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

Abstract

The present application provides an actuator, a joint module, a robotic arm, a biped robot, a quadruped robot, a four-wheel-foot robot, a humanoid robot and a robot. The actuator includes a housing, a motor assembly and a reducer assembly. The housing includes an outer housing portion, a first extension portion and an inner cylinder portion, and defines a first accommodating cavity with an opening. The motor assembly is composed of a rotor, a stator, a rotor adapter and a rotating support assembly. The rotor adapter is configured with a rotor connection portion, a second extension portion and a first coupling portion, and is connected to the rotor. The rotor and the stator are arranged in the first accommodating cavity, and the rotating support assembly is arranged between the first coupling portion and the inner cylinder portion. The input transmission shaft of the reducer assembly is connected to the first coupling portion and rotates with the rotor adapter. The second extension portion is arranged adjacent to the reducer assembly, and the first extension portion is arranged relatively far from the reducer assembly compared to the second extension portion. The present application realizes the miniaturization and compactness of the actuator while ensuring the transmission accuracy and the stability of power output of the actuator.

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;

[0006] 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;

[0007] Wherein, the rotor and the stator are arranged in the first accommodating cavity;

[0008] 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.

[0009] 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.

[0010] 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.

[0011] 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.

[0012] 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.

[0013] 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.

[0014] 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.

[0015] In some embodiments of the present application, the first coupling portion includes a first supporting section, the rotational support assembly is disposed on the first supporting section, and the projections of the rotor, the rotational support assembly, and the first supporting section in the radial direction substantially overlap.

[0016] In some embodiments of the present application, the first coupling portion further includes a first stop section connected to the first supporting section. One end of the outer wall of the outer edge of the first stop section is connected to the inner ring of the second extension portion, and the end face of the other end of the outer edge is connected to the end face of the outer edge of one end of the first supporting section. A first stop surface is constructed at the junction of the first stop section and the first supporting section to form an axial stop for the inner ring of the rotational support assembly close to the second extension portion.

[0017] In some embodiments of the present application, the second extension portion is a circular disc-like structure. The rotor connecting portion extends from the disk surface of the outer edge of the second extension portion in a direction perpendicular to the rotor. The first coupling portion and the rotor connecting portion are disposed on the same side relative to the second extension portion.

[0018] In some embodiments of the present application, the rotor adapter further is provided with a first shoulder for positioning the input end transmission shaft relative to the rotor adapter. The first shoulder extends perpendicularly outward in a direction away from the first coupling portion along the inner ring of the second extension portion.

[0019] In some embodiments of the present application, the speed reducer assembly includes at least one stage of planetary gear sets. The input end transmission shaft is in transmission connection with the planetary gear sets. The speed reducer assembly further includes an internal gear ring that meshes externally with the planetary gear sets, an output end transmission shaft, and an output end. The internal gear ring is fixed on the outer housing portion. A third bearing is provided between the output end and the output end transmission shaft, and a fourth bearing is provided between the output end and the internal gear ring. The projections of the third bearing and the fourth bearing in the radial direction substantially overlap.

[0020] In some embodiments of the present application, the speed reducer assembly further includes an output flange and a bearing retaining ring. The bearing retaining ring is sleeved on the output flange. The output flange is fixedly connected to the output end and abuts against the outer ring of the side of the third bearing facing away from the planetary gear sets and the inner ring of the side of the fourth bearing facing away from the planetary gear sets. The inner ring of the side of the third bearing facing the planetary gear sets abuts against the output end transmission shaft, and the outer ring abuts against the output end. The bearing retaining ring is fixedly connected to the internal gear ring and abuts against the outer ring of the side of the fourth bearing facing away from the planetary gear sets, but is not connected to the outer housing portion. The outer ring of the side of the fourth bearing facing the planetary gear sets abuts against the internal gear ring, and the inner ring abuts against the output end.

[0021] In some implementation schemes of the present application, a seal is provided at the joint between the bearing pressure ring and the output flange.

[0022] In a second aspect, the present application further provides a joint module, comprising the actuator described above; and

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] In an eighth aspect, the present application also provides a robot, and at least one drive joint of the robot adopts the joint module described above.

[0032] In the actuator of the present application, an outer housing portion, a first extension portion, and an inner cylinder portion structure are constructed on the housing and are cooperatively connected with the motor assembly and the reducer assembly, so that the motor assembly, the input shaft of the reducer assembly, the rotating support assembly, and the inner cylinder portion share the radial space inside the housing, effectively reducing the axial space occupied by the motor assembly and the reducer assembly, shortening the axial dimension of the actuator. At the same time, the rotor adapter, the rotating support assembly, the input shaft of the reducer assembly, and the inner cylinder are concentrically arranged, improving and ensuring the concentricity of the components in the actuator, reducing the radial swing that is likely to occur during long-term high-speed rotation of the actuator, and reducing the vibration and noise during operation of each rotating component of the actuator. Further, by using the diameter difference between the inner cylinder portion and the first coupling portion, a space for installing the rotating support assembly is constructed, enabling the rotating support assembly to have a certain support length, which improves the stability of the power output of the motor assembly while simplifying the structure.

