Stator adapter, actuator, joint module, humanoid robot, point-foot robot, quadruped robot, four-wheel-foot robot, mechanical arm and robot

Abstract

The invention relates to the technical field of robots, and discloses a stator adapter, an actuator, a joint module, a humanoid robot, a point-foot robot, a quadruped robot, a four-wheel-foot robot, a mechanical arm and a robot. Wherein the actuator comprises a stator, a stator adapter, a gear ring and a fixed disc, the stator adapter is provided with a barrel-shaped part and an extension part which are approximately in a hollow cylindrical shape, the stator is nested outside the barrel-shaped part, the gear ring is nested inside the barrel-shaped part, and the thermal conductivity of the stator adapter is larger than that of the gear ring. By changing the connection mode of the stator and the gear ring, the process of maintaining and replacing parts is simplified, and the maintenance cost is reduced; by innovating the stator heat dissipation structure design, the heat dissipation condition of the stator is effectively improved, especially in a high-power output state, the peak performance of the motor can be greatly improved, and meanwhile the service life of the actuator is prolonged.

Description

Technical Field

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

[0002] In the field of compact joint module design of robots, the reducer is often designed to be integrated inside the motor shaft to achieve compact use of space. According to the disclosure of Chinese patents CN116846125A and CN215172064U, the stator of the outer rotor motor is often nested in the outer wall of the planetary reducer gear ring through interference fit technology. Although this design helps to save space, when the reducer or motor fails, the interference fit causes difficulty in disassembly and possible damage to the motor stator, which significantly increases the complexity and cost of maintenance.

[0003] In addition, the gear ring is usually made of high-strength carbon steel, and its thermal conductivity is approximately between 34 and 45W / (m·K), which is relatively low. This low thermal conductivity limits the ability of the motor stator to effectively dissipate heat through the gear ring. In addition, the heat generated by the reducer during operation can easily lead to heat accumulation between the motor stator and the reducer. This heat accumulation will not only increase the temperature of the motor stator, affecting its peak performance and ability to operate at high power continuously, but may also cause the motor to overheat, and in severe cases may even cause damage to the motor, thereby affecting the overall performance, life and reliability of the joint module. Summary of the invention

[0004] The present application provides a stator adapter, an actuator, a joint module, a humanoid robot, a point-legged robot, a quadruped robot, a four-wheeled legged robot, a robotic arm and a robot, aiming to solve the problem that the stator in the existing actuator is difficult to disassemble and heat accumulates between the stator and the gear ring.

[0005] In one embodiment, a stator adapter for an actuator is provided, wherein the stator adapter is constructed with a cylindrical portion and an extension portion that are roughly hollow cylindrical; wherein the outer side of the cylindrical portion is used to nest the stator of the actuator, the inner side of the cylindrical portion is used to nest and install the gear ring of the actuator, and the extension portion is used to abut against the fixed disk of the actuator; the thermal conductivity of the stator adapter is greater than 68W / (m·K).

[0006] In one embodiment, the cylindrical portion includes a first connecting section that is roughly hollow cylindrical, the extending portion includes a first extending section that is roughly hollow cylindrical, a second extending section that is roughly hollow annular, and a second connecting section that is roughly hollow cylindrical, one end of the first extending section is connected to one end of the first connecting section, one end of the second extending section is connected to one end of the first extension section that is away from the first connecting section, the inner side of one end of the second connecting section is connected to the outer ring of the second extension section, and the axial projections of the first connecting section, the first extension section, the second extension section and the second connecting section do not overlap.

[0007] In one embodiment, the second extension section is a continuous non-porous structure, and the inner side surface of the second connecting section is a continuous non-porous structure surface, and a semi-open cavity is defined by the inner side surfaces of the first extension section, the second extension section and the second connecting section; the second connecting section is constructed with a plurality of first assembly holes that are surrounded and arranged in an array, and the first extension section is constructed with an abutment surface at one end adjacent to the first connecting section, and the abutment surface is roughly an annular plane.

[0008] In one embodiment, the cylindrical portion further includes a reinforcement ring, which is arranged inwardly along the outer edge of one end of the cylindrical portion and is generally annular, and the inner diameter of the reinforcement ring is smaller than the inner diameter of the cylindrical portion and the inner diameter of the extension portion, and the cylindrical portion and the reinforcement ring are integrally formed;

[0009] The extension portion further includes an insulating portion, the insulating portion including a first insulating layer substantially in the shape of a hollow cylinder and a second insulating layer substantially in the shape of a circular ring;

[0010] The first insulating layer substantially covers the radial outer side of the first extending section, and the second insulating layer substantially covers a side of the second extending section adjacent to the first connecting section and the second connecting section.

[0011] In one embodiment, an actuator is provided, which mainly includes a stator, a stator adapter, a gear ring and a fixed disk, wherein the stator adapter is configured with a cylindrical portion and an extension portion which are substantially in the shape of a hollow cylinder;

[0012] The stator is nested outside the cylindrical portion, the gear ring is nested inside the cylindrical portion, and the projections of the stator, the cylindrical portion and the gear ring in the radial direction at least partially overlap;

[0013] The fixed disk is connected to one end of the gear ring, and the extension portion abuts against the fixed disk;

[0014] The thermal conductivity of the stator adapter is greater than that of the ring gear.

[0015] In one embodiment, the cylindrical portion includes a first connecting section that is roughly hollow cylindrical, and the extended portion includes a first extension section that is roughly hollow cylindrical, one end of the first extension section is connected to one end of the first connecting section, the first extension section and the first connecting section have the same inner diameter, the gear ring is radially abutted against the first extension section and the first connecting section respectively, and the axial projections of the first extension section and the first connecting section at least partially overlap.

[0016] In one embodiment, the thickness of the first extension segment is greater than the thickness of the first connecting segment.

[0017] In one embodiment, a ratio of a thickness of the first extending section to a thickness of the first connecting section is 1:1.1 to 1:2.

[0018] In one embodiment, an abutment surface is formed at one end of the first extension section adjacent to the first connection section, the abutment surface is substantially an annular plane, and the first extension section and the first connection section are integrally formed.

[0019] In one embodiment, a first chamfer is provided at the junction of the abutting surface and the outer side surface of the first connecting section.

[0020] In one embodiment, the extension portion further includes a second extension segment that is roughly annular in structure, one end of the second extension segment is connected to an end of the first extension segment that is away from the first connecting segment, and the second extension segment does not overlap with the first connecting segment and the axial projection of the first extension segment.

[0021] In one embodiment, the inner diameter of the circle formed by the axial projection of the second extension segment is larger than the outer diameter of the first connecting segment, and the second extension segment and the first extension segment are integrally formed.

[0022] In one embodiment, the extension portion also includes a second connecting segment that is roughly cylindrical in shape, the inner side of one end of the second connecting segment is connected to the outer ring of the second extension segment, the axial projection of the second connecting segment does not overlap with the second extension segment, and the inner diameter of the circle formed by the projection is larger than the inner diameter of the second extension segment and the outer diameter of the first connecting segment, and the second connecting segment and the second extension segment are integrally formed.

[0023] In one embodiment, the first connecting section and the first extension section are configured as a first step on an axial cross section, and the first extension section, the second extension section and the second connecting section are configured as a second step on an axial cross section. The first step and the second step are radially outward and approach the fixed disk in sequence.

[0024] In one embodiment, the second extension segment is a continuous non-porous structure, and the inner side surface of the second connecting segment is a continuous non-porous structure surface, and a semi-open cavity is defined by the inner side surfaces of the first extension segment, the second extension segment and the second connecting segment.

[0025] In one embodiment, the second connecting section is constructed with a plurality of first assembly holes arranged in a surrounding and array manner, the first assembly holes are extended in the axial direction, and the fixed disk is provided with a plurality of second assembly holes arranged in a surrounding and array manner corresponding to the first assembly holes, and the stator adapter and the fixed disk are fastened and connected through the aligned first assembly holes and the second assembly holes.

[0026] In one solution, the first assembly hole is a through hole with an internal thread, and the second assembly hole is a countersunk through hole, and the countersunk head of the countersunk through hole is arranged on a side of the fixing plate away from the stator adapter.

[0027] In one embodiment, the cylindrical portion also includes a reinforcement ring, which is arranged inward along the outer edge of one end of the first connecting section and is roughly annular. The inner diameter of the reinforcement ring is smaller than the inner diameter of the first connecting section and the inner diameter of the extension portion. The first connecting section and the reinforcement ring are integrally formed.

