.

[0016] In some embodiments of the present application, the reducer assembly includes at least one stage of planetary gear set, the input end transmission shaft is transmission-connected to the planetary gear set, and the reducer assembly also includes an inner ring gear meshing with the outside of the planetary gear set, an output end transmission shaft and an output end; the inner ring gear is fixed to the outer shell body, a third bearing is provided between the output end and the output end transmission shaft, a fourth bearing is provided between the output end and the inner ring gear, and the radial projections of the third bearing and the fourth bearing substantially overlap.

[0017] In some embodiments of the present application, the reducer assembly also includes an output flange and a bearing pressure ring, the bearing pressure ring is sleeved on the output flange, the output flange is fixedly connected to the output end, and abuts the outer ring of the third bearing on the side facing away from the planetary gear set and the inner ring of the fourth bearing on the side facing away from the planetary gear set, the inner ring of the third bearing on the side facing the planetary gear set abuts the output end transmission shaft, and the outer ring abuts the output end; the bearing pressure ring is fixedly connected to the inner gear ring, and abuts the outer ring of the fourth bearing on the side facing away from the planetary gear set, but is not connected to the outer shell; the outer ring of the fourth bearing on the side facing the planetary gear set abuts the inner gear ring, and the inner ring abuts the output end.

[0018] In some implementation schemes of the present application, a seal is provided at the joint between the bearing pressure ring and the output flange.

[0019] In a second aspect, the present application further provides a joint module, comprising the actuator described above; and The encoder component is used to detect the output displacement signal or position information of the motor component and the output displacement signal or position information of the reducer component.

[0020] In some embodiments of the present application, the encoder assembly includes a motor encoder and an output encoder, the motor encoder includes a motor encoder seat and a first induction piece corresponding to the first encoder, the motor encoder seat is roughly a hollow structure, having a second connecting shaft portion extending into the inner cavity of the inner cylinder portion and connected to the first connecting shaft portion, so that the motor encoder seat rotates with the rotor adapter, the motor encoder seat abuts against the inner ring of the rotating support assembly on the side away from the motor assembly, and the first induction piece is fixed on the motor encoder seat; the output encoder includes an output encoder seat, and a second induction piece arranged on the output encoder seat and corresponding to the second encoder.

[0021] In some embodiments of the present application, the output encoder seat includes a mounting head and a connecting rod, the mounting head is located in a cavity where the motor encoder seat is set, one end of the connecting rod passes through the center of the shell and is connected to the output end, and the other end is connected to the mounting head, the second sensing element is fixed on the mounting head, and the radial projections of the first sensing element and the second sensing element roughly overlap.

[0022] In a third aspect, the present application also provides a robotic arm, wherein at least one driving joint of the robotic arm adopts the joint module described above.

[0023] In a fourth aspect, the present application also provides a bipedal robot, wherein at least one driving joint of the bipedal robot adopts the joint module described above.

[0024] In a fifth aspect, the present application also provides a quadruped robot, wherein at least one driving joint of the quadruped robot adopts the joint module described above.

[0025] In a sixth aspect, the present application also provides a four-wheeled legged robot, wherein at least one driving joint of the four-wheeled legged robot adopts the joint module described above.

[0026] In a seventh aspect, the present application also provides a humanoid robot, wherein at least one driving joint of the humanoid robot adopts the joint module described above.

[0027] In an eighth aspect, the present application also provides a robot, wherein at least one driving joint of the robot adopts the joint module described above.

[0028] The actuator of the present application constructs an outer shell, a first extension and an inner cylinder structure on the shell to cooperate with the motor assembly and the reducer assembly, so that the motor assembly, the input end transmission shaft of the reducer assembly, the rotation support assembly and the inner cylinder share the radial space in the shell, effectively reducing the occupation of the motor assembly and the reducer assembly in the axial space, shortening the axial size of the actuator, and at the same time, the rotor adapter, the rotation support assembly, the input end transmission shaft of the reducer assembly and the inner cylinder are concentrically arranged to improve the concentricity of the components in the actuator, reduce the radial swing that is easy to occur when the actuator rotates at high speed for a long time, and reduce the vibration of the rotating components of the actuator and the noise during operation. Further, the diameter difference between the inner cylinder and the first connecting shaft is used to construct a space for installing the rotation support assembly, so that the rotation support assembly has a certain support length, which simplifies the structure and improves the stability of the power output of the motor assembly.

[0029] All components of the actuator of the present application are assembled based on the inner cylinder, so that the motor assembly, the reducer assembly and the housing have a consistent assembly reference, reducing the assembly errors of the components. In this way, while achieving the miniaturization and compactness of the actuator, it also effectively guarantees the transmission accuracy of the actuator and the stability of the power output. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application, a brief introduction will be given in combination with the drawings required for use below. Obviously, the drawings described below are only some embodiments of the specification of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 A schematic diagram of the actuator structure provided in an embodiment of the present application;

[0032] Figure 2 A schematic cross-sectional view of an actuator assembly structure provided in an embodiment of the present application;

[0033] Figure 3 A half-section schematic diagram of an actuator assembly structure provided in an embodiment of the present application;

[0034] Figure 4 A schematic diagram of the structure of the housing and the motor assembly in the actuator provided in an embodiment of the present application before assembly;

[0035] Figure 5A A schematic diagram of an assembly structure of a housing, a motor assembly, and a rotation support assembly in an actuator provided in an embodiment of the present application, wherein the inner cylinder has a limiting flange;

[0036] Figure 5BA second schematic diagram of the assembly structure of a housing, a motor assembly, and a rotation support assembly having an inner cylinder portion with a limiting flange in an actuator provided in an embodiment of the present application;

[0037] Fig. 6A A schematic diagram of an assembly structure of a housing, a motor assembly, and a rotation support assembly having an inner cylinder without an infinite flange in an actuator provided in an embodiment of the present application;

[0038] Figure 6B A second schematic diagram of the assembly structure of the housing, the motor assembly, and the rotating support assembly of the actuator provided in an embodiment of the present application, wherein the inner cylinder portion has no infinite flange;

[0039] Figure 7 A schematic diagram of the connection structure between the housing, the rotor adapter and the encoder assembly in the actuator provided in an embodiment of the present application;

[0040] Fig. 8A The rotor adapter structure provided in the embodiment of the present application is schematically shown in FIG. Figure 1 ;

[0041] Figure 8B The rotor adapter structure provided in the embodiment of the present application is schematically shown in FIG. Figure 2 ;

[0042] Fig. 9 It is a schematic diagram of a three-dimensional structure of a mechanical arm provided in an embodiment of the present application;

[0043] Fig.10 is a schematic diagram of a three-dimensional structure of a bipedal robot provided in an embodiment of the present application;

[0044] Fig.11 is a schematic diagram of a three-dimensional structure of a quadruped robot provided in an embodiment of the present application;

[0045] Fig.12 This is a schematic diagram of the three-dimensional structure of a four-wheeled legged robot provided in an embodiment of the present application;

[0046] Fig.13 It is a schematic diagram of the three-dimensional structure of a humanoid robot provided in an embodiment of the present application.