[0033] All components of the actuator of the present application are assembled with the inner cylinder portion as the reference, so that the motor assembly, the reducer assembly, and the housing have a consistent assembly reference, reducing the assembly error of each component. In this way, while achieving the miniaturization and compactness of the actuator, the transmission accuracy and the stability of the power output of the actuator are effectively ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following drawings required to be used will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the specification of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0035] Figure 1 Schematic diagram of the exploded structure of the actuator provided by the embodiment of the present application;

[0036] Figure 2 Full-sectional schematic diagram of the assembled structure of the actuator provided by the embodiment of the present application;

[0037] Figure 3 Half-sectional schematic diagram of the assembled structure of the actuator provided by the embodiment of the present application;

[0038] Figure 4 Schematic diagram of the structure before the assembly of the housing and the motor assembly in the actuator provided by the embodiment of the present application;

[0039] Figure 5A Schematic diagram (one) of the assembled structure of the housing with a limiting flange on the inner cylinder portion, the motor assembly, and the rotating support assembly in the actuator provided by the embodiment of the present application;

[0040] Figure 5B Schematic diagram II of the assembly structure of the housing with a limit flange, the motor assembly, and the rotating support assembly in the actuator provided by the embodiment of the present application;

[0041] Figure 6A Schematic diagram I of the assembly structure of the housing without a limit flange, the motor assembly, and the rotating support assembly in the actuator provided by the embodiment of the present application;

[0042] Figure 6B Schematic diagram II of the assembly structure of the housing without a limit flange, the motor assembly, and the rotating support assembly in the actuator provided by the embodiment of the present application;

[0043] Figure 7 Schematic diagram of the connection structure between the housing, the rotor adapter, and the encoder assembly in the actuator provided by the embodiment of the present application;

[0044] Figure 8A Schematic diagram of the rotor adapter structure provided by the embodiment of the present application Figure 1 ;

[0045] Figure 8B Schematic diagram of the rotor adapter structure provided by the embodiment of the present application Figure 2 ;

[0046] Figure 9 Schematic diagram of the three-dimensional structure of a robotic arm provided by the embodiment of the present application;

[0047] Figure 10 Schematic diagram of the three-dimensional structure of a bipedal robot provided by the embodiment of the present application;

[0048] Figure 11 Schematic diagram of the three-dimensional structure of a quadruped robot provided by the embodiment of the present application;

[0049] Figure 12 Schematic diagram of the three-dimensional structure of a four-wheel-foot robot provided by the embodiment of the present application;

[0050] Figure 13 Schematic diagram of the three-dimensional structure of a humanoid robot provided by the embodiment of the present application.

[0051] Reference numerals:

[0052] 1 - Housing; 11 - Outer housing part; 111 - Housing connection hole; 12 - First extension part;

[0053] 13 - Inner cylinder part; 131 - Stator support section; 132 - Stator stop section; 133 - Stator stop surface;

[0054] 134 - Limit flange; 1341 - First side wall; 1342 - Second side wall;

[0055] 14 - Extension part; 15 - First accommodation cavity; 16 - Second accommodation cavity;

[0056] 17 - Third accommodation cavity; 18 - First fastener;

[0057] 2 - Motor assembly; 21 - Rotor; 211 - Magnetic ring; 212 - Magnetic yoke;

[0058] 22 - Stator; 221 - Connecting wire; 23 - Rotor adapter;

[0059] 231 - Rotor connection part; 2311 - Connection ring; 2312 - Connection bar;

[0060] 232 - Second extension part; 232a - Outer edge of the second extension part; 232b - Inner ring of the second extension part;

[0061] 2321 - Flange of the second extension part; 2322 - Axial stop surface of the rotor;

[0062] 233 - First coupling part;

[0063] 2331 - First support section; 2332 - First stop section; 2333 - First stop surface; 2334 - First hollow cavity;

[0064] 23341 - First through hole; 23342 - Second through hole; 2335 - First connection hole; 2336 - First shoulder;

[0065] 24 - Rotating support assembly; 24a - First bearing; 24b - Second bearing;

[0066] 25 - Bearing sleeve; 25a - First bearing sleeve; 25b - Second bearing sleeve;

[0067] 26 - Elastic washer; 26a - First elastic washer; 26b - Second elastic washer;

[0068] 3 - Reducer assembly; 31 - Input retaining ring; 32 - Input end transmission shaft;

[0069] 33 - Planetary gear set; 331 - First - stage planetary gear; 332 - First - stage planetary gear carrier; 333 - Second - stage planetary gear;