[0028] In one solution, the projections of the reinforcement ring and the first connecting section in the axial direction do not overlap, and the projections of the reinforcement ring and the extension portion in the axial direction do not overlap.

[0029] In one solution, a side of the reinforcement ring close to the first connecting section and an inner side of the first connecting section are configured as a spacing space, and a tooth end surface of the gear ring is located in the spacing space.

[0030] In one solution, a cover piece is further covered on the opening of the gear ring, and the radial inner side of the reinforcement ring is abutted and matched with the radial outer side of the cover piece.

[0031] In one embodiment, the gear ring includes a coupling portion, which is a cylindrical structure extending outward from the tooth end surface of the gear ring, and the cover member is assembled and connected to the coupling portion. The coupling portion is provided with a plurality of third assembly holes extending radially, and the plurality of third assembly holes are surrounded and arranged in an array. The cover member is correspondingly provided with a plurality of fourth assembly holes extending radially. The gear ring and the cover member are fastened and connected by the aligned third assembly holes and the fourth assembly holes, and the coupling portion is located in the interval space.

[0032] In one solution, the third assembly hole is a countersunk through hole, the countersunk head of the third assembly hole is located on the outer side of the coupling portion away from the covering member, and the first connecting section abuts against the outer circle of the coupling portion.

[0033] In one embodiment, the gear ring is roughly hollow cylindrical, the outer wall of the gear ring is a smooth axial guide surface, the inner wall of the stator adapter is sleeved on the outer wall of the gear ring, and the inner wall of the stator adapter can move relatively along the outer wall of the gear ring.

[0034] In one solution, the extension portion is fixedly connected to the fixing plate.

[0035] In one embodiment, the thermal conductivity of the material of the stator adapter is at least 200% of the thermal conductivity of the ring gear.

[0036] In one embodiment, the thermal conductivity of the material of the stator adapter is at least 350% of the thermal conductivity of the ring gear.

[0037] In one embodiment, the thermal conductivity of the material of the stator adapter is 180 to 450 W / (m·K).

[0038] In one embodiment, the thermal conductivity of the material of the stator adapter is 210 to 250 W / (m·K).

[0039] In one embodiment, the thermal conductivity of the material of the stator adapter is 380 to 420 W / (m·K).

[0040] In one solution, the stator adapter is made of metal material.

[0041] In one embodiment, the material of the stator adapter is copper, copper alloy, aluminum, or aluminum alloy, and the material of the ring gear is steel.

[0042] In one embodiment, the actuator further includes an insulating portion, the insulating portion including a first insulating layer substantially in the shape of a hollow cylinder and a second insulating layer substantially in the shape of a circular ring;

[0043] The extension portion also includes a second extension section that is roughly constructed in an annular shape and a second connecting section that is roughly constructed in a cylindrical shape. The second extension section is connected between the first extension section and the second connecting section. The first insulating layer roughly covers the radial outer side of the first extension section, and the second insulating layer roughly covers the axial end face of the second extension section away from the fixed disk.

[0044] In one embodiment, the extension width of the second insulating layer is greater than the sum of the radial dimension of the second connecting segment and the radial dimension of the second extending segment.

[0045] In one solution, one end of the first insulating layer facing the second extending section is connected to the inner ring of the second insulating layer.

[0046] In one embodiment, the first insulating layer and the second insulating layer are formed as one body by coating with insulating paint.

[0047] In one embodiment, the first insulating layer and the second insulating layer are both insulating sheets, and the insulating sheets are highland barley paper.

[0048] In one embodiment, the first insulating layer and the second insulating layer are made of epoxy resin, polyester resin and phenolic resin materials, and the first insulating layer and the second insulating layer are integrally formed.

[0049] In one solution, the first insulating layer and the second insulating layer are made of thermally conductive insulating plastic, and the first insulating layer and the second insulating layer are integrally formed.

[0050] In one embodiment, a flange portion is configured at one end of the gear ring adjacent to the fixed disk. The flange portion is assembled between the second extension section and the fixed disk and is located in the cavity.

[0051] In one solution, a first radial gap is formed between the outer ring of the flange portion and the second connecting section, and a first axial gap is formed between the radial end surface of the flange portion adjacent to the stator adapter and the second extending section.

[0052] In one solution, the fixing disk is configured with a clamping ring protruding toward one side of the stator adapter, the clamping ring abuts against the outer ring of the flange portion, and is located in the cavity.

[0053] In one solution, a second radial gap is formed between the outer ring of the snap ring and the second connecting section, and a second axial gap is formed between the radial end surface of the snap ring and the second extending section.

[0054] In one embodiment, the first radial gap is larger than the second radial gap, and the first axial gap is smaller than the second axial gap.

[0055] In one embodiment, a first annular portion which is roughly annular in shape is constructed on the radial inner side of the retaining ring. The first annular portion is located on the radial inner side of the retaining ring. A plurality of fifth assembly holes which are arranged in a row and surround each other are provided on the first annular portion. A plurality of sixth assembly holes are provided on the flange portion of the gear ring corresponding to the fifth assembly holes. Fasteners are passed through the fifth assembly holes and the sixth assembly holes in sequence to form a fastened connection between the gear ring and the fixed disk.

[0056] In one embodiment, the fixed disk is constructed with a second annular portion that is roughly annular in shape. The second annular portion is located radially outside the retaining ring. The axial distance between the first annular portion and a side of the retaining ring facing the stator is a first distance. The axial distance between the second annular portion and a side of the retaining ring facing the stator is a second distance. The first distance is greater than the second distance.

[0057] In one embodiment, the actuator further comprises a positioning protrusion, which is arranged on the inner side of the stator and protrudes radially inwardly;

[0058] The outer side surface of the cylindrical portion is provided with a positioning groove extending axially, and the positioning protrusion is engaged with the positioning groove.

[0059] In one solution, there are multiple positioning protrusions, and multiple groups of positioning protrusions are arranged in a ring array on the inner side of the stator, and the positioning grooves are correspondingly arranged in multiple groups.

[0060] In one embodiment, the stator includes a stator core and multiple stator windings, the multiple stator windings are wound on the stator core, the stator core has an inner side surface, the positioning protrusion protrudes radially inward from the inner side surface, and the axial height of the stator core is approximately equal to the axial height of the cylindrical portion.

[0061] In one embodiment, the outer diameter of the extension portion is greater than the inner diameter of the stator core.

[0062] In one embodiment, the width of the positioning protrusion in the annular direction at one end close to the stator adapter is defined as a first width, and the width of the bottom surface of the positioning groove in the annular direction is defined as a second width, and the second width is greater than the first width.

[0063] In one embodiment, a ratio of the second width to the first width is 1.5:1 to 2.5:1.

[0064] In one solution, the minimum inner diameter of the positioning protrusion is greater than the outer diameter of the bottom surface of the positioning groove, and the positioning protrusion and the bottom surface of the positioning groove are interference fit.

[0065] In one embodiment, the positioning protrusion includes a first protruding tooth and a second protruding tooth, and the first protruding tooth and the second protruding tooth respectively abut against the bottom surface of the positioning groove.

[0066] In one embodiment, a first vertex is defined as a vertex of the first protruding tooth, a second vertex is defined as a vertex of the second protruding tooth, and a first width is defined between the first vertex and the second vertex.

[0067] In one embodiment, the first protruding tooth has a first arc segment and a second arc segment, the intersection of the first arc segment and the second arc segment is a first vertex, the first arc segment is located on a side away from the second protruding tooth, and the second arc segment is located on a side close to the second protruding tooth;

[0068] The second protruding tooth has a third arc segment and a fourth arc segment, the intersection of the third arc segment and the fourth arc segment is the second vertex, the third arc segment is located on the side away from the first protruding tooth, and the fourth arc segment is located on the side close to the first protruding tooth.

[0069] In one embodiment, the bending direction of the first arc segment is the same as the bending direction of the second arc segment, the bending direction of the third arc segment is the same as the bending direction of the fourth arc segment, and the bending direction of the first arc segment and the bending direction of the second arc segment are opposite to the bending direction of the third arc segment and the bending direction of the fourth arc segment.

[0070] In one solution, an end of the second arc segment away from the first vertex is connected to an end of the fourth arc segment away from the second vertex, and the arc angle of the second arc segment is equal to the arc angle of the fourth arc segment.

[0071] In one embodiment, the second arc segment and the fourth arc segment form a tooth groove cavity, and the axial projection of the tooth groove cavity is fan-shaped.