[0047] Reference numerals:

[0048] 1-housing; 11-housing body; 111-housing connection hole; 12-first extension portion; 13-inner cylinder; 131-stator support section; 132-stator stop section; 133-stator stop surface; 134-limiting flange; 1341-first side wall; 1342-second side wall; 14-extension portion; 15-first accommodating cavity; 16-second accommodating cavity; 17-third accommodating cavity; 18-first fastening member; 2-motor assembly; 21-rotor; 211-magnetic ring; 212-yoke; 22-stator; 221-connecting wire; 23-rotor adapter; 231-rotor connecting part; 2311-connecting ring; 2312-connecting bar; 232-second extension portion; 232a-outer edge of the second extension portion; 232b-inner ring of the second extension portion; 2321 - second extension flange; 2322 - rotor axial stop surface; 233-first connecting shaft portion; 2331 - first supporting section; 2332 - first stopping section; 2333 - first stopping surface; 2334 - first hollow cavity; 23341-first through hole; 23342-second through hole; 2335-first connecting hole; 2336-first boss; 24-rotation support assembly; 24a-first bearing; 24b-second bearing; 25-bearing sleeve; 25a-first bearing sleeve; 25b-second bearing sleeve; 26-elastic washer; 26a-first elastic washer; 26b-second elastic washer; 3-reducer assembly; 31-input retaining ring; 32-input end transmission shaft; 33- planetary gear set; 331- primary planetary gear; 332- primary planetary gear carrier; 333- secondary planetary gear; 334- output end transmission shaft; 34- output end; 341- second support section; 35- third bearing; 36-inner gear ring; 361-second connecting hole; 37-fourth bearing; 4-bearing pressure ring; 41-second fastener; 42-seal; 5-output flange; 51-circular boss; 52-middle convex ring; 53-inner boss; 54-third fastener; 100 - actuator; 600-encoder assembly; 61-motor encoder; 611-motor encoder seat; 6111-motor encoder mounting seat; 6112-mounting boss; 6113-second boss; 6114- second connecting shaft portion; 6115- fourth accommodating cavity; 6116- fourth fastening member; 6117- third through hole; 6118-center hole; 6119-second stop surface; 612-first induction element; 62-output encoder; 621-second induction element; 622-isolation ring; 623-output encoder seat; 6231-mounting head; 6232-connecting rod; 6233-fifth fastener; 624-support bearing; 1000-joint module. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the present application more clear, the present application is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described here are only used to explain the present application and are not used to limit the present application.

[0050] It should be noted that when a component is referred to as being "mounted" or "set" on another component, it can be directly on the other component or there may be an intermediate component at the same time. When a component is referred to as being "fixed", "connected" or "connected" to another component, it can be directly connected to the other component or there may be an intermediate component at the same time, and the "connection" can be a fixed connection, a detachable connection, a hinged connection, or an integral one.

[0051] It should also be noted that the directional terms such as "front", "rear", "inside", "outside", "one end", "the other end", "both ends", "side end", "outer edge", "inner ring", "axial", "radial", "outer wall", "inner wall" etc. described in the embodiments of the present application are only relative concepts or are based on the normal use status of the product, or are 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, and do not indicate or imply that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be considered to be restrictive.

[0052] In the description of the present application, “several” means two or more than two, unless otherwise clearly and specifically defined.

[0053] The concept of "roughly" in this 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 shape, but may differ in non-functional details. These differences in details do not affect the overall characteristics, so they can be classified as "roughly" a certain shape. For example, when describing a rectangular object, the expression "roughly circular" means that the overall shape of the object is circular, but there are differences in some non-functional details.

[0054] The terms "first", "second", etc. in the embodiments of the present application 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" or "second" may explicitly or implicitly include at least one of the features.

[0055] The terms "one embodiment", "some embodiments" and the like in the embodiments of the present application 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, and these embodiments may be some preferred embodiments or representative examples. In the present application specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and combine the different embodiments or examples described in the present application specification and the features of the different embodiments or examples, without contradiction.

[0056] Some specific implementation plans of the present application are described below in conjunction with the accompanying drawings.

[0057] See also Figure 1-Figure 7 The actuator 100 of the present application includes a shell 1, a motor assembly 2, and a reducer assembly 3. The shell 1 includes an outer shell portion 11, a first extension portion 12, and an inner cylinder portion 13, wherein the outer shell portion 11 is roughly hollow cylindrical, the first extension portion 12 is roughly hollow disc-shaped, and the inner cylinder portion 13 is also roughly hollow cylindrical; the outer edge of one end of the outer shell portion 11 is connected to the outer ring of the first extension portion 12, the disc surface of the first extension portion 12 is roughly perpendicular to the center of the outer shell portion 11, and can be formed by the inner wall of the outer shell portion 11 extending radially toward its center, the outer edge of one end of the inner cylinder portion 13 is connected to the inner ring of the first extension portion 12, and can be formed by the inner ring of the first extension portion 12 extending vertically in a direction away from the first extension portion 12, the radial projection of the inner cylinder portion 13 overlaps with the outer shell portion 11, the outer diameter of the inner cylinder portion 13 is smaller than the inner diameter of the outer shell portion 11, and is concentrically arranged with the outer shell portion 11. In this way, a substantially annular first accommodating chamber 15 having an opening can be defined by combining the outer shell portion 11 , the first extension portion 12 and the inner cylinder portion 13 .

[0058] See also Figure 1-Figure 7The motor assembly 2 in the embodiment of the present application adopts the structure of an outer rotor motor. Under the premise of the same volume or the same mass, the outer rotor motor has a higher output torque, a small axial dimension, and good operating stability. The motor assembly 2 includes a stator 22 and a rotor 21. The rotor 21 includes an annular yoke 212 and a plurality of magnets. The magnets are evenly distributed along the circumferential surface of the inner wall of the yoke 212 and combined to form a magnetic ring 211. There is an axial gap between the magnets in the magnetic ring 211. The stator 22 is coaxially arranged in the rotor 21, annularly fixed to the stator support section 131 of the outer wall of the inner cylinder 13, and positioned by the stator stop surface 133 at the side end of the stator stop section 132 which is arranged in a step with the stator support section 131. The rotor 21 is sleeved on the stator 22, and an air gap is formed between the stator 22 and the rotor 21, so that the rotor 21 rotates around the stator 22 at a high speed. The rotor 21 and the stator 22 are sleeved and disposed in the first accommodating chamber 15 , and the centers of the inner cylinder 13 , the rotor 21 and the stator 22 are on the same axis.