[0070] 334 - Output end transmission shaft; 34 - Output end; 341 - Second support section; 35 - Third bearing;

[0071] 36 - Internal gear ring; 361 - Second connection hole; 37 - Fourth bearing;

[0072] 4 - Bearing retaining ring; 41 - Second fastener; 42 - Seal;

[0073] 5 - Output flange; 51 - Circular boss; 52 - Intermediate convex ring; 53 - Inner boss; 54 - Third fastener;

[0074] 100 - Actuator;

[0075] 600 - Encoder assembly; 61 - Motor encoder;

[0076] 611 - Motor encoder seat; 6111 - Motor encoder mounting seat; 6112 - Mounting boss; 6113 - Second shoulder;

[0077] 6114 - Second coupling part; 6115 - Fourth accommodation cavity; 6116 - Fourth fastener; 6117 - Third through - hole;

[0078] 6118 - Central hole; 6119 - Second stop surface; 612 - First sensing element;

[0079] 62 - Output encoder; 621 - Second sensing element; 622 - Isolation ring;

[0080] 623 - Output encoder seat; 6231 - Mounting head; 6232 - Connecting rod; 6233 - Fifth fastener;

[0081] 624 - Support bearing;

[0082] 1000 - Joint module. Detailed implementation manners

[0083] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the following further elaborates on the present application in combination with embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0084] It should be noted that when a component is referred to as being "installed" 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 "joined" to another component, it can be directly connected to the other component or there may be an intermediate component at the same time, and its "connection" can be a fixed connection, a detachable connection, a hinged connection, or integrated.

[0085] It should also be noted that the orientation terms such as "front", "rear", "inner", "outer", "one end", "the other end", "both ends", "side end", "outer edge", "inner ring", "axial direction", "radial direction", "outer wall", "inner 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, and therefore should not be considered restrictive.

[0086] In the description of the present application, the meaning of "several" is two or more, unless otherwise specifically defined.

[0087] The concept of "substantially in" in the present application describes the main characteristics 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.

[0088] 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 specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature.

[0089] 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 descriptions of the above terms do 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.

[0090] The following describes some specific implementation schemes of the present application with reference to the drawings.

[0091] See Figures 1 - 7, the actuator 100 of the present application includes a housing 1, a motor assembly 2, and a speed reducer assembly 3. The housing 1 includes an outer housing portion 11, a first extension portion 12, and an inner cylinder portion 13. The outer housing portion 11 is generally in the shape of a hollow cylinder, the first extension portion 12 is generally in the shape of a hollow disk, and the inner cylinder portion 13 is also generally in the shape of a hollow cylinder. The outer edge of one end of the outer housing portion 11 is connected to the outer ring of the first extension portion 12. The disk surface of the first extension portion 12 is substantially perpendicular to the center of the outer housing portion 11 and can be formed by radially extending from the inner wall of the outer housing portion 11 towards 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 vertically extending from the inner ring of the first extension portion 12 in a direction away from the first extension portion 12. The projection of the inner cylinder portion 13 in the radial direction overlaps with the outer housing portion 11. The outer diameter of the inner cylinder portion 13 is smaller than the inner diameter of the outer housing portion 11 and is concentrically arranged with the outer housing portion 11. Thus, through the combination of the outer housing portion 11, the first extension portion 12, and the inner cylinder portion 13, a first accommodation cavity 15 with an opening and generally in the shape of a ring can be defined.

[0092] See again Figures 1 - 7 , the 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 smaller axial dimension, and better running stability. The motor assembly 2 includes a stator 22 and a rotor 21. The rotor 21 includes an annular magnetic yoke 212 and a plurality of magnets. Each magnet is evenly distributed at intervals along the circumferential surface of the inner wall of the magnetic yoke 212 and is 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 inside the rotor 21 and is fixedly arranged on the outer wall stator support section 131 of the inner cylinder portion 13 in an annular shape and is 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, enabling the rotor 21 to rotate at a high speed around the stator 22. After the rotor 21 and the stator 22 are sleeved, they are arranged in the first accommodation cavity 15, and the centers of the inner cylinder portion 13, the rotor 21, and the stator 22 are on the same axis.

[0093] The motor assembly 2 further includes a rotor adapter 23 and a rotational support assembly 24. See Figure 4 , Figure 5A , Figure 5B , Figure 6A , Figure 6B , Figure 8A , Figure 8B, the rotor adapter 23 is configured with a rotor connection portion 231, a generally annular second extension portion 232, and a first coupling portion 233. One end of the rotor connection portion 231 is connected to the rotor 21 and can rotate with the rotor 21. The other end is connected to the outer edge 232a of the second extension portion. One end of the first coupling portion 233 is connected to the inner ring 232b of the second extension portion. At the outer edge 232a of the second extension portion, there is also provided a second extension flange 2321, which forms a rotor axial stop surface 2322 relative to the rotor 21 for positioning the yoke 212 so that the yoke 212 is fixed on the rotor connection portion 231. Referring again to Figures 4 - 7 , in the structure of the embodiment of the present application, the first coupling portion 233 is concentrically arranged with the inner cylinder portion 13 and is inserted into the inner cavity of the inner cylinder portion 13. The outer diameter of the first coupling 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 coupling portion 233 are assembled, a second accommodation cavity 16 is formed, which has an opening in the same direction as the first accommodation cavity 15 and is annular.