[0072] In one embodiment, a second chamfer is formed between the side surface of the positioning groove and the bottom surface of the groove, and a third chamfer is formed between the side surface and the outer surface of the cylindrical portion. The second chamfer and the third chamfer are both arc chamfers, and the bending directions of the second chamfer and the third chamfer are opposite.

[0073] In one solution, the outer side surface of the stator adapter is divided into a plurality of butt joint surfaces by a plurality of positioning grooves, and the outer end of each butt joint surface is provided with a fourth chamfer.

[0074] In one aspect, the axial height of the stator core is substantially equal to the axial height of the cylindrical portion.

[0075] In one embodiment, a joint module is provided, which mainly includes the actuator as described above, or the stator adapter as described above.

[0076] In one embodiment, a bipedal robot is provided, wherein at least one driving joint adopts a joint module as described above, or an actuator as described above, or a stator adapter as described above.

[0077] In one embodiment, a point-foot robot is provided, wherein at least one driving joint adopts a joint module as described above, or an actuator as described above, or a stator adapter as described above.

[0078] In one embodiment, a quadruped robot is provided, wherein at least one driving joint adopts a joint module as described above, or an actuator as described above, or a stator adapter as described above.

[0079] In one embodiment, a four-wheeled legged robot is provided, wherein at least one driving joint adopts a joint module as described above, or an actuator as described above, or a stator adapter as described above.

[0080] In one embodiment, a robotic arm is provided, wherein at least one driving joint adopts a joint module as described above, or an actuator as described above, or a stator adapter as described above.

[0081] In one embodiment, a robot is provided, wherein at least one driving joint adopts a joint module as described above, or an actuator as described above, or a stator adapter as described above.

[0082] Beneficial effects of this application:

[0083] The embodiment of the present application makes the connection between the stator and the planetary reducer no longer a direct interference fit, but is assembled through a stator adapter. In this way, when the stator needs to be disassembled, it is only necessary to remove the stator adapter from the fixed plate to complete the disassembly of the stator, which simplifies the disassembly and assembly process of the stator. When one of the reducer or the motor is damaged, the stator adapter can be directly disassembled without causing damage to other components, reducing maintenance time and cost. At the same time, the stator adapter uses a material with better thermal conductivity, and its thermal conductivity is higher than that of the ring gear. It can effectively conduct the heat generated by the stator and the ring gear to avoid heat accumulation that leads to motor performance degradation and shortened life. The present application effectively improves the heat dissipation of the stator through the innovative design of the stator heat dissipation structure, especially in the state of high power output, which can greatly improve the peak performance of the motor and extend the service life of the actuator.

[0084] In summary, the embodiments of the present application achieve easier disassembly and assembly of the stator and the ring gear by introducing a stator adapter, while significantly improving the heat dissipation performance, solving the problems existing in the prior art, and having significant technical effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0085] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0086] Figure 1 is a partial cross-sectional schematic diagram of an actuator in one embodiment of the present application;

[0087] Figure 2 is a schematic exploded view of a part of an actuator in a cross-sectional state in an embodiment of the present application;

[0088] Figure 3 is a partial cross-sectional schematic diagram of a stator adapter of an actuator in an embodiment of the present application;

[0089] Figure 4 is a partial cross-sectional schematic diagram of a stator adapter of an actuator in an embodiment of the present application from another perspective;

[0090] Figure 5 is a bottom view schematic diagram of a stator adapter of an actuator in one embodiment of the present application;

[0091] Figure 6 yes Figure 5 A schematic cross-sectional view of a stator adapter at position AA;

[0092] Figure 7 yes Figure 5A schematic cross-sectional view of a stator adapter at BB;

[0093] Figure 8 yes Figure 7 A partial enlarged schematic diagram of the stator adapter at position C;

[0094] Fig. 9 is a cross-sectional schematic diagram of a stator adapter of an actuator in an embodiment of the present application;

[0095] Fig.10 is a cross-sectional schematic diagram of an actuator in one embodiment of the present application;

[0096] Fig.11 yes Fig.10 A local enlarged schematic diagram of the actuator at D;

[0097] Fig.12 is a schematic diagram of the three-dimensional structure of the gear ring of the actuator in one embodiment of the present application;

[0098] Fig.13 is a schematic diagram of the three-dimensional structure of the actuator after the insulating part is installed in one embodiment of the present application;

[0099] Fig.14 is a partial cross-sectional schematic diagram of a stator of an actuator after assembly in an embodiment of the present application;

[0100] Fig.15 yes Fig.14 An enlarged schematic diagram of the actuator at E;

[0101] Fig.16 is a partial enlarged schematic diagram of the gear ring and the stator adapter of the actuator after assembly in one embodiment of the present application;

[0102] Fig.17 It is a partial enlarged schematic diagram of the gear ring, stator adapter and fixed disk of the actuator after assembly in one embodiment of the present application;

[0103] Fig.18 is a schematic diagram of the three-dimensional structure of a fixed disk of an actuator in one embodiment of the present application;

[0104] Fig.19 is a partially enlarged schematic diagram of a fixed disk of an actuator in an embodiment of the present application in a cross-sectional state;

[0105] Fig. 20 is a top view schematic diagram of the stator and the stator adapter of the actuator after being matched in one embodiment of the present application;

[0106] Fig.21 yes Fig. 20 A partial enlarged schematic diagram of the actuator at F in FIG.

[0107] Fig. 22 yes Fig. 20 A partial enlarged schematic diagram of the actuator after secondary press-fitting of the stator;

[0108] Fig.23 is an axial cross-sectional view of a positioning protrusion of an actuator in one embodiment of the present application;

[0109] Fig.24 is an axial cross-sectional view of a first connecting section of a stator adapter of an actuator in one embodiment of the present application;

[0110] Fig.25 is a schematic diagram of the three-dimensional structure of the stator adapter and the insulating part of the actuator after being assembled in one embodiment of the present application;

[0111] Fig.26 is a schematic diagram of the three-dimensional structure of the stator adapter and the insulating part of the actuator after being assembled in another embodiment of the present application;

[0112] Fig. 27 is a partially enlarged schematic diagram of the assembly position of the stator and the stator adapter of the actuator in one embodiment of the present application;

[0113] Fig.28 is a schematic diagram of the stator assembly process of the actuator in one embodiment of the present application;

[0114] Fig.29 is an exploded schematic diagram of an actuator in a three-dimensional state in one embodiment of the present application;

[0115] Fig.30 is a partially exploded cross-sectional schematic diagram of an actuator in an embodiment of the present application;

[0116] Fig.31 is a partial exploded schematic diagram of an actuator in an embodiment of the present application in a three-dimensional cross-sectional state;

[0117] Fig.32 is a schematic diagram of a three-dimensional structure of a robot in one embodiment of the present application;

[0118] Fig.33 is a schematic diagram of the three-dimensional structure of another robot in one embodiment of the present application;

[0119] Fig.34 is a schematic diagram of a three-dimensional structure of another robot in an embodiment of the present application;

[0120] Fig.35 It is a three-dimensional structural schematic diagram of a mechanical arm structure in one embodiment of the present application.

[0121] Reference numerals in the figures:

[0122] 1. stator adapter; 11. cylindrical portion; 111. first connecting section; 112. positioning groove; 112a. second chamfer; 112b. third chamfer; 112c. groove bottom surface; 12. extension portion; 121. first extension section; 122. abutment surface; 123. first chamfer; 124. second extension section; 125. second connecting section; 126. first assembly hole; 13. first step; 14. second step; 15. cavity; 16. reinforcement ring; 17. spacing space; 18. docking surface; 19. fourth chamfer;

[0123] 2. stator; 21. positioning convex portion; 211. first convex tooth; 211a. first vertex; 211b. first arc segment; 211c. second arc segment; 212. second convex tooth; 212a. second vertex; 212b. third arc segment; 212c. fourth arc segment; 213. tooth slot cavity; 22. stator core; 23. stator winding;

[0124] 3. Gear ring; 31. Joint; 311. Third assembly hole; 32. Tooth end face; 33. Flange; 331. Sixth assembly hole; 4. Fixing plate; 41. Second assembly hole; 42. Snap ring; 43. First annular portion; 44. Fifth assembly hole; 45. Second annular portion;

[0125] 5. Covering member; 51. Fourth assembly hole;

[0126] 6. Insulating portion; 61. First insulating layer; 62. Second insulating layer;

[0127] 71, first radial gap; 72, first axial gap; 73, second radial gap; 74, second axial gap;

[0128] 8. Reducer; 81. Output flange;

[0129] 91. rotor; 92. housing;

[0130] 1000. Joint module. DETAILED DESCRIPTION

[0131] The specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings and Examples. The following examples are used to illustrate the present application, but are not intended to limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application rather than all embodiments, and all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.