[0059] The motor assembly 2 also includes a rotor adapter 23 and a rotation support assembly 24, see Figure 4 , Figure 5A , Figure 5B , Fig. 6A , Figure 6B , Fig. 8A , Figure 8B The rotor adapter 23 is constructed with a rotor connection part 231, a second extension part 232 which is roughly annular, and a first shaft connection part 233. One end of the rotor connection part 231 is connected to the rotor 21 and can rotate with the rotor 21, and the other end is connected to the outer edge 232a of the second extension part. One end of the first shaft connection part 233 is connected to the inner ring 232b of the second extension part. A second extension part flange 2321 is also provided at the outer edge 232a of the second extension part, which forms a rotor axial stop surface 2322 relative to the rotor 21, which is used to position the yoke 212 so that the yoke 212 is fixed on the rotor connection part 231. See also Figure 4-Figure 7 In the structure of the embodiment of the present application, the first connecting shaft portion 233 is concentrically arranged with the inner cylinder portion 13 and inserted into the inner cavity of the inner cylinder portion 13. The outer diameter of the first connecting shaft portion 233 is smaller than the inner diameter of the inner cylinder portion 13, so that after the inner cylinder portion 13 and the first connecting shaft portion 233 are assembled, a second accommodating chamber 16 with an opening in the same direction as the first accommodating chamber 15 and in an annular shape is formed.

[0060] See also Figure 2-6BThe rotation support assembly 24 is disposed in the second accommodating chamber 16, the outer wall of the first coupling portion 233 is radially abutted against the inner ring portion of the rotation support assembly 24, and the inner wall of the inner cylinder portion 13 is radially abutted against the outer ring portion of the rotation support assembly 24, so that the rotor adapter 23 is rotatably connected relative to the housing 1 while rotating with the rotor 21. The radial projections of the first coupling portion 233 and the inner cylinder portion 13 at least largely overlap, and the first coupling portion 233 is connected to the input end transmission shaft 32 of the reducer assembly 3 (see Figure 2 , Figure 3 ), which can drive the input end transmission shaft 32 to rotate and output power to the reducer assembly 3. The second extension part 232 is arranged near the reducer assembly 3, and the first extension part 12 is arranged away from the reducer assembly 3 relative to the second extension part 232. In this way, the stator 22 and the rotor 21 are confined in the space between the first extension part 12 and the second extension part 232 after installation, and are isolated from other components, which can partially reduce the noise of the rotor 21 when running at high speed and shorten the installation size of the stator 22 and the rotor 21.

[0061] The radial direction in the above structural description refers to the radial direction radiating outward from the center of the transverse section of the housing 1, and the axial direction refers to the central axis direction of the housing 1. It is worth noting that the expressions of the axial and radial directions are also consistent with the axial and radial expressions directly quoted by the positions of the components in the motor assembly 2 and the reducer assembly 3 and the transmission center, and will not be described in detail.

[0062] In the above structure of the present application, the housing 1 is constructed into an outer housing portion 11, a first extension portion 12, and an inner cylinder portion 13 concentric with the outer housing portion 11. The outer housing portion 11, the first extension portion 12, and the inner cylinder portion 13 form an installation space for installing the motor assembly 2, and the outer wall of the inner cylinder portion 13 is used to support and position the stator 22, and the inner wall is used to position the rotation support assembly 24. At the same time, a first connecting shaft portion 233 concentric with the inner cylinder portion 13 is provided on the rotor adapter 23, and the first connecting shaft portion 233 is fixedly connected to the input end transmission shaft 32 of the reducer assembly 3. In this way, the stator 22, the rotor 21 and the rotor adapter 23, the rotation support assembly 24, the inner cylinder portion 13, and the input end transmission shaft 32 of the reducer assembly are all arranged in the same radial space, which not only greatly shortens the axial use space of the housing 1, but also makes the above-mentioned components have consistent concentricity. At the same time, the diameter difference between the inner cylinder 13 and the first connecting shaft 233 is used to construct a space for installing the rotating support assembly 24. The length of the inner cylinder 13 and the first connecting shaft 233 can make the rotating support assembly 24 have a certain length of layout space, and multiple support members can be set to increase the support effect. In this way, the structural space can be fully utilized, and while reducing the overall axial size of the actuator 100 and simplifying the overall structure of the actuator 100, the stability of the power output of the motor assembly 2 is improved. The above-mentioned structural layout of the present application is conducive to the miniaturization design of the actuator 100, and can also make the various rotating parts at the power input end and the power output end of the actuator 100 have consistent concentricity, which can reduce the radial swing generated when the actuator 100 rotates at high speed, and reduce the vibration of the various rotating parts of the actuator 100 and the noise during operation. Since the motor assembly 2, the rotation support assembly 24, and the input end transmission shaft 32 of the reducer assembly 3 are all assembled based on the inner cylinder 13, the motor assembly 2, the reducer assembly 3 and the housing 1 have a consistent assembly reference, which reduces assembly errors and improves the transmission accuracy and transmission output stability of the actuator 100. Furthermore, the motor assembly 2 is arranged adjacent to the first extension portion 12, so that the connecting wire 221 connected to the stator 22 in the motor assembly 2 can be directly connected to the outside through the first extension portion 12, and the interference between the connecting wire 221 and other components can be avoided, preventing the hidden dangers caused by cable entanglement.

[0063] In the preferred embodiment of the present application, the outer shell portion 11, the first extension portion 12 and the inner cylinder portion 13 are integrally formed, and the rotor connecting portion 231, the second extension portion 232 and the first connecting shaft portion 233 in the rotor adapter 23 are also integrally formed, which is beneficial to reducing the processing cost of the shell 1 and the rotor adapter 23 and ensuring the overall accuracy of the shell 1 and the rotor adapter 23.

[0064] See also Figure 1-6BIn some embodiments of the present application, the rotation support assembly 24 includes a first bearing 24a and a second bearing 24b which are spaced apart on the first coupling portion 233, and the first bearing 24a is disposed close to the reducer assembly 3. The first bearing 24a and the second bearing 24b have substantially the same diameter, and their projections in the axial direction of the actuator 100 overlap, so that double support can be formed on the first coupling portion 233. The two support points enable the first bearing 24a and the second bearing 24b to have a certain span in the axial direction of the first coupling portion 233, so that the load can be balanced, the stability of the rotation of the rotor adapter 23 can be improved, and the stability of the power transmission of the transmission shaft 32 at the input end of the reducer can be improved.

[0065] See also Figure 4 , Figure 5A and Figure 5B In some embodiments of the present application, a roughly annular limiting flange 134 is radially extended from the inner wall of the inner cylinder portion 13 toward the center, and the outer ring side ends of the first bearing 24a and the second bearing 24b facing each other are respectively abutted against the first side wall 1341 and the second side wall 1342 at both ends of the limiting flange 134, so that the limiting flange 134 is clamped between the first bearing 24a and the second bearing 24b, and the axial directions of the outer rings of the first bearing 24a and the second bearing 24b are positioned by the inner cylinder portion 13. The limiting flange 134 is integrally formed with the inner cylinder portion 13, which not only makes the structure of the limiting flange 134 itself simple, but also brings convenience to the positioning and installation of the first bearing 24a and the second bearing 24b. Since the first bearing 24a and the second bearing 24b cooperate with the rotor adapter 23, the rotor adapter 23 can use the first bearing 24a and the second bearing 24b to determine its relative position in the housing 1, which also brings convenience to the positioning and installation of the rotor adapter 23 in the housing 1, so that the rotor adapter 23 has an assembly reference consistent with other related components on the housing 1, thereby improving the overall assembly accuracy of the actuator 100.