[0094] See Figures 2 - 6B , the rotating support assembly 24 is arranged in the second accommodation cavity 16. The outer wall of the first coupling portion 233 is radially abutted against the inner ring portion of the rotating support assembly 24, and the inner wall of the inner cylinder portion 13 is radially abutted against the outer ring portion of the rotating support assembly 24, so that the rotor adapter 23 is rotatably connected to the housing 1 while rotating with the rotor 21. At least most of the radial projections of the first coupling portion 233 and the inner cylinder portion 13 overlap. The first coupling portion 233 is connected to the input transmission shaft 32 of the speed reducer assembly 3 (see Figure 2 、 Figure 3 ), which can drive the input transmission shaft 32 to rotate and output power for the speed reducer assembly 3. The second extension portion 232 is arranged adjacent to the speed reducer assembly 3, and the first extension portion 12 is arranged relatively far from the second extension portion 232 away from the speed reducer assembly 3. In this way, after the stator 22 and the rotor 21 are installed, they are limited in the space between the first extension portion 12 and the second extension portion 232 and are isolated from other components, which can partially reduce the noise during the high-speed operation of the rotor 21 and shorten the combined installation size of the stator 22 and the rotor 21.

[0095] The radial direction in the above structural description refers to the radius 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 should be noted that the expressions of this axial direction and radial direction are also consistent with the axial and radial expressions directly cited for the positions and transmission centers of the components in the motor assembly 2 and the speed reducer assembly 3, and will not be specifically described again.

[0096] In the above structure of the present application, the housing 1 is configured as an outer housing part 11, a first extension part 12, and an inner cylinder part 13 concentric with the outer housing part 11. An installation space for installing the motor assembly 2 is formed by the outer housing part 11, the first extension part 12, and the inner cylinder part 13. The outer wall of the inner cylinder part 13 supports and positions the stator 22, and the inner wall positions the rotating support assembly 24. At the same time, a first coupling part 233 concentric with the inner cylinder part 13 is provided on the rotor adapter 23, and the first coupling part 233 is fixedly connected to the input transmission shaft 32 of the reducer assembly 3. In this way, the stator 22, the rotor 21, the rotor adapter 23, the rotating support assembly 24, the inner cylinder part 13, and the input 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, by using the diameter difference between the inner cylinder part 13 and the first coupling part 233, a space for installing the rotating support assembly 24 is constructed. The lengths of the inner cylinder part 13 and the first coupling part 233 can enable the rotating support assembly 24 to have a certain length of layout space, and multiple support members can be provided for support, increasing the support effect. In this way, the structural space can be fully utilized, and while reducing the overall axial dimension 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 structural layout of the present application is beneficial to the miniaturization design of the actuator 100, and can also make the rotating components between 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 each rotating component of the actuator 100 and the noise during operation. Since the motor assembly 2, the rotating support assembly 24, and the input transmission shaft 32 of the reducer assembly 3 are all assembled based on the inner cylinder part 13, the motor assembly 2, the reducer assembly 3 and the housing 1 have a consistent assembly reference, reducing the assembly error and also improving the transmission accuracy and the stability of the transmission output of the actuator 100. Further, the motor assembly 2 is arranged adjacent to the first extension part 12, so that the connection wire 221 connected to the stator 22 in the motor assembly 2 can directly pass through the first extension part 12 and be externally connected, and it can also avoid interference between the connection wire 221 and other components, preventing potential hazards caused by cable winding.

[0097] In a preferred embodiment of the present application, the outer housing part 11, the first extension part 12, and the inner cylinder part 13 are integrally formed, and the rotor connection part 231, the second extension part 232, and the first coupling part 233 in the rotor adapter 23 are also integrally formed, which is beneficial to reducing the processing cost of the housing 1 and the rotor adapter 23 and ensuring the overall accuracy of the housing 1 and the rotor adapter 23.

[0098] See Figures 1 - 6B, in some embodiments of the present application, the rotating support assembly 24 includes a first bearing 24a and a second bearing 24b spaced apart on the first coupling portion 233. The first bearing 24a is disposed close to the speed 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 coincide, forming a double support 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, which can balance the load and improve the rotational stability of the rotor adapter 23, thereby improving the stability of power transmission of the transmission shaft 32 at the input end of the speed reducer.