[0132] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0133] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0134] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0135] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0136] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0137] In the present invention, the general concept of "roughly" describes the main features of an overall structure or shape. When describing the shape of an object, it means that the object mainly presents a certain specific shape, but may differ in non-functional details. These detailed differences do not affect the overall characteristics, so they can be classified as "roughly" a certain shape. For example, when describing a round object, the expression "roughly round" means that the overall shape of the object is round, but there are differences in some non-functional details. Similarly, when describing a cube, the expression "roughly cubic" means that the overall shape of the object is a cube, but there are differences in some non-functional details.

[0138] In one embodiment, see Figures 1 to 3 , an actuator is provided, which mainly includes a stator 2, a stator adapter 1, a ring gear 3 and a fixed disk 4. The stator adapter 1 is constructed with a cylindrical portion 11 and an extension portion 12 which are roughly hollow cylindrical. The stator 2 is nested outside the cylindrical portion 11, and the ring gear 3 is nested inside the cylindrical portion 11. The radial projections of the stator 2, the cylindrical portion 11 and the ring gear 3 at least partially overlap with each other. The fixed disk 4 is fixedly connected to one end of the ring gear 3, and the extension portion 12 abuts against the fixed disk 4. The thermal conductivity of the stator adapter 1 is greater than that of the ring gear 3.

[0139] By introducing the design of the stator adapter 1, the convenience of assembly and disassembly and the heat dissipation performance of the stator 2 are improved. Specifically, the stator adapter 1 is constructed with a cylindrical portion 11 and an extension portion 12 that are roughly hollow cylindrical. The stator 2 is nested outside the cylindrical portion 11, and the ring gear 3 is nested inside the cylindrical portion 11. The radial projections of the stator 2, the cylindrical portion 11, and the ring gear 3 at least partially overlap each other. The fixed disk 4 is fixedly connected to one end of the ring gear 3, the extension portion 12 abuts against the fixed disk, and the thermal conductivity of the stator adapter 1 is greater than that of the ring gear 3.

[0140] In one embodiment, the addition of the stator adapter 1 makes the connection between the stator 2 and the planetary reducer 8 no longer a direct interference fit, but is assembled through the stator adapter 1. In this way, when the stator 2 needs to be disassembled, it is only necessary to remove the stator adapter 1 from the fixed disk 4 to complete the disassembly of the stator 2, which simplifies the disassembly and assembly process of the stator 2. When one of the reducer 8 or the motor is damaged, the stator adapter 1 can be directly disassembled without causing damage to other components, reducing maintenance time and cost. At the same time, the stator adapter 1 uses a material with better thermal conductivity, and its thermal conductivity is higher than that of the ring gear 3. It can effectively conduct the heat generated by the stator 2 and the ring gear 3 to avoid heat accumulation leading to motor performance degradation and shortened life. The present application effectively improves the heat dissipation of the stator 2 by innovating the heat dissipation structure design of the stator 2, especially in the state of high power output, which can greatly improve the peak performance of the motor and extend the service life of the actuator.

[0141] In summary, the embodiment of the present application achieves easier disassembly and assembly of the stator 2 and the ring gear 3 by introducing the stator adapter 1, while achieving a significant improvement in the heat dissipation effect. The peak performance of the actuator and the duration of high-power operation can be guaranteed, thereby solving the problems existing in the prior art and having significant technical effects.

[0142] In one embodiment, see Figure 1 One end surface of the extension portion 12 is in contact with the fixed disk 4, so that the area of ​​the end surface of the extension portion 12 can be used to dissipate heat to the fixed disk 4, and the fixed disk 4 is the outer shell of the output flange side of the actuator and can dissipate heat to the outside.

[0143] Thermal conductivity refers to the amount of heat that a material can transfer per unit time, per unit area, and per unit temperature difference. The unit is Watt per meter Kelvin (W / m·K). Thermal conductivity describes the efficiency of a material in the heat conduction process, that is, how much heat a material can transfer in a given temperature difference and time. The higher the thermal conductivity, the better the thermal conductivity of the material and the faster the heat transfer.

[0144] In one embodiment, see Figures 1 to 3 The cylindrical portion 11 includes a first connecting section 111 which is roughly in the shape of a hollow cylinder, and the extending portion 12 includes a first extending section 121 which is roughly in the shape of a hollow cylinder. One end of the first extending section 121 is connected to one end of the first connecting section 111, and the inner diameter φ1 of the first extending section 121 is the same as that of the first connecting section 111. The gear ring 3 is radially in contact with the first extending section 121 and the first connecting section 111 respectively, and the axial projections of the first extending section 121 and the first connecting section 111 at least partially overlap.

[0145] This arrangement enables the first connecting section 111 and the first extending section 121 to abut against the outer side of the gear ring 3 at the same time, thereby increasing the bonding degree between the gear ring 3 and the stator adapter 1 and ensuring the fit between the two. At the same time, the stator adapter 1 has a good thermal conductivity, and this arrangement can increase the heat exchange area between the two, thereby allowing the gear ring 3 to dissipate heat better.

[0146] In one embodiment, see Figures 3 to 7 , the thickness of the first extension section 121 is greater than the thickness of the first connection section 111. According to the structure of this embodiment, the first extension section 121 can be used to support the first connection section 111, and its radial thickness can increase the support effect on the first connection section 111, and its thickness can increase the material usage of the stator adapter 1, which can increase the overall strength of the stator adapter 1 on the one hand, and on the other hand, it can be considered that the increase in heat conduction area is more conducive to heat transfer to the ring gear 3 and the stator 2.

[0147] In one embodiment, the thickness of the first extending segment 121 is the radial thickness of the first extending segment 121 , and the thickness of the first connecting segment 111 is the radial thickness.

[0148] In one embodiment, see Figures 1 to 7 , the ratio of the thickness of the first extension section 121 to the thickness of the first connection section 111 is 1:1.1 to 1:2.

[0149] In one embodiment, see Figure 3 A contact surface 122 is formed at one end of the first extension section 121 adjacent to the first connection section 111 . The contact surface 122 is substantially an annular plane. The first extension section 121 and the first connection section 111 are integrally formed.

[0150] The abutment surface 122 is provided to form a limit for the stator 2, that is, the stator 2 is tightly combined with the outer side surface of the first connecting section 111 to keep the relative position of the two fixed, and an axial end surface of the stator 2 facing the fixed disk 4 abuts against the abutment surface 122 to form an axial limit for one end of the stator 2, which is beneficial to the assembly of the stator 2 and can keep the relative position stable.

[0151] The abutting surface 122 can also exchange heat with the axial end surface of the stator 2 after contact, thereby increasing the heat dissipation effect of the axial end surface of the stator 2. The abutting surface 122 can also lock the stator 2 in place during the assembly operation, thereby preventing the end of the stator adapter 1 away from the fixed disk 4 from being damaged due to overpressure during the crimping assembly.

[0152] In one embodiment, see Figure 6 and Figure 7The intersection of the abutting surface 122 and the outer side surface of the first connecting section 111 is provided with a first chamfer 123. The function of the first chamfer 123 can be understood as preventing the intersection from interfering with the corner corresponding to the stator 2 and affecting the assembly. The setting of the first chamfer 123 facilitates the end face of the stator 2 to contact the abutting surface 122, which can be considered to play a role in installation guidance, and there will be no defects caused by processing accuracy between the abutting surface 122 and the outer side surface of the first connecting section 111, thereby ensuring that the stator 2 can be installed in place.

[0153] In one embodiment, see Figures 3 to 6 The extension portion 12 also includes a second extension segment 124 that is roughly circular in structure, one end of the second extension segment 124 is connected to an end of the first extension segment 121 that is away from the first connecting segment 111, and the axial projections of the second extension segment 124, the first connecting segment 111 and the first extension segment 121 do not overlap.

[0154] The second extension section 124 is configured to form a circular ring structure, and its extension direction can be extending outward or inward from the outer edge of the first extension section 121 away from the first connecting section 111 to increase its radial area. The second extension section 124 is a radially extending ring structure, and its own structure can support the outer side of the first extension section 121 in a radial direction, thereby increasing the rigidity of the extension portion 12.