[0066] See also Figure 4 , Figure 5A , Fig. 6A In some embodiments of the present application, a bearing sleeve 25 and an elastic washer 26 may be disposed between the first bearing 24a and the second bearing 24b.

[0067] See also Figure 5AWhen the inner wall of the inner cylinder 13 of the housing 1 is provided with a limiting flange 134, a first bearing sleeve 25a and a first elastic washer 26a are provided between the first bearing 24a and the second bearing 24b, wherein the first elastic washer 26a is a wave washer, and the first bearing sleeve 25a and the first elastic washer 26a are sleeved on the first shaft connecting portion 233, one side end of the first bearing sleeve 25a abuts against the inner ring of the side end of the first bearing 24a away from the reducer assembly 3, and the other side end of the first bearing sleeve 25a abuts against the first elastic washer 26a, and the first bearing sleeve 25a simultaneously presses the first elastic washer 26a on the inner ring of the side end of the second bearing 24b facing the reducer assembly 3. In this way, the first bearing sleeve 25a and the first elastic washer 26a are matched with the limiting flange 134 on the inner cylinder 13 to axially position the first bearing 24a and the second bearing 24b. At the same time, the elasticity of the first elastic washer 26a can eliminate the axial clearance of the first bearing 24a and the second bearing 24b during rotation, accommodate and buffer the vibration and impact force of the first bearing 24a and the second bearing 24b during rotation, and ensure the stability of the rotation process of the rotor adapter 23 and the input end transmission shaft 32.

[0068] See also Fig. 6A When the inner wall of the inner cylinder 13 is not provided with the limiting flange 134, the first bearing sleeve 25a, the second bearing sleeve 25b, the first elastic washer 26a, and the second elastic washer 26b can be arranged between the first bearing 24a and the second bearing 24b. The inner diameter of the second bearing sleeve 25b is larger than the outer diameter of the first bearing sleeve 25a and is sleeved with the first bearing sleeve 25a. The inner diameter of the second elastic washer 26b is larger than the outer diameter of the first elastic washer 26a and is sleeved with the first elastic washer 26a. The inner rings of the first bearing sleeve 25a and the first elastic washer 26a are sleeved on the first shaft connecting portion 233, and the outer rings of the second bearing sleeve 25b and the second elastic washer 26b are respectively abutted against the first shaft connecting portion 233. The inner wall of the inner cylinder 13 is connected, one side end of the first bearing sleeve 25a and the second bearing sleeve 25b respectively abuts against the inner ring and outer ring of the side end of the first bearing 24a away from the reducer assembly 3, and the other side ends of the first bearing sleeve 25a and the second bearing sleeve 25b respectively abut against the first elastic washer 26a and the second elastic washer 26b, and the first bearing sleeve 25a and the second bearing sleeve 25b simultaneously press the first elastic washer 26a and the second elastic washer 26b on the inner ring and outer ring of the side end of the second bearing 24b facing the reducer assembly 3, respectively, to axially position the inner ring and outer ring of the first bearing 24a and the second bearing 24b on the first shaft connecting portion 233. Similarly, the elasticity of the first elastic washer 26a and the second elastic washer 26b is used to eliminate the axial clearance of the first bearing 24a and the second bearing 24b during rotation, thereby ensuring the stability of the rotation process of the rotor adapter 23 and the input end transmission shaft 32.

[0069] See also Figure 5B , Figure 6BIn some embodiments of the present application, a bearing sleeve 25 may be separately provided between the first bearing 24a and the second bearing 24b.

[0070] See also Figure 5B When the inner wall of the inner cylinder portion 13 of the housing 1 is provided with a limiting flange 134, a first bearing sleeve 25a is provided between the first bearing 24a and the second bearing 24b. The inner ring of the first bearing sleeve 25a is sleeved on the first connecting shaft portion 233. The two side ends of the first bearing sleeve 25a are respectively abutted against the inner rings of the side ends of the first bearing 24a and the second bearing 24b facing each other. The first bearing sleeve 25a corresponds to the limiting flange 134 on the inner cylinder portion 13, and axially positions the inner ring and outer ring of the first bearing 24a and the second bearing 24b respectively.

[0071] See also Figure 6B When the inner wall of the inner cylinder portion 13 of the housing 1 is not provided with a limiting flange 134, a first bearing sleeve 25a and a second bearing sleeve 25b are provided between the first bearing 24a and the second bearing 24b. The inner diameter of the second bearing sleeve 25b is greater than the outer diameter of the first bearing sleeve 25a and is sleeved with the first bearing sleeve 25a. The inner ring of the first bearing sleeve 25a is sleeved on the first connecting shaft portion 233, and the outer ring of the second bearing sleeve 25b abuts against the inner wall of the inner cylinder portion 13. The two side ends of the first bearing sleeve 25a and the second bearing sleeve 25b respectively abut against the inner ring side end and the outer ring side end of the first bearing 24a and the second bearing 24b facing each other, and the inner ring and the outer ring of the first bearing 24a and the second bearing 24b can also be axially positioned on the first connecting shaft portion 233.

[0072] See also Figure 5A-Figure 8B In some embodiments of the present application, the center of the first connecting shaft portion 233 has a substantially circular through first hollow cavity 2334, so that the first connecting shaft portion 233 is substantially a hollow cylindrical structure. haveThe first through hole 23341 is close to the reducer assembly 3. The center of the first through hole 23341 is in the same straight line with the rotation center of the rotor 21. The input end transmission shaft 32 of the reducer assembly 3 extends into the first through hole 23341 and is fixed after being sleeved with the first connecting shaft portion 233. After the input end transmission shaft 32 extends into the first through hole 23341, it can be connected and fixed by at least two axial connecting pins, or it can be fixed and connected by a bushing. In the embodiment of the present application, the first connecting shaft 233 adopts a hollow cylindrical structure, which can not only reduce the weight of the rotor adapter 23, but also facilitate the connection between the input end drive shaft 32 and the first connecting shaft 233. Moreover, the two adopt a sleeve connection method. While the motor assembly 2 transmits power to the reducer assembly 3, the size of the input end drive shaft 32 in the axial space is greatly shortened. Furthermore, this structural mode not only makes the input end drive shaft 32 and the first connecting shaft 233 have a higher coaxiality, but also can make the input end drive shaft 32 and the first connecting shaft 233 have a longer axial connection length within a limited space, and also greatly reduces the radial swing and vibration of the rotor 21 and the rotor adapter 23 during high-speed rotation, improves the stability of the power transmission at the input end of the reducer assembly 3, and reduces the noise during input transmission.

[0073] See also Figure 3 In some embodiments of the present application, the portion of the input drive shaft 32 extending into the first through hole 23341, the first through hole 23341, and the radial projections of the rotor 21 roughly overlap, so that the rotational forces of the input drive shaft 32 and the rotor 21 are in the same area, which can ensure that the input drive shaft 32 and the rotor 21 will not swing radially during the rotation process, thereby improving the stability of the rotor 21 and the input drive shaft 32 during operation.