[0099] See Figure 4 , Figure 5A and Figure 5B , in some embodiments of the present application, a substantially annular limiting flange 134 extends radially toward the center from the inner wall of the inner cylinder portion 13. The opposite outer ring side ends of the first bearing 24a and the second bearing 24b 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 axials 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 and the inner cylinder portion 13 are integrally formed. In this way, not only the structure of the limiting flange 134 itself is simple, but also it 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, enabling the rotor adapter 23 to have an assembly reference consistent with other related components on the housing 1 and improving the overall assembly accuracy of the actuator 100.

[0100] See Figure 4 , Figure 5A , Figure 6A , in some embodiments of the present application, a bearing sleeve 25 and an elastic washer 26 may be provided between the first bearing 24a and the second bearing 24b.

[0101] See 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.

[0102] See also Figure 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.

[0103] See also Figure 5B , Figure 6B, in some embodiments of the present application, a bearing sleeve 25 can be separately provided between the first bearing 24a and the second bearing 24b.

[0104] See Figure 5B , when a limiting flange 134 is provided on the inner wall of the inner cylinder part 13 of the housing 1, 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 coupling part 233. The two side ends of the first bearing sleeve 25a are respectively abutted against the inner rings of the opposite side ends of the first bearing 24a and the second bearing 24b. The first bearing sleeve 25a is correspondingly matched with the limiting flange 134 on the inner cylinder part 13 to axially position the inner and outer rings of the first bearing 24a and the second bearing 24b respectively.

[0105] See Figure 6B , when the limiting flange 134 is not provided on the inner wall of the inner cylinder part 13 of the housing 1, 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 larger than the outer diameter of the first bearing sleeve 25a, and the second bearing sleeve 25b is sleeved on the first bearing sleeve 25a. The inner ring of the first bearing sleeve 25a is sleeved on the first coupling part 233. The outer ring of the second bearing sleeve 25b abuts against the inner wall of the inner cylinder part 13. The two side ends of the first bearing sleeve 25a and the second bearing sleeve 25b are respectively abutted against the inner ring side end and the outer ring side end of one end of the first bearing 24a and the second bearing 24b facing each other, and can also axially position the inner and outer rings of the first bearing 24a and the second bearing 24b on the first coupling part 233.

[0106] See Figures 5A - 8B , in some embodiments of the present application, a first hollow cavity 2334 that is generally circular and penetrating is provided at the center of the first coupling part 233, so that the first coupling part 233 is generally a hollow cylindrical structure. In the first hollow cavity 2334 HavingThe first through hole 23341 is close to the reducer assembly 3. The center of the first through hole 23341 is on the same straight line as 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 coupling part 233. After the input end transmission shaft 32 extends into the first through hole 23341, it can be fixedly connected by at least two axial connecting pins, or can be fixedly connected by a bushing. In the embodiment of the present application, the first coupling part 233 adopts a hollow cylinder structure, which can not only reduce the weight of the rotor adapter 23, but also facilitate the connection between the input end transmission shaft 32 and the first coupling part 233. Moreover, the two adopt a sleeved connection method. While the motor assembly 2 transmits power to the reducer assembly 3, it greatly shortens the size occupation of the input end transmission shaft 32 in the axial space. Further, this structural mode not only enables the input end transmission shaft 32 and the first coupling part 233 to have a high coaxiality, but also enables the input end transmission shaft 32 and the first coupling part 233 to have a long connection length in the axial direction 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 smoothness of the power transmission at the input end of the reducer assembly 3, and reduces the noise during input end transmission.

[0107] See Figure 3 , in some embodiments of the present application, the part of the input end transmission shaft 32 extending into the first through hole 23341, the first through hole 23341, and the rotor 21 are substantially overlapped in the radial direction, so that the rotational forces of the input end transmission shaft 32 and the rotor 21 are in the same area, which can ensure that the input end transmission shaft 32 and the rotor 21 do not have radial swing during rotation, and improve the stability of the rotor 21 and the input end transmission shaft 32 during operation.

[0108] See Figure 7 , Figure 8A , Figure 8B , in some embodiments of the present application, the first coupling part 233 includes a first support section 2331. The first bearing 24a and the second bearing 24b of the rotating support assembly 24 are placed on the first support section 2331. The rotor 21, the first support section 2331, the first bearing 24a, and the second bearing 24b are substantially overlapped in the radial direction. Placing the first bearing 24a and the second bearing 24b on the same support surface makes the acting forces of the first bearing 24a and the second bearing 24b on the rotor adapter 23 located on the same straight line. The forces of the first bearing 24a and the second bearing 24b on the rotor adapter 23 and the inner cylinder part 13 are balanced, and no torque is generated on the rotor adapter 23, ensuring the stable rotation of the rotor adapter 23, reducing the vibration during the rotation of the rotor adapter 23, thereby reducing the noise during the operation of the actuator 100, and also improving the stability during the operation of the actuator 100.