[0155] In the above, the radially extending second extension section 124 can be understood as strengthening one end of the axially extending first extension section 121. The radially outwardly extending second extension section 124 can offset the abutment between the stator adapter 1 and the fixed disk 4 outward, on the one hand, dissipating heat outward to make way for the heat dissipation point at the connection between the ring gear 3 and the fixed disk 4; on the other hand, it can be considered as giving way to the assembly connection between the ring gear 3 and the fixed disk 4.

[0156] In one embodiment, see Figures 3 to 9 The inner diameter φ2 of the circle formed by the axial projection of the second extension section 124 is greater than the outer diameter φ3 of the first connecting section 111 , and the second extension section 124 and the first extension section 121 are integrally formed.

[0157] Such a configuration limits the extension direction of the second extension section 124 to extend radially outward from the outer edge of the first extension section 121 away from the first connection section 111. The inner diameter and outer diameter of the second extension section 124 configured in this way are both larger, which is more beneficial to heat dissipation and increasing structural strength.

[0158] The second extension section 124 and the first extension section 121 are integrally formed and are easy to process and manufacture. They do not require separate matching assembly parts or the implementation of a connection process, which can effectively improve production efficiency and make full use of the properties of the material, while also achieving the purpose of lightweighting the stator adapter 1.

[0159] In one embodiment, see Figures 3 to 6 as well as Fig. 9 The extension portion 12 also includes a second connecting segment 125 that is roughly cylindrical in structure. The inner side of one end of the second connecting segment 125 is connected to the outer ring of the second extension segment 124. The axial projection of the second connecting segment 125 does not overlap with the second extension segment 124, and the inner diameter φ4 of the circle formed by the projection is larger than the inner diameter φ2 of the second extension segment 124 and the outer diameter φ3 of the first connecting segment 111. The second connecting segment 125 and the second extension segment 124 are integrally formed.

[0160] The second connecting section 125 is an axially extending structure, and its extending direction is away from the first connecting section 111, and its radial position is located outside the outer ring of the second extending section 124. The second connecting section 125 is used to cooperate with the fixing plate 4 to form the installation and fixation of the stator adapter 1. The roughly cylindrical structure can provide the second connecting section 125 with a certain structural strength, which is convenient for assembly connection or abutment against the fixing plate 4.

[0161] In one embodiment, see Figures 3 to 6 The first connecting section 111 and the first extension section 121 are configured as a first step 13 on an axial cross section, the first extension section 121, the second extension section 124 and the second connecting section 125 are configured as a second step 14 on an axial cross section, and the first step 13 and the second step 14 are radially outward in sequence and approach the fixed disk 4 in sequence.

[0162] The first step 13 and the second step 14 form a continuous step-like structure, so that the heat generated at one end of the stator 2 is gradually conducted in the direction gradually approaching the fixed disk 4 in the axial direction and gradually away from the ring gear 3 in the radial direction. Such a heat conduction direction is more conducive to heat transfer to the stator 2 and the ring gear 3.

[0163] In one embodiment, see Figure 1 and Figure 2 The second extension section 124 is a continuous non-porous structure, and the inner side surface of the second connecting section 125 is a continuous non-porous structure surface. A semi-open cavity 15 is defined by the inner side surfaces of the first extension section 121, the second extension section 124 and the second connecting section 125.

[0164] The hole-free structure refers to a structure having a continuous surface without through holes. The hole-free structure surface is a continuous surface without through holes, so that a cavity is formed in the area surrounded by the second extension section 124 and the second connecting section 125, and there are no gaps or through holes on the top and side surfaces of the cavity.

[0165] The semi-open cavity 15 formed by the above arrangement has a complete axial end face and a radial outer ring, which has better thermal conductivity. The noise of the inner side of the gear ring 3 meshing with the gear can also be isolated under the arrangement of the cavity 15, reducing part of the noise from being transmitted to the outside, which has the effect of reducing vibration and noise.

[0166] In one embodiment, see Figure 1 , Figure 5 and Fig.18 The second connecting section 125 is constructed with a plurality of first assembly holes 126 arranged in a surrounding and array manner. The first assembly holes 126 are extended in the axial direction. The fixed disk 4 is provided with a plurality of second assembly holes 41 arranged in a surrounding and array manner corresponding to the first assembly holes 126. The stator adapter 1 and the fixed disk 4 are fastened and connected by the aligned first assembly holes 126 and the second assembly holes 41.

[0167] The first assembly hole 126 is aligned with the second assembly hole 41 , thereby ensuring the connection accuracy between the stator adapter 1 and the fixing plate 4 . The higher connection accuracy provides structural stability for the stator adapter 1 .

[0168] The extension direction of the first assembly hole 126 and the second assembly hole 41 are both axially arranged, utilizing the axial thickness of the second connecting section 125 and the fixing plate 4, with higher assembly accuracy. The length of the fastener is adapted to the axial thickness of the two, which is beneficial to the lightweight of the fastener.

[0169] The surrounding and array arrangement can evenly arrange the connection points so that the connection points play a good role in fastening the connection.

[0170] In one embodiment, see Fig.10 as well as Figures 14 to 18 The first assembly hole 126 is a through hole with an internal thread, and the second assembly hole 41 is a countersunk through hole. The countersunk head of the countersunk through hole is arranged on a side of the fixing plate 4 away from the stator adapter 1.

[0171] The through hole with internal thread can be adapted to the threaded fastener, and the fastener and the first assembly hole 126 can be fixed by threaded connection, and the setting of the countersunk through hole can limit the nut section of the threaded fastener, so as to achieve the purpose of axial limitation. That is, the first assembly hole 126 and the second assembly hole 41 can be fixedly connected by the threaded fastener to ensure the firmness and reliability of the connection between the stator adapter 1 and the fixing plate 4.

[0172] In one embodiment, see Figures 1 to 3 The cylindrical portion 11 further includes a reinforcing ring 16, which is arranged inwardly along the outer edge of one end of the first connecting section 111 and is generally annular. The inner diameter φ5 of the reinforcing ring 16 is smaller than the inner diameter φ1 of the first connecting section 111 and the inner diameter φ1 of the extension portion 12. The first connecting section 111 and the reinforcing ring 16 are integrally formed. The reinforcing ring 16 is a radially extending annular structure, and its own structure can radially support the inner side of the cylindrical portion 11, thereby increasing the radial rigidity of the cylindrical portion 11.

[0173] The reinforcement ring 16 also increases the radial span of the end of the cylindrical portion 11 away from the extension portion 12. When crimping is performed during assembly, the end face of the cylindrical portion 11 and the reinforcement ring 16 are subjected to pressure. The increase in the pressure-bearing area helps to reduce the pressure, thereby increasing the pressure tolerance range and avoiding crushing, which helps to complete the assembly of the stator adapter 1 and the gear ring 3.

[0174] In one embodiment, see Figure 3 The axial projections of the reinforcement ring 16 and the first connecting section 111 do not overlap, and the axial projections of the reinforcement ring 16 and the extension portion 12 do not overlap. The reinforcement ring 16 is located at the end of the gear ring 3 away from the fixed disk 4. This arrangement utilizes the space on the end surface of the gear ring 3, which not only strengthens the cylindrical portion 11, but also avoids occupying the space inside the actuator, and the structure is more compact.

[0175] In one embodiment, see Figure 4 , Fig.10 and Fig.11 The side of the reinforcement ring 16 close to the first connecting section 111 and the inner side of the first connecting section 111 form a spacing space 17, and the tooth end surface 32 of the ring gear 3 is located in the spacing space 17. The provision of the spacing space 17 facilitates the disassembly of the stator adapter 1 and can achieve a certain sound insulation effect.

[0176] In one embodiment, see Figure 4 , Fig.10 and Fig.11 The opening of the gear ring 3 is covered with a cover 5, and the radial inner side of the reinforcement ring 16 is in contact with the radial outer side of the cover 5. This arrangement enables the spacing space 17 to have a certain sealing effect at the inner ring of the reinforcement ring 16, which can prevent foreign matter from entering the spacing space 17, and the spacing space 17 plays the role of secondary sealing of the reducer 8.