[0074] See also Figure 7 , Fig. 8A , Figure 8B In some embodiments of the present application, the first shaft connecting portion 233 includes a first support section 2331, and the first bearing 24a and the second bearing 24b of the rotation support assembly 24 are placed on the first support section 2331, and the radial projections of the rotor 21, the first support section 2331, the first bearing 24a and the second bearing 24b are substantially overlapped. The first bearing 24a and the second bearing 24b are placed on the same support surface, so that the forces of the first bearing 24a and the second bearing 24b relative to the rotor adapter 23 are located on the same straight line, and the forces of the first bearing 24a and the second bearing 24b relative to the rotor adapter 23 and the inner cylinder 13 are balanced, and no torque is generated on the rotor adapter 23, thereby ensuring the stable rotation of the rotor adapter 23 and reducing the vibration of the rotor adapter 23 during the rotation process, thereby reducing the noise of the actuator 100 during operation and improving the stability of the actuator 100 during operation.

[0075] See also Figure 7 , Fig. 8A , Figure 8B In some embodiments of the present application, the first coupling portion 233 also includes a first stop segment 2332, the first stop segment 2332 is connected to the first supporting segment 2331, the outer wall of the outer edge of one end of the first stop segment 2332 is connected to the second extension portion inner ring 232b, and the end face of the outer edge of the other end is connected to the outer edge end face of one end of the first supporting segment 2331, and the outer diameter of the first stop segment 2332 is slightly larger than the outer diameter of the first supporting segment 2331, so that the first stop segment 2332 is constructed with a first stop surface 2333 at the junction with the first supporting segment 2331, forming an axial stop for the inner ring of the first bearing 24a close to the second extension portion 232. Through the stop structure on the rotor adapter 23, the first bearing 24a can be used to position the rotor adapter 23, while satisfying the axial stop of the first bearing 24a and the positioning requirements of the rotor adapter 23, which can effectively reduce the intermediate connecting parts, simplify the internal structure of the housing 1, shorten the axial dimension of the actuator 100, and effectively ensure the assembly accuracy of the first bearing 24a and the rotor adapter 23, thereby improving the stability of the rotation process of the rotor adapter 23 and the input end transmission shaft 32.

[0076] See also Figure 2-8B In some embodiments of the present application, the second extension portion 232 is a circular disk-shaped structure, the rotor connection portion 231 is formed by extending the disk surface of the outer edge 232a of the second extension portion toward the vertical direction of the rotor 21, and the first coupling portion 233 and the rotor connection portion 231 are arranged on the same side relative to the second extension portion 232. The rotation of the rotor 21, the support of the first bearing 24a and the second bearing 24b, and the transmission connection between the input end transmission shaft 32 and the first coupling portion 233 are all overlapped on the radial projection surface, which can not only shorten the radial dimension of the rotor adapter 23, but also ensure the balance of the above-mentioned transmission parts during operation. When the rotor adapter 23 and the input end transmission shaft 32 rotate, no deflection torque will be generated, and the power can be output smoothly, thereby improving the stability of the actuator 100 during operation.

[0077] Please see again Fig. 8A , Figure 8BIn some embodiments of the present application, the rotor connection part 231 may include a connection ring 2311 and a plurality of connection bars 2312. One end of the connection ring 2311 is vertically connected to the disk surface of the second extension part 232. Each connection bar 2312 is arranged at the other end of the connection ring 2311 and is evenly arranged and combined into a ring at the other end of the connection ring 2311. Each connection bar 2312 is embedded in the gap corresponding to the magnetic ring 211 on the rotor 21. Most of the rotor 21 overlaps with the axial projection of the connection bar 2312. Through the embedded connection between the connection bar 2312 and the magnetic ring 211, the connection between the rotor adapter 23 and the rotor 21 is firm and reliable, ensuring that the rotor adapter 23 and the rotor 21 have consistent power output, and effectively ensuring the transmission accuracy of the output of the motor assembly 2.

[0078] See also Fig. 6A , Figure 6B , Figure 7 , Figure 8B In some embodiments of the present application, the rotor adapter 23 is further provided with a first boss 2336 for positioning the input end transmission shaft 32 relative to the rotor adapter 23. The first boss 2336 is formed by vertically extending outward along the position of the inner ring 232b of the second extension portion in the direction away from the first connecting shaft portion 233. The first boss 2336 is designed by making full use of the rotor adapter 23, which not only facilitates the positioning of the input end transmission shaft 32 and the rotor adapter 23 during connection, but also simplifies the internal structure of the housing 1, and also facilitates the assembly and connection fixation between the input end transmission shaft 32 and the rotor adapter 23, reliably guarantees the concentricity between the input end transmission shaft 32 and the rotor adapter 23, and can also reduce assembly errors and improve the transmission accuracy between the input end transmission shaft 32 and the rotor adapter 23.

[0079] See also Figure 1-Figure 3In some embodiments of the present application, the reducer assembly 3 includes at least one planetary gear set 33, an inner gear ring 36 meshing with the outer planetary gear set 33, an output end transmission shaft 334 and an output end 34. The reducer assembly 3 and the motor assembly 2 are arranged axially along the housing 1, and the motor assembly 2 and the reducer assembly 3 are separated in different cavity spaces in the housing 1 by an input retaining ring 31 connected to the inner gear ring 36. The inner gear ring 36 is radially provided with a second connection hole 361, and the first fastener 18 passes through the housing connection hole 111 corresponding to the outer housing 11, and is screwed into the second connection hole 361, so that the outer housing 11 is radially fixedly connected with the inner gear ring 36, and the input end transmission shaft 32 is transmission-connected with the planetary gear set 33. In the illustrated embodiment of the present application, the planetary gear set 33 is a two-stage planetary gear mechanism, including a plurality of first-stage planetary gears 331, a plurality of second-stage planetary gears 333 and a first-stage planetary gear carrier 332. The inner gear ring 36 is a bipolar gear ring, which is externally meshed with a plurality of first-stage planetary gears 331 and a plurality of second-stage planetary gears 333 respectively. The input end transmission shaft 32 is a first-stage sun gear, which is a gear shaft structure. The end without a gear extends into the first through hole 23341, is sleeved and fixed with the rotor adapter 23, and rotates under the drive of the rotor adapter 23. The other end of the first-stage sun gear with transmission teeth is placed at the center of a plurality of first-stage planetary gears 331 arranged around it, and is internally meshed with each first-stage planetary gear 331. Each first-stage planetary gear 331 is also externally meshed with the inner gear ring 36. Each first-stage planetary gear 331 is respectively mounted on the planetary gear shaft and is fixed to the first-stage planetary gear carrier 332 through the rotation of the planetary gear shaft. The output end transmission shaft 334 is a secondary sun gear, which is a gear shaft structure with two sections of transmission teeth at one end. One end with two sections of transmission teeth is respectively placed at the center of the primary planetary gear carrier 332 and the center of a plurality of secondary planetary gears 333 arranged around the output end transmission shaft 334, and is simultaneously meshed with each secondary planetary gear 333 and transmission-connected with the primary planetary gear carrier 332, and each secondary planetary gear 333 is externally meshed with the inner gear ring 36. The output end 34 is a secondary planetary gear carrier, and a clearance gap is provided on the secondary planetary gear carrier, and a planetary gear shaft is mounted on two opposite inner walls of the clearance gap, and each secondary planetary gear 333 is respectively mounted on the planetary gear shaft and located at the clearance gap position, so that each secondary planetary gear 333 is rotatably fixed on the output end 34, and the other end of the output end transmission shaft 334 is rotatably connected with the output end 34. In the embodiment of the present application, a third bearing 35 is provided between the output end 34 and the output end transmission shaft 334. The inner ring of the third bearing 35 is sleeved on the output end transmission shaft 334, and the outer ring abuts against the output end 34, so that the output end transmission shaft 334 is rotatably connected to the output end 34. A fourth bearing 37 is provided between the output end 34 and the inner gear ring 36. The fourth bearing 37 is a cross roller bearing. The inner ring of the fourth bearing 37 is sleeved on the second support section 341 (see FIG. 2 ) of the output end 34. Figure 1), the outer ring abuts the inner gear ring 36, and the radial projections of the third bearing 35 and the fourth bearing 37 are roughly overlapped. The inner gear ring 36 in the reducer assembly 3 of the present application is directly connected to the housing 1 in the radial direction, and the assembly is simple and convenient. The housing 1 and the inner gear ring 36 do not require an intermediate component to be connected, which shortens the axial dimension of the housing 1 and simplifies the overall structure of the actuator 100. The third bearing 35 and the fourth bearing 37 are overlapped in the radial direction, so that the radial forces of the transmission components at the output end 34 are basically on the same straight line, which can balance the bearing capacity of the output end 34, avoid radial runout when the output end 34 is output, and ensure the stability of the power output process of the output end 34.