[0109] See againFigure 7 , Figure 8A , Figure 8B , in some embodiments of the present application, the first coupling portion 233 further includes a first stop section 2332. The first stop section 2332 is connected to the first support section 2331. The outer wall of the outer edge of one end of the first stop section 2332 is connected to the inner ring of the second extension portion 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 support section 2331. The outer diameter of the first stop section 2332 is slightly larger than the outer diameter of the first support section 2331, so that a first stop surface 2333 is formed at the junction of the first stop section 2332 and the first support section 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 meeting the axial stop requirement of the first bearing 24a and the positioning requirement of the rotor adapter 23. It can effectively reduce the intermediate connecting parts, simplify the internal structure of the housing 1, and shorten the axial dimension of the actuator 100. Moreover, it effectively guarantees the assembly accuracy of the first bearing 24a and the rotor adapter 23, and further improves the stability of the rotation process of the rotor adapter 23 and the input end transmission shaft 32.

[0110] See Figures 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 extends from the disk surface of the outer edge 232a of the second extension portion in the vertical direction towards the rotor 21. 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 all overlap on the radial projection plane. This 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, improving the stability of the actuator 100 during operation.

[0111] Please see again Figure 8A , Figure 8B, in some embodiments of the present application, the rotor connection portion 231 may include a connection ring 2311 and a plurality of connection bars 2312. One end of the connection ring 2311 is perpendicularly connected to the disk surface of the second extension portion 232. Each connection bar 2312 is disposed at the other end of the connection ring 2311 and is arranged at equal intervals at the other end of the connection ring 2311 to form a ring. Each connection bar 2312 is embedded in the corresponding gap provided on the magnetic ring 211 of the rotor 21. Most of the rotor 21 overlaps with the projection of the connection bar 2312 in the axial direction. 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 consistent power output between the rotor adapter 23 and the rotor 21, and effectively guaranteeing the transmission accuracy of the motor assembly 2 output.

[0112] See Figure 6A , Figure 6B , Figure 7 , Figure 8B , in some embodiments of the present application, the rotor adapter 23 is further provided with a first shoulder 2336 for positioning the input end transmission shaft 32 relative to the rotor adapter 23. The first shoulder 2336 is formed by extending perpendicularly outward along the position of the inner ring 232b of the second extension portion in a direction away from the first coupling portion 233. The setting of the first shoulder 2336 makes full use of the design of the rotor adapter 23, which is convenient for positioning when connecting the input end transmission shaft 32 and the rotor adapter 23, simplifies the internal structure of the housing 1, is also convenient for 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 the assembly error and improve the transmission accuracy between the input end transmission shaft 32 and the rotor adapter 23.

[0113] See Figures 1 - 3, in some embodiments of the present application, the speed reducer assembly 3 includes at least one stage of planetary gear sets 33, an internal gear ring 36 that meshes externally with the planetary gear sets 33, an output end transmission shaft 334, and an output end 34. The speed reducer assembly 3 and the motor assembly 2 are arranged axially along the housing 1. The motor assembly 2 and the speed reducer assembly 3 are separated in different cavity spaces within the housing 1 by an input retaining ring 31 connected to the internal gear ring 36. The internal gear ring 36 is radially provided with a second connection hole 361. A first fastener 18 passes through a housing connection hole 111 correspondingly provided on the outer housing portion 11 and is screwed into the second connection hole 361 to radially fixedly connect the outer housing portion 11 and the internal gear ring 36. The input transmission shaft 32 is in transmission connection with the planetary gear sets 33. In the illustrated embodiment of the present application, the planetary gear sets 33 are two-stage planetary gear mechanisms, including a number of first-stage planetary gears 331, a number of second-stage planetary gears 333, and a first-stage planetary gear carrier 332. The internal gear ring 36 is a bipolar gear ring that meshes externally with a number of first-stage planetary gears 331 and a number of second-stage planetary gears 333 respectively. The input transmission shaft 32 is a first-stage sun gear, and the first-stage sun gear is a gear shaft structure. One end without a gear extends into the first through hole 23341 and is fixedly sleeved with a 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 number of first-stage planetary gears 331 arranged in a surrounding manner and meshes internally with each first-stage planetary gear 331. Each first-stage planetary gear 331 simultaneously meshes externally with the internal gear ring 36. Each first-stage planetary gear 331 is respectively installed on a planetary gear shaft and is rotationally fixed to the first-stage planetary gear carrier 332 through the planetary gear shaft. The output end transmission shaft 334 is a second-stage sun gear, which is a gear shaft structure with two sections of transmission teeth at one end. The end with two sections of transmission teeth is respectively placed at the center of the first-stage planetary gear carrier 332 and the center of a number of second-stage planetary gears 333 arranged in a surrounding manner around the output end transmission shaft 334, and simultaneously meshes internally with each second-stage planetary gear 333 and is in transmission connection with the first-stage planetary gear carrier 332. Each second-stage planetary gear 333 meshes externally with the internal gear ring 36. The output end 34 is a second-stage planetary gear carrier. A relief notch is provided on the second-stage planetary gear carrier. Planetary gear shafts are mounted on two opposite inner walls of the relief notch. Each second-stage planetary gear 333 is respectively installed on the planetary gear shaft and is located at the relief notch position, so that each second-stage planetary gear 333 is rotationally fixed to the output end 34. The other end of the output end transmission shaft 334 is rotationally connected to the output end 34. In the embodiment of the present application, between the output end 34 and the output end transmission shaft 334, a third bearing 35 is provided. 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 to rotationally connect the output end transmission shaft 334 and the output end 34. Between the output end 34 and the internal gear ring 36, a fourth bearing 37 is provided. The fourth bearing 37 is a crossed roller bearing. The inner ring of the fourth bearing 37 is sleeved on the second support section 341 of the output end 34 (see Figure 1), the outer ring abuts against the internal gear ring 36, and the radial projections of the third bearing 35 and the fourth bearing 37 substantially overlap. In the speed reducer assembly 3 of the present application, the internal gear ring 36 is directly connected to the housing 1 radially, and the assembly is simple and convenient. There is no need for an intermediate member to connect the housing 1 and the internal gear ring 36, 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 arranged to overlap 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 outputs, and ensure the stability of the power output process of the output end 34.