[0177] In one embodiment, see Figure 4 , Figures 10 to 13The gear ring 3 includes a coupling portion 31, which is a cylindrical structure extending outward from the tooth end surface 32 of the gear ring 3. The cover 5 is assembled and connected with the coupling portion 31. The coupling portion 31 is provided with a plurality of third assembly holes 311 extending radially. The plurality of third assembly holes 311 are surrounded and arranged in an array. The cover 5 is correspondingly provided with a plurality of fourth assembly holes 51 extending radially. The gear ring 3 and the cover 5 are fastened and connected by the aligned third assembly holes 311 and the fourth assembly holes 51. The coupling portion 31 is located in the spacing space 17.

[0178] The arrangement of the joint portion 31 is to provide a reliable docking position for the cover 5, ensuring a tight connection between the cover 5 and the gear ring 3. The joint portion 31 forms an axial limit for the cover 5, and the combination of the two is tighter and more reliable.

[0179] The outer diameter of the joint portion 31 is the same as that of the gear ring 3, that is, the outer side surface of the joint portion 31 abuts against the inner side surface of the first connecting section 111, so that a tight connection is formed between the joint portion 31 and the stator adapter 1, forming a seal. Such a seal and the abutment between the radial inner side of the reinforcement ring 16 and the radial outer side of the cover 5 can further prevent foreign matter from invading the interior of the reducer 8.

[0180] In one embodiment, see Fig.13 The third assembly hole 311 is a countersunk through hole. The countersunk head of the third assembly hole 311 is located on the outer side of the coupling portion 31 away from the covering member 5 , and the first connecting section 111 abuts against the outer circle of the coupling portion 31 .

[0181] The countersunk through hole can limit the nut section of the threaded fastener, that is, the nut section will not protrude radially outward from the coupling portion 31, so that the coupling portion 31 and the first connecting section 111 can be kept tight. At the same time, the nut section and the countersunk head form a sealing point, which can prevent foreign matter from entering the reducer 8 from the third assembly hole 311 and the fourth assembly hole 51.

[0182] In one embodiment, see Fig.12 The gear ring 3 is roughly in the shape of a hollow cylinder, the outer wall of the gear ring 3 is a smooth axial guide surface, the inner wall of the stator adapter 1 is mounted on the outer wall of the gear ring 3, and the inner wall of the stator adapter 1 can move relatively along the outer wall of the gear ring 3. The outer wall of the gear ring 3 is a cylindrical surface without protrusions, which is convenient for the installation of the stator adapter 1, and can provide uniform radial support and provide the connection strength of the stator adapter 1.

[0183] In one embodiment, see Fig.12 The extension portion 12 is fixedly connected to the fixing plate 4. In this way, it can be ensured that the stator adapter 1 and the ring gear 3 can be kept relatively fixed when the outer wall surface of the ring gear 3 is a smooth axial guide surface.

[0184] In one embodiment, the thermal conductivity of the stator adapter 1 is at least 200% of the thermal conductivity of the ring gear 3 .

[0185] The gear ring 3 of the reducer 8 of a general robot joint module is usually made of high-strength low-carbon alloy steel, such as 20CrMnMo, 20CrNi2Mo, and 17CrNiMo6. The thermal conductivity of these materials is about 34W / (m·K) to 45W / (m·K), and the thermal conductivity of the corresponding stator adapter 1 is at least 68W / (m·K).

[0186] For example, among metal materials, silver, copper, gold, aluminum and their alloy materials whose thermal conductivity meets the requirements. Among them, silver: thermal conductivity is 429W / (m·K). Copper: thermal conductivity is 400W / (m·K). Gold: thermal conductivity is 317W / (m·K). Aluminum: thermal conductivity is 237W / (m·K).

[0187] For example, non-metallic materials include thermally conductive ceramics and carbon materials. Carbon materials can be diamond, graphite, and graphene.

[0188] In one embodiment, the thermal conductivity of the stator adapter 1 is at least 350% of the thermal conductivity of the ring gear 3 .

[0189] The gear ring 3 of the reducer 8 of a general robot joint module is usually made of high-strength low-carbon alloy steel, such as 20CrMnMo, 20CrNi2Mo, and 17CrNiMo6. The thermal conductivity of these materials is about 34W / (m·K) to 45W / (m·K), and the thermal conductivity of the corresponding stator adapter 1 is at least 119W / (m·K).

[0190] For example, among metal materials, silver, copper, gold, aluminum and their alloy materials whose thermal conductivity meets the requirements. Among them, silver: thermal conductivity is 429W / (m·K). Copper: thermal conductivity is 400W / (m·K). Gold: thermal conductivity is 317W / (m·K). Aluminum: thermal conductivity is 237W / (m·K).

[0191] For example, non-metallic materials include thermally conductive ceramics and carbon materials. Carbon materials can be diamond, graphite, and graphene.

[0192] In one embodiment, the material thermal conductivity of the stator adapter 1 is between 180 and 450 W / (m·K).

[0193] For example, among metal materials, silver, copper, gold, aluminum and their alloy materials whose thermal conductivity meets the requirements. Among them, silver: thermal conductivity is 429W / (m·K). Copper: thermal conductivity is 400W / (m·K). Gold: thermal conductivity is 317W / (m·K). Aluminum: thermal conductivity is 237W / (m·K).

[0194] Among the types of aluminum alloys, for example, the thermal conductivity of 1XXX series aluminum alloys, 5XXX series aluminum alloys, 6XXX series aluminum alloys, and 7XXX series aluminum alloys is 190 to 230 W / (m·K), which can meet the requirements of the stator adapter 1 .

[0195] Among the 1XXX series aluminum alloys, aluminum alloy 1050: thermal conductivity is 209W / m·K. Aluminum alloy 1070: thermal conductivity is 226W / m·K. Aluminum alloy 1060: thermal conductivity is 234W / m·K. Aluminum alloy 6063: thermal conductivity is 201W / m·K. All of them can meet the thermal conductivity requirements of stator adapter 1.

[0196] In one embodiment, the thermal conductivity of the material of the stator adapter 1 is 210 to 250 W / (m·K).

[0197] For example, aluminum and its alloy materials whose thermal conductivity meets the requirements among metal materials: Aluminum: The thermal conductivity is 237W / (m·K).

[0198] In one embodiment, the thermal conductivity of the material of the stator adapter 1 is 380 to 420 W / (m·K).

[0199] For example, among metal materials, copper and its alloy materials whose thermal conductivity meets the requirements: Copper: The thermal conductivity is 400W / (m·K).

[0200] In one embodiment, the stator adapter 1 is made of metal material.

[0201] The gear ring 3 of the reducer 8 of a general robot joint module is usually made of high-strength low-carbon alloy steel, such as 20CrMnMo, 20CrNi2Mo, and 17CrNiMo6. The thermal conductivity of these materials is about 34W / (m·K) to 45W / (m·K), and the material of the corresponding stator adapter 1 is selected to have a thermal conductivity greater than that of the gear ring 3 material.

[0202] For example, among metal materials, silver, copper, gold, aluminum and their 6063 alloy materials with thermal conductivity that meets the requirements. Among them, silver: thermal conductivity is 429W / (m·K). Copper: thermal conductivity is 400W / (m·K). Gold: thermal conductivity is 317W / (m·K). Aluminum: thermal conductivity is 237W / (m·K).

[0203] Metal materials have high thermal conductivity, facilitate uniform heat conduction, and have thermal stability, a wide operating temperature range, and high stability. In addition, metal materials have good toughness and machinability, and their fatigue strength and structural stability can meet the use requirements of the stator adapter 1.

[0204] In one embodiment, the material of the stator adapter 1 is copper, copper alloy, aluminum or aluminum alloy, and the material of the gear ring 3 is steel. The above materials can meet the requirements of thermal conductivity, and are easy to machine and have good plasticity.

[0205] In one embodiment, see Figures 14 to 16 as well as Fig.25 and Fig.26 The actuator further includes an insulating portion 6, which includes a first insulating layer 61 that is substantially in the shape of a hollow cylinder and a second insulating layer 62 that is substantially in the shape of a ring. The extension portion 12 further includes a second extension segment 124 that is substantially in the shape of a ring and a second connecting segment 125 that is substantially in the shape of a cylinder. The second extension segment 124 is connected between the first extension segment 121 and the second connecting segment 125. The first insulating layer 61 completely covers the radial outer side of the first extension segment 121, and the second insulating layer 62 completely covers the axial end face of the second extension segment 124 that is away from the fixed disk 4.

[0206] The first insulating layer 61 and the second insulating layer 62 are provided to prevent the electronic adapter from being electrically connected to the stator winding 23 or generating static electricity, and to prevent the stator winding 23 from being connected to the stator adapter 1 and leaking electricity through the fixing plate 4, thereby causing leakage of the entire actuator.