[0080] See also Figure 1-Figure 3 In some embodiments of the present application, the reducer assembly 3 further includes a bearing pressing ring 4 and an output flange 5. The bearing pressing ring 4 is generally an annular structure, and the output flange 5 is generally a disc-shaped structure, which is radially sleeved with the bearing pressing ring 4 and is located at the output end 34 of the reducer assembly 3, so as to cover the side end of the outer shell part 11 close to the reducer assembly 3 and the output end 34 of the reducer assembly 3. The end surface of the bearing pressing ring 4 facing the outer shell part 11 and the planetary gear set 33 abuts against the side end of the outer shell part 11 and the side end of the inner gear ring 36, and the side end of the outer shell part 11 is flush with the side end of the inner gear ring 36. The bearing pressing ring 4 is axially fixedly connected to the inner gear ring 36 through a second fastener 41, but is not connected to the outer shell part 11. In this way, the radial thickness of the shell 1 can be reduced because the bearing pressing ring 4 and the output flange 5 do not need to be fixedly connected to the shell 1 when covering the shell 1, thereby reducing the radial size and weight of the actuator 100, and at the same time, it can also reduce the impact of the transmission component on the shell 1 during operation. The output flange 5 is fixedly connected to the output end 34 via a third fastener 54 and can rotate with the output end 34 to output the power of the reducer assembly 3 via the output flange 5. The output flange 5 is provided with a circular boss 51 at one end away from the reducer assembly 3 to facilitate connection with external equipment.

[0081] See also Figure 2 and Figure 3 The socket joint between the output flange 5 and the bearing pressure ring 4 is arranged at the position of the fourth bearing 37, wherein the end face of the bearing pressure ring 4 facing the planetary gear set 33 abuts against the outer ring side end of the fourth bearing 37 facing away from the planetary gear set 33, and the other side end of the outer ring of the fourth bearing 37 abuts against the stop surface corresponding to the inner gear ring 36, so that the outer ring of the fourth bearing 37 is axially limited; the end face of the output flange 5 facing the planetary gear set 33 abuts against the inner ring side end of the fourth bearing 37 facing away from the planetary gear set 33, and the side end of the inner ring of the fourth bearing 37 facing the planetary gear set 33 abuts against the stop surface arranged at the output end 34, so that the inner ring of the fourth bearing 37 is axially limited.

[0082] See also Figure 1-Figure 3At one end of the output flange 5 facing the planetary gear set 33, an intermediate convex ring 52 extends vertically outward. The intermediate convex ring 52 is used to abut the outer ring of the third bearing 35 on the side facing away from the planetary gear set 33. The other side end of the outer ring of the third bearing 35 facing the planetary gear set 33 abuts against the stop surface set on the output end 34, and the side end of the inner ring abuts against the stop surface set on the output end transmission shaft 334, and the third bearing 35 is axially limited.

[0083] See also Figure 1-Figure 3 In some implementation schemes of the present application, a seal 42 is provided at the socket joint between the bearing pressure ring 4 and the output flange 5. The seal 42 can be an O-ring or other sealing component. The seal 42 can prevent external dust or impurities from entering the fourth bearing 37 transmission pair and the housing 1 from the socket joint between the bearing pressure ring 4 and the output flange 5, so as to protect the various transmission components in the housing 1.

[0084] See also Figure 1 The present application also provides a joint module 1000 , including the actuator 100 described above, and an encoder assembly 600 .

[0085] See also Figure 1-Figure 2 In some embodiments of the present application, the encoder assembly 600 includes a motor encoder 61 for detecting the displacement signal output by the motor assembly 2 and an output encoder 62 for detecting the displacement signal output by the reducer assembly 3, wherein the motor encoder 61 is connected to the rotor adapter 23 and driven to rotate by the rotor adapter 23, and can detect the rotation position of the rotor 21, thereby detecting the displacement signal output by the motor assembly 2. The output encoder 62 is connected to the output flange 5 and rotates with the output flange 5 to detect the rotation position of the displacement signal output by the reducer assembly 3.