[0114] See Figures 1 - 3 , in some embodiments of the present application, the speed reducer assembly 3 further includes a bearing retaining ring 4 and an output flange 5. The bearing retaining ring 4 is generally in an annular structure, and the output flange 5 is generally in a disc-like structure and is sleeved with the bearing retaining ring 4 radially. It is located at the output end 34 of the speed reducer assembly 3 and is used to cover the side end of the outer housing part 11 close to the speed reducer assembly 3 and the output end 34 of the speed reducer assembly 3. The end surfaces of the bearing retaining ring 4 facing the outer housing part 11 and the planetary gear set 33 abut against the side end of the outer housing part 11 and the side end of the internal gear ring 36. The side end of the outer housing part 11 and the side end of the internal gear ring 36 are flush. The bearing retaining ring 4 is axially fixedly connected to the internal gear ring 36 through a second fastener 41, but is not connected to the outer housing part 11. In this way, since the bearing retaining ring 4 and the output flange 5 do not need to be fixedly connected to the housing 1 when covering the housing 1, the radial thickness of the housing 1 can be reduced, thereby reducing the radial dimension and weight of the actuator 100. At the same time, the influence of the transmission components on the housing 1 during operation can also be reduced. The output flange 5 is fixedly connected to the output end 34 through a third fastener 54 and can rotate with the output end 34. The power of the speed reducer assembly 3 is output through the output flange 5. A circular boss 51 is provided outward at one end of the output flange 5 facing away from the speed reducer assembly 3, which is convenient for connection with external equipment.

[0115] See again Figure 2 and Figure 3 , the socket joint between the output flange 5 and the bearing retaining ring 4 is arranged at the position of the fourth bearing 37. Among them, the end surface of the bearing retaining 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 corresponding stop surface provided on the internal gear ring 36, so that the outer ring of the fourth bearing 37 is axially limited; the end surface 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 provided at the output end 34, so that the inner ring of the fourth bearing 37 is axially limited.

[0116] See Figures 1 - 3, at one end of the output flange 5 facing the planetary gear set 33, there is an intermediate convex ring 52 extending vertically outwards. The intermediate convex ring 52 is used to abut against the outer ring on the side of the third bearing 35 facing away from the planetary gear set 33. The other end of the outer ring of the third bearing 35 facing the planetary gear set 33 abuts against the stop surface provided at the output end 34, and the inner ring side end abuts against the stop surface provided on the output end transmission shaft 334. The third bearing 35 is axially limited.

[0117] Refer to Figures 1 - 3 , in some embodiments of the present application, a seal 42 is provided at the socket joint of the bearing retaining ring 4 and the output flange 5. The seal 42 can be an O-ring or other sealing components. The provision of the seal 42 can prevent external dust or impurities from entering the transmission pair of the fourth bearing 37 and the housing 1 at the socket joint of the bearing retaining ring 4 and the output flange 5, so as to protect the various transmission components in the housing 1.

[0118] Refer to Figure 1 , the present application also provides a joint module 1000, including the actuator 100 described above and an encoder assembly 600.

[0119] Refer to Figures 1 - 2 , in some embodiments of the present application, the encoder assembly 600 includes a motor encoder 61 for detecting the output displacement signal of the motor assembly 2 and an output encoder 62 for detecting the output displacement signal of the reducer assembly 3. Among them, the motor encoder 61 is connected to the rotor adapter 23 and is driven by the rotor adapter 23 to rotate, and can detect the rotation position of the rotor 21, so as to detect the output displacement signal of the motor assembly 2. The output encoder 62 is connected to the output flange 5 and rotates with the output flange 5 to realize the detection of the rotation position of the output displacement signal of the reducer assembly 3.