[0207] The first insulating layer 61 covers the outer side of the first extension section 121 to form a structure that wraps the entire first extension section 121. The second insulating layer 62 isolates the axial end face of the second extension section 124 and the axial end face of the second connecting section 125. In this way, no conductive area is formed in the area enclosed by the first insulating layer 61 and the second insulating layer 62, thereby reducing the probability of leakage.

[0208] In one embodiment, see Fig.14 and Fig.15 , the extension width of the second insulating layer 62 is greater than the sum of the radial dimensions of the second connecting segment 125 and the radial dimensions of the second extending segment 124. This arrangement enables the surfaces of the second extending segment 124 and the second connecting segment 125 facing the stator 2 to be completely located under the second insulating layer 62, thereby avoiding the possibility of conductive connection between the surfaces of the second extending segment 124 and the second connecting segment 125 facing the stator 2 and the stator 2.

[0209] In one embodiment, one end of the first insulating layer 61 facing the second extension section 124 is connected to the inner ring of the second insulating layer 62. It is obvious to those skilled in the art that, as an insulating component, the first insulating layer 61 is connected to the inner side of the second insulating layer 62, and the connection is made by aligning the edges of the two layers. This arrangement makes it possible for no gap to exist between the first insulating layer 61 and the second insulating layer 62, thereby achieving a better insulation effect and reducing the possibility of the extension portion 12 being conductive.

[0210] In one embodiment, an edge of one end of the first insulating layer 61 is connected to the inner annular wall surface of the second insulating layer 62 , thereby forming a seal of the stator adapter 1 facing the conductive area of ​​the stator 2 .

[0211] In one embodiment, an axial end surface of one end of the first insulating layer 61 is connected to an axial end surface of the second insulating layer 62 , thereby forming a seal of the conductive area.

[0212] In one embodiment, the first insulating layer 61 and the second insulating layer 62 can be formed into one piece by coating with insulating paint. Among them, the first insulating layer 61 and the second insulating layer 62 can be made of a variety of insulating paint materials, including but not limited to epoxy resin insulating paint, polyester resin insulating paint, phenolic resin insulating paint, acrylic insulating paint, silicone rubber insulating paint, polyurethane insulating paint, nitro paint insulating paint, enamel insulating paint and fluorocarbon insulating paint. The application of these insulating paints can not only provide better adhesion, but also can be directly coated during the manufacturing process of the stator adapter 1, thereby improving production efficiency and ensuring the uniformity and quality of the insulating layer.

[0213] The insulating paint can also effectively reduce or prevent the accumulation of static electricity on the surface of the stator adapter 1. As a non-conductive barrier, the insulating paint can prevent the free movement of charges on the surface of the stator adapter 1, thereby reducing the formation and accumulation of static electricity.

[0214] In one embodiment, the first insulating layer 61 is an insulating sheet, and the second insulating layer 62 is an insulating sheet. The edge of one end of the first insulating layer 61 close to the second extension section 124 is integrated with the inner ring edge of the second insulating layer 62. That is, the first insulating layer 61 and the second insulating layer 62 are combined to completely cover the surface of the stator adapter 1 facing the stator winding 23, thereby preventing the stator adapter 1 from forming an electrical connection with the stator winding 23. In addition to basically preventing electrical connection (i.e., preventing current from passing directly through the metal part), the insulating sheet can also effectively reduce or prevent the accumulation of static electricity on the surface of the stator adapter 1. As a non-conductive barrier, the insulating sheet can prevent the free movement of charges on the surface of the stator adapter 1, thereby reducing the formation and accumulation of static electricity.

[0215] Static electricity is caused by an imbalance of electric charges. If there is no insulating layer on the surface of the stator adapter 1, it is easy for static electricity to accumulate. When the surface of the stator adapter 1 facing the stator winding 23 is covered with an insulating sheet, even if there are charges trying to attach to the stator adapter 1, these charges will be isolated by the insulating sheet and cannot easily diffuse on the surface of the stator adapter 1, thereby reducing the possibility of static electricity accumulation.

[0216] In one embodiment, the insulating sheet can be a prefabricated product, such as highland barley paper, which has a higher dielectric strength than insulating paint, can effectively prevent arcing and breakdown, and can prevent the actuator from being energized. In addition, the preparation process is simplified, and the insulating sheet can be quickly die-cut into the required shape, which improves material utilization and can reduce energy consumption and pollution in production. The smooth appearance of the insulating sheet enhances the overall aesthetics of the stator adapter 1. Production efficiency is improved because the patch is easy to install and the paint film drying time is saved. Maintenance and updating are more convenient, and the insulating sheet is easy to peel off and replace, which reduces maintenance costs and reduces downtime.

[0217] In one embodiment, the material of the first insulating layer 61 and the second insulating layer 62 includes but is not limited to polyester film, epoxy resin, polycarbonate, phenolic resin or polyimide insulating sheet.

[0218] In one embodiment, the first insulating layer 61 and the second insulating layer 62 are made of epoxy resin, polyester resin and phenolic resin, and the first insulating layer 61 and the second insulating layer 62 are integrally formed.

[0219] The application of these insulating varnishes can not only provide better adhesion, but also can be directly coated during the manufacturing process of the stator adapter 1, thereby improving production efficiency and ensuring the uniformity and quality of the insulating layer.

[0220] In one embodiment, the first insulating layer 61 and the second insulating layer 62 may be made of thermally conductive insulating plastic, and the first insulating layer 61 and the second insulating layer 62 are integrally formed. The materials of the first insulating layer 61 and the second insulating layer 62 include, but are not limited to, polyimide film thermally conductive insulating sheets, thermally conductive silicone cloth insulating sheets, etc. The thermally conductive insulating plastic can conduct the heat generated near the stator winding 23 to the stator adapter 1 while ensuring insulation, thereby improving the stability of the motor thermal management.

[0221] In one embodiment, see Figure 8 , Fig.11 And 14, a flange portion 33 is configured at one end of the gear ring 3 adjacent to the fixed disk 4 . The flange portion 33 is assembled between the second extension section 124 and the fixed disk 4 and is located in the cavity 15 .

[0222] The flange portion 33 is provided for connecting the gear ring 3 and the fixed plate 4, and for increasing the degree of engagement between the gear ring 3 and the fixed plate 4, so that more connection points can be formed, and the fixing effect is better.

[0223] The fixed plate 4 is used not only to fix the ring gear 3 , but also to install the output flange 81 . The combination of the ring gear 3 and the fixed plate 4 can stabilize the installation of the reducer 8 to provide accurate assembly and power output of the output flange 81 .

[0224] The flange portion 33 can also conduct heat outward with the help of the fixed disk 4 . The flange portion 33 increases the contact area between the ring gear 3 and the fixed disk 4 , thereby improving the heat conduction effect of the ring gear 3 to the fixed disk 4 .

[0225] In one embodiment, see Fig.15 A first radial gap 71 is formed between the outer ring of the flange portion 33 and the second connecting section 125 , and a first axial gap 72 is formed between the radial end surface of the flange portion 33 adjacent to the stator adapter 1 and the second extending section 124 .

[0226] The setting of the first radial gap 71 and the first axial gap 72 can prevent the heat conduction from the stator adapter 1 to the fixed disk 4 and the heat conduction from the ring gear 3 to the fixed disk 4 from interfering with each other. On the other hand, the noise of the meshing vibration between the inner side of the ring gear 3 and the gear can also be sealed and isolated by the first radial gap 71 and the first axial gap 72 to prevent excessive noise from being transmitted to the outside, which has the effects of heat insulation, shock absorption and noise reduction.

[0227] The first radial gap 71 and the first axial gap 72 clearly isolate the heat, vibration or noise on one side of the ring gear 3 in the selected direction, thereby improving the performance and reliability of the system.

[0228] In one embodiment, see Figure 8 , Fig.14 and Fig.15 In one embodiment, the fixing plate 4 is configured with a snap ring 42 protruding toward one side of the stator adapter 1, the snap ring 42 is disposed against the outer ring of the flange portion 33, and is located in the cavity 15. The snap ring 42 is used to limit and fix the gear ring 3, and plays a role in stabilizing the installation.

[0229] In one embodiment, see Fig.17 as well as Fig.18 A second radial gap 73 is formed between the outer ring of the snap ring 42 and the second connecting section 125, and a second axial gap 74 is formed between the radial end surface of the snap ring 42 and the second extending section 124. The second radial gap 73 and the second axial gap 74 extend the effects of heat insulation, vibration reduction and noise reduction, and further improve the stability and reliability of the system.