[0086] See also Figure 4-Figure 7 In some embodiments of the present application, the motor encoder 61 includes a motor encoder seat 611 and a first induction member 612 corresponding to the first encoder, wherein the motor encoder seat 611 is generally a hollow structure and has a motor encoder mounting seat 6111, and the motor encoder mounting seat 6111 is located in the third accommodating cavity 17 provided in the housing 1 (see Figure 7), an extension portion 14 is extended outwardly from the end of the outer shell 11 away from the motor assembly 2 along the first extension portion 12, and a third accommodating cavity 17 with an opening is constructed by the extension portion 14 and the first extension portion 12. The motor encoder mounting seat 6111 is generally a hollow annular structure, arranged in parallel with the second extension portion 232 of the rotor adapter 23, close to the end surface of the first extension portion 12 away from the motor assembly 2, and along the direction of the disk surface of the motor encoder mounting seat 6111 away from the motor assembly 2, an annular mounting boss 6112 is vertically arranged outwardly, and the first induction member 612 is an annular magnet, fixed on the motor encoder mounting seat 6111, and sleeved on the mounting boss 6112, so that the first induction member 612 is fixed to the motor encoder mounting seat 6111 and isolated by the mounting boss 6112. On the motor encoder seat 611, a second coupling portion 6114 is provided at the end surface of the center of the motor encoder mounting seat 6111 close to the first extension portion 12, and facing the direction of the motor assembly 2. The second coupling portion 6114 extends into the inner cavity of the inner cylinder portion 13, and is arranged opposite to the rotor adapter 23. Its outer diameter is consistent with the outer diameter of the first supporting section 2331. The second coupling portion 6114 has a center hole 6118 and a plurality of third through holes 6117. A plurality of fourth fasteners 6116 pass through the third through holes 6117 and are screwed into the first connecting holes 2335 correspondingly arranged on the rotor adapter 23, and are fixedly connected to the rotor adapter 23, so that the motor encoder seat 611 and the rotor adapter 23 are connected as a whole and rotate with the rotor adapter 23. In this way, the first induction member 612 located on the motor encoder seat 611 rotates synchronously, and the rotation position of the first induction member 612 measured by the first encoder is the corresponding rotation position of the rotor 21. See further Figure 4 and Figure 7A second boss 6113 is provided between the second connecting shaft portion 6114 and the motor encoder mounting seat 6111, and a fourth accommodating cavity 6115 is provided at the center of the second boss 6113. The second boss 6113 and the second connecting shaft portion 6114 form a second stop surface 6119 at the junction, so that the motor encoder seat 611 can abut against the second bearing 24b of the rotating support assembly 24 away from the inner ring side end of the motor assembly 2 while being connected to the first connecting shaft portion 233, so that the second bearing 24b is axially limited. The motor encoder 61 of the present application arranges the second boss 6113 and the second connecting shaft 6114 of the motor encoder seat 611 into a stepped structure extending into the inner cavity of the inner cylinder 13, so that the second connecting shaft 6114 is docked and fixed with the rotor adapter 23 and rotates with the rotor adapter 23, thereby completing the detection of the displacement signal at the output end of the motor assembly 2. At the same time, the second connecting shaft 6114 and the second stop surface 6119 formed by the second connecting shaft 6114 and the second boss 6113 provide partial support and axial limitation for the second bearing 24b, thereby reducing the axial space occupied by the motor encoder 61 in the housing 1. Moreover, the motor encoder 61 is docked with the first connecting shaft portion 233 of the rotor adapter 23 through the second connecting shaft portion 6114 of the motor encoder seat 611, forming a roughly symmetrical structure with the rotor adapter 23 relative to the inner cylinder portion 13, so that the rotation of the rotor adapter 23 and the input end transmission shaft 32 connected to the rotor adapter 23 is more balanced and stable, thereby also improving the stability of the actuator transmission.

[0087] See also Figure 4-Figure 7 In some embodiments of the present application, the output encoder 62 includes an output encoder seat 623 and a second induction member 621 corresponding to the second encoder. The output encoder seat 623 includes a mounting head 6231 and a connecting rod 6232. The mounting head 6231 is generally cylindrical, with a circular groove in the center, and is located in a fourth accommodation cavity 6115 provided with the second boss 6113 (see Figure 7), the second sensing member 621 is a cylindrical magnetic block, fixed in the groove on the mounting head 6231. One end of the connecting rod 6232 is connected to the mounting head 6231, and the other end passes through the center hole 6118 of the second connecting shaft 6114 and the center of the input end transmission shaft 32 and the output end transmission shaft 334, and is connected to the inner boss 53 set in the center of the output flange 5 through the fifth fastener 6233, so that the output encoder seat 623 rotates with the output flange 5, and the second sensing member 621 located on the mounting head 6231 rotates at the same time, and the rotation position of the second sensing member 621 is measured by the second encoder, which corresponds to the rotation position of the output end 34 of the reducer. Further, a supporting bearing 624 is provided in the second through hole 23342 of the rotor adapter 23 to provide support for the connecting rod 6232, to ensure that the output encoder seat 623 drives the second sensing member 621 to rotate smoothly, so as to ensure the detection accuracy of the rotation position of the displacement signal of the output end 34 of the reducer assembly 3. An isolation ring 622 is also sleeved on the outer wall of the mounting head 6231 to isolate the second sensing element 621 , and together with the mounting boss 6112 , prevents the magnetic fields of the first sensing element 612 and the second sensing element 621 from affecting each other and reducing the detection accuracy. In the above structure, the mounting head 6231 of the output encoder 62 is arranged in the fourth accommodating cavity 6115 of the second boss 6113 of the motor encoder 61, and the connecting rod 6232 passes through the center of the shell 1, so that the output encoder 62 shares the radial space with other components, and the second sensing member 621 is located on the same side as the first sensing member 612. The radial projections of the first sensing member 612 and the second sensing member 621 roughly overlap, so that the corresponding first encoder and second encoder can be centrally installed on the controller arranged in the third accommodating cavity 17 (not shown), which can avoid the defects of the first sensing member 612 and the second sensing member 621 being respectively arranged at both ends of the actuator 100, resulting in a larger overall volume, more complicated assembly, and inconvenient wiring caused by the dispersed arrangement of the control structure. At the same time, the motor encoder 61 and the output encoder 62 occupy very little radial space of the shell 1, thereby reducing the axial size of the overall structure of the joint module 1000.

[0088] See also Fig. 9 In some embodiments of the present application, a robotic arm is also provided, wherein at least one driving joint of the robotic arm includes the above-mentioned joint module 1000.

[0089] See also Fig.10 In some embodiments of the present application, a bipedal robot is also provided, wherein at least one driving joint of the bipedal robot includes the above-mentioned joint module 1000.

[0090] See also Fig.11 In some embodiments of the present application, a quadruped robot is also provided, wherein at least one driving joint of the quadruped robot includes the above-mentioned joint module 1000.

[0091] See also Fig.12 In some embodiments of the present application, a four-wheeled leg robot is also provided, and at least one driving joint of the four-wheeled leg robot includes the above-mentioned joint module 1000.

[0092] See also Fig.13 In some embodiments of the present application, a humanoid robot is further provided, wherein at least one driving joint of the arm swing joint, leg swing joint, thigh joint, and calf joint of the humanoid robot includes the above-mentioned joint module 1000.

[0093] In some embodiments of the present application, a robot is further provided, wherein at least one driving joint of the robot includes the above-mentioned joint module 1000.

[0094] The above-mentioned embodiments of the present application are only part of the preferred embodiments of the present application and cannot be used to limit the present application. Without departing from the essence of the present application, any modifications, equivalent substitutions and improvements made by technical personnel in this field are within the scope of protection of the present application.