[0120] Refer to Figures 4 - 7 , in some embodiments of the present application, the motor encoder 61 includes a motor encoder seat 611 and a first sensing member 612 corresponding to the first encoder. The motor encoder seat 611 is generally a hollow structure and has a motor encoder mounting seat 6111. The motor encoder mounting seat 6111 is located in the third accommodation cavity 17 provided in the housing 1 (see Figure 7), an outer housing portion 11 extends outward from one end of the first extension portion 12 away from the motor assembly 2 to form an outer extension portion 14, and a third accommodation cavity 17 with an opening is constructed by the outer 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 face of the first extension portion 12 away from the motor assembly 2. 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 provided outward. The first sensing 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 sensing member 612 is fixed on the motor encoder mounting seat 6111 and is isolated by the mounting boss 6112 at the same time. On the motor encoder seat 611, at the end face of the center of the motor encoder mounting seat 6111 close to the first extension portion 12, a second coupling portion 6114 is provided in 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 the same as the outer diameter of the first support section 2331. The second coupling portion 6114 has a central hole 6118 and a number of third through holes 6117. A number of fourth fasteners 6116 pass through the third through holes 6117 and are screwed into the corresponding first connection holes 2335 on the rotor adapter 23 to be fixedly connected with the rotor adapter 23, so that the motor encoder seat 611 and the rotor adapter 23 are connected into one body and rotate with the rotor adapter 23. In this way, the first sensing member 612 located on the motor encoder seat 611 rotates synchronously. When the first encoder measures the rotation position of the first sensing member 612, it correspondingly represents the rotation position of the rotor 21. Further refer to 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.

[0121] See also Figures 4 - 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 element 621 is a cylindrical magnetic block fixed in a 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 central hole 6118 of the second coupling part 6114 and the centers of the input end transmission shaft 32 and the output end transmission shaft 334, and is connected to an inner boss 53 provided at the center of the output flange 5 through a fifth fastener 6233, so that the output encoder seat 623 rotates with the output flange 5. The second sensing element 621 located on the mounting head 6231 rotates simultaneously. The rotation position of the second sensing element 621 is measured by the second encoder, and correspondingly, it is the rotation position of the output end 34 of the speed reducer. Further, in the second through hole 23342 of the rotor adapter 23, a support bearing 624 is also provided to provide support for the connecting rod 6232, ensuring that the output encoder seat 623 drives the second sensing element 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 speed reducer assembly 3. On the outer wall of the mounting head 6231, an isolation ring 622 is also sleeved to isolate the second sensing element 621. Together with the mounting boss 6112, it avoids the mutual influence of the magnetic fields of the first sensing element 612 and the second sensing element 621 and reduces the detection accuracy. In the above structure, the mounting head 6231 of the output encoder 62 is arranged in the fourth accommodation cavity 6115 of the second shoulder 6113 of the motor encoder 61, and the connecting rod 6232 passes through the center of the housing 1. While the output encoder 62 shares the radial space with other components, the second sensing element 621 and the first sensing element 612 are located on the same side, and the radial projections of the first sensing element 612 and the second sensing element 621 substantially overlap, so that the corresponding first encoder and second encoder can be centrally mounted on a controller (not shown) provided in the third accommodation cavity 17, which can avoid the defects of large overall volume, complex assembly and inconvenient wiring caused by the separate arrangement of the first sensing element 612 and the second sensing element 621 at both ends of the actuator 100. At the same time, the motor encoder 61 and the output encoder 62 occupy very little radial space of the housing 1, reducing the axial dimension of the overall structure of the joint module 1000.)

[0122] See Figure 9 , in some embodiments of the present application, a robotic arm is further provided, and at least one drive joint of the robotic arm includes the above-mentioned joint module 1000.

[0123] See Figure 10 , in some embodiments of the present application, a biped robot is further provided, and at least one drive joint of the biped robot includes the above-mentioned joint module 1000.

[0124] See Figure 11 , in some embodiments of the present application, a quadruped robot is further provided, and at least one drive joint of the quadruped robot includes the above-mentioned joint module 1000.

[0125] See Figure 12 , in some embodiments of the present application, a four-legged robot is further provided, and at least one drive joint of the four-legged robot includes the above-mentioned joint module 1000.

[0126] See Figure 13 , in some embodiments of the present application, a humanoid robot is further provided, and at least one drive joint of the swing arm joint, swing leg joint, thigh joint, and calf joint of the humanoid robot includes the above-mentioned joint module 1000.

[0127] In some embodiments of the present application, a robot is further provided, and at least one drive joint of the robot includes the above-mentioned joint module 1000.

[0128] 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. 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 facing 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 substantially overlap.

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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