[0230] In one embodiment, the first radial gap 71 is larger than the second radial gap 73 , and the first axial gap 72 is smaller than the second axial gap 74 .

[0231] In one embodiment, see Fig.14 , Fig.15 , Fig.17 and Fig.18The fixed disk 4 is constructed with a first annular portion 43 which is roughly annular, and a plurality of fifth assembly holes 44 which are arranged in a row and surround each other are provided on the first annular portion 43. The gear ring 3 is provided with a plurality of sixth assembly holes 331 corresponding to the fifth assembly holes 44 on the flange portion 33. Fasteners are passed through the fifth assembly holes 44 and the sixth assembly holes 331 in sequence to form a fastened connection between the gear ring 3 and the fixed disk 4.

[0232] The fifth assembly hole 44 on the first annular portion 43 is aligned with the sixth assembly hole 331 on the ring gear 3, and the connection accuracy between the ring gear 3 and the fixed plate 4 is ensured through the fastening action of the fastener. The high connection accuracy provides structural stability for the ring gear 3.

[0233] The extension direction of the fifth assembly hole 44 and the sixth assembly hole 331 are both axially arranged, utilizing the flange portion 33 of the ring gear 3 and the axial thickness of the fixed plate 4, with higher assembly accuracy. The length of the fastener can be adapted to the axial thickness of the two, which is beneficial to the lightweight of the fastener.

[0234] The surrounding and array arrangement can evenly arrange the connection points, so that the connection points play a good role in fastening and connecting. The sixth assembly hole 331 can be a through hole with an internal thread, and the fifth assembly hole 44 can be a through hole.

[0235] In one embodiment, see Fig.14 , Fig.15 , Fig.17 and Fig.18 The fixed disk 4 is constructed with a second annular portion 45 which is roughly annular in shape. The second annular portion 45 is located radially outside the retaining ring 42. The second annular portion 45 is provided with a plurality of second assembly holes 41 which are arranged in a surrounding and array manner. The axial distance L1 between the first annular portion 43 and the surface of the retaining ring 42 facing the stator 2 is greater than the axial distance L2 between the second annular portion 45 and the surface of the retaining ring 42 facing the stator 2.

[0236] Such a configuration can adapt to the thickness of the flange portion 33, making it easier to assemble the gear ring 3. In addition, the radial thickness of the flange portion 33 of the gear ring 3 can be increased on one side by the above-mentioned axial distance difference, thereby improving the structural strength of the flange portion 33.

[0237] In one embodiment, see Figure 3 and Fig.19 The end of the flange portion 33 of the ring gear 3 facing away from the stator 2 abuts against the first annular portion 43, and the radial outer side of the flange portion 33 abuts against the radial inner side of the retaining ring 42. The two are fastened together by fasteners. The thickness of the flange portion 33 is greater than the radial height of the retaining ring 42 and the first annular portion 43, thereby ensuring that the radial inner side surface of the retaining ring 42 is completely abutted against the flange portion 33.

[0238] In one embodiment, see Figure 20 to Figure 22 The actuator also includes a positioning protrusion 21, which is arranged on the inner side of the stator 2 and protrudes radially inward; the outer side surface of the cylindrical portion 11 of the stator adapter 1 is correspondingly provided with an axially extending positioning groove 112, and the positioning protrusion 21 and the positioning groove 112 can be aligned with each other.

[0239] The clamping setting enables the positioning protrusion 21 and the positioning groove 112 to form a positioning, maintaining a close connection between the two, and the stator 2 can maintain a positional relationship with the stator adapter 1, thereby limiting the fixed position of the stator 2 in the circumferential direction. During the operation of the motor, the rotor 91 will generate a reverse thrust on the stator when it rotates. According to Newton's third law, when the rotor rotates due to electromagnetic torque, it will exert an equal and opposite reaction force on the stator. If the stator is offset in the circumferential direction, it will affect the performance and stability of the motor. The air gap between the stator and the rotor is one of the key parameters for the normal operation of the motor. The stator offset may cause uneven air gap, which in turn causes uneven magnetic field distribution. In this embodiment, the positioning protrusion 21 and the positioning groove 112 prevent the stator from offsetting due to reverse thrust, thereby ensuring the performance and stability of the motor.

[0240] In one embodiment, see Fig.29 , the positioning protrusions 21 are arranged in multiple groups, and the multiple groups of positioning protrusions 21 are arranged in an annular array on the inner side of the stator 2, and the positioning grooves 112 are correspondingly arranged in multiple groups. This arrangement makes the corresponding angle changes between multiple clamping positions the same, which is conducive to the circumferential balance of the stator 2 and the stator adapter 1. Such an arrangement has a more balanced force, higher structural stability, and the stator adapter 1 and the stator 2 are not easily damaged during assembly.

[0241] In one embodiment, see Figure 29 to Figure 31 The stator 2 includes a stator core 22 and a plurality of stator windings 23. The plurality of stator windings 23 are wound on the stator core 22. The stator core 22 has an inner side surface, which is substantially an inner wall surface of a circular ring. The positioning protrusion 21 protrudes radially inward from the inner side surface, so that the inner side surface of the stator core 22 fits with the outer side surface of the cylindrical portion of the stator adapter 1.

[0242] In one embodiment, the outer diameter φ2 of the extension portion 12 is limited to be larger than the inner diameter of the stator core 22 (the inner diameter of the stator core 22 may refer to the outer diameter φ3 of the first connecting section 111 ).

[0243] In one embodiment, see Fig.21 The width of the positioning protrusion 21 at one end close to the stator adapter 1 in the annular direction is limited to a first width W1, and the groove bottom surface 112c of the positioning groove 112 is limited to have a second width W2 along the outer side surface of the cylindrical portion 11 in the circumferential direction, and the second width W2 is greater than the first width W1.

[0244] The first width W1 and the second width W2 are set so that when the stator 2 and the stator adapter 1 are assembled by single crimping, the interference fit between the positioning protrusion 21 and the positioning groove 112 can carve an axial single fitting groove in the stator adapter 1, thereby ensuring the assembly accuracy. The second width W2 is greater than the first width W1 so that any positioning groove 112 can correspond to the carving of the positioning protrusion 21.

[0245] If maintenance is required, it can be crimped again after replacing the circumferential position, that is, a section of the first width W1 is reselected on the second width W2, and the axial matching groove is again engraved to achieve a new interference fit, thereby improving the convenience of maintenance.

[0246] The diameters of the arcs corresponding to the first width W1 and the second width W2 can be equal or substantially equal. The first width W1 and the second width W2 refer to the length of the arc extending upward, not the straight-line distance between the two end points, and the center positions of the circles corresponding to the first width W1 and the second width W2 overlap.

[0247] In one embodiment, the ratio of the second width to the first width is 1.5: 1 to 2.5: 1. A larger second width W2 can provide more installation position options for the positioning protrusion 21 with a smaller width, so that it is easy to switch to a previously unmarked position during the second or multiple press-fitting, so as to ensure that the stator 2 and the stator adapter 1 can still have a good interference fit during multiple press-fitting.

[0248] This setting allows the positioning protrusion 21 to have a wider range of adjustment. In addition, the setting of the second width is related to the width of the positioning groove 112. When the stator adapter 1 requires a higher structural strength, setting it within the above range can take into account the range of the positioning groove 112 for assembling the positioning protrusion 21, the lightweight of the stator adapter 1, and the structural strength of the stator adapter 1.

[0249] In one embodiment, the positioning groove 112 is located radially outside the first connecting section 111, and the axial extension length of the positioning groove 112 is equal to the axial dimension of the first connecting section 111. The groove depth of the positioning groove 112 is greater than or equal to the radial depth of the first chamfer 123.

[0250] In one embodiment, see Fig.21 When the stator 2 in the figure is assembled by single crimping, the matching point between the positioning protrusion 21 and the positioning groove 112 is located in the middle position of the positioning groove 112, that is, an axial single matching groove is engraved in the stator adapter 1.

[0251] See also Fig.21After the stator 2 is maintained, it can be assembled and matched at different positions on the bottom surface of the positioning groove 112. Specifically, the positioning protrusion 21 and the positioning groove 112 are relatively rotated at the matching position, so that after the crimping assembly, a second set of axial matching grooves are engraved in the stator adapter 1.

[0252] In one embodiment, see Fig.21 The minimum inner diameter of