Claims

1. An actuator, characterized in that include: A shell, comprising an outer shell portion in a generally hollow cylindrical shape, a first extension portion in a generally hollow disc shape, and an inner cylinder portion in a generally hollow cylindrical shape, wherein an outer edge of one end of the outer shell portion is connected to an outer ring of the first extension portion, an outer edge of one end of the inner cylinder portion is connected to an inner ring of the first extension portion, a radial projection of the inner cylinder portion overlaps with the outer shell portion, and a first accommodating cavity having an opening is defined by the outer shell portion, the first extension portion, and the inner cylinder portion; A motor assembly, comprising a rotor, a stator coaxially arranged in the rotor, a rotor adapter and a rotation support assembly, wherein the rotor adapter is constructed with a rotor connecting portion, a second extension portion substantially in an annular shape and a first shaft connecting portion, wherein the rotor connecting portion is connected to the rotor and to the outer edge of the second extension portion, one end of the first shaft connecting portion is connected to the inner ring of the second extension portion, and the outer diameter of the first shaft connecting portion is smaller than the inner diameter of the inner cylinder portion; and Reducer assembly; Wherein, the rotor and the stator are arranged in the first accommodating cavity; The outer wall of the first coupling portion abuts against the inner ring portion of the rotation support assembly, and the inner wall of the inner cylinder portion abuts against the outer ring portion of the rotation support assembly, so that the rotor adapter is rotatably connected to the shell, and the radial projections of the first coupling portion and the inner cylinder portion at least mostly overlap, the first coupling portion is connected to the input end transmission shaft of the reducer assembly, the second extension portion is arranged adjacent to the reducer assembly, and the first extension portion is arranged away from the reducer assembly relative to the second extension portion.

2. The actuator according to claim 1, characterized in that The rotation support assembly includes a first bearing and a second bearing spaced apart on the first shaft connection portion, and projections of the first bearing and the second bearing in the axial direction of the actuator overlap.

3. The actuator according to claim 2, characterized in that The inner wall of the inner cylinder portion has an annular limiting flange extending radially toward the center, and the outer ring side ends of the first bearing and the second bearing that are arranged opposite to each other abut against the two side walls of the limiting flange respectively, so that the outer rings of the first bearing and the second bearing are axially positioned.

4. The actuator according to claim 2, characterized in that: A bearing sleeve and an elastic washer are arranged between the first bearing and the second bearing. One side end of the bearing sleeve abuts against the side end of the first bearing facing away from the reducer assembly, and the other side end is adjacent to the elastic washer, and the elastic washer is pressed against the side end of the second bearing facing the reducer assembly.

5. The actuator according to claim 2, characterized in that: A bearing sleeve is arranged between the first bearing and the second bearing, and both side ends of the bearing sleeve are respectively abutted against the side ends of the first bearing and the second bearing which are arranged opposite to each other.

6. The actuator according to claim 1, characterized in that The center of the first coupling part has a first through cavity which is roughly circular, so that the first coupling part is a hollow cylindrical structure. The first cavity has a first through hole, and the first through hole is close to the reducer assembly. The center of the first through hole is on the same line as the rotation center of the rotor. The input end transmission shaft of the reducer assembly extends into the first through hole and is fixedly sleeved with the first coupling part.

7. The actuator according to claim 6, characterized in that The radial projection surfaces of the portion of the input-end transmission shaft extending into the first through hole, the first through hole, and the rotor are substantially overlapped.

8. The actuator according to claim 1, characterized in that The first shaft coupling portion includes a first supporting section, the rotation support assembly is disposed in the first supporting section, and radial projections of the rotor, the rotation support assembly, and the first supporting section substantially overlap.

9. The actuator according to claim 8, characterized in that The first coupling portion also includes a first stop segment connected to the first supporting segment, the outer wall of the outer edge of one end of the first stop segment is connected to the inner ring of the second extension portion, and the end face of the outer edge of the other end is connected to the outer edge end face of one end of the first supporting segment, and the first stop segment is constructed with a first stop surface at the junction with the first supporting segment, forming an axial stop for the inner ring of the rotating support assembly close to the second extension portion.

10. The actuator according to claim 1, characterized in that The second extension portion is a circular disk-shaped structure, the rotor connection portion is formed by extending the disk surface of the outer edge of the second extension portion toward the vertical direction of the rotor, and the first shaft connection portion and the rotor connection portion are arranged on the same side relative to the second extension portion.

11. The actuator according to claim 1, characterized in that The rotor adapter is also provided with a first boss for positioning the input-end transmission shaft relative to the rotor adapter. The first boss is formed to extend vertically outward along the inner ring of the second extension portion in a direction away from the first shaft connection portion.

12. The actuator according to claim 1, characterized in that The reducer assembly includes at least one stage of planetary gear set, the input end transmission shaft is transmission-connected with the planetary gear set, and the reducer assembly also includes an inner gear ring meshing with the outside of the planetary gear set, an output end transmission shaft and an output end; the inner gear ring is fixed to the outer shell, a third bearing is provided between the output end and the output end transmission shaft, a fourth bearing is provided between the output end and the inner gear ring, and the radial projections of the third bearing and the fourth bearing substantially overlap.

13. The actuator according to claim 12, characterized in that The reducer assembly also includes an output flange and a bearing pressure ring, the bearing pressure ring is sleeved with the output flange, the output flange is fixedly connected to the output end, and abuts against the outer ring of the third bearing on the side facing away from the planetary gear set and the inner ring of the fourth bearing on the side facing away from the planetary gear set, the inner ring of the third bearing on the side facing the planetary gear set abuts against the output end transmission shaft, and the outer ring abuts against the output end; the bearing pressure ring is fixedly connected to the inner gear ring, and abuts against the outer ring of the fourth bearing on the side facing away from the planetary gear set, but is not connected to the outer shell; the outer ring of the fourth bearing on the side facing the planetary gear set abuts against the inner gear ring, and the inner ring abuts against the output end.

14. The actuator according to claim 13, characterized in that A sealing member is provided at the socket connection between the bearing pressure ring and the output flange.

15. A joint module, characterized in that: include: The actuator according to any one of claims 1 to 14; The encoder component is used to detect the output displacement signal or position information of the motor component and the output displacement signal or position information of the reducer component.

16. The joint module according to claim 15, characterized in that: The encoder assembly comprises: The motor encoder includes a motor encoder seat and a first induction element corresponding to the first encoder. The motor encoder seat is generally a hollow structure, and has a second connecting shaft portion extending into the inner cavity of the inner cylinder portion and connected to the first connecting shaft portion, so that the motor encoder seat rotates with the rotor adapter; The motor encoder seat abuts against the inner ring of the rotating support assembly on a side away from the motor assembly; The first induction member is fixed on the motor encoder seat; An output encoder, including an output encoder holder, and, A second induction element is arranged on the output encoder seat and corresponds to the second encoder.

17. The joint module according to claim 16, characterized in that: The output encoder seat includes a mounting head and a connecting rod. The mounting head is located in a cavity where the motor encoder seat is set. One end of the connecting rod passes through the center of the shell and is connected to the output end of the reducer assembly, and the other end is connected to the mounting head. The second induction member is fixed on the mounting head, and the radial projections of the first induction member and the second induction member roughly overlap.

18. A robotic arm, characterized in that: At least one driven joint adopts the joint module described in any one of claims 15 to 17.

19. A bipedal robot, characterized in that: At least one driven joint adopts the joint module described in any one of claims 15 to 17.

20. A quadruped robot, characterized in that: At least one driven joint adopts the joint module described in any one of claims 15 to 17.

21. A four-wheeled legged robot, characterized in that: At least one driven joint adopts the joint module described in any one of claims 15 to 17.

22. A humanoid robot, characterized in that At least one driven joint adopts the joint module described in any one of claims 15 to 17.

23. A robot, characterized in that At least one driven joint adopts the joint module described in any one of claims 15 to 17.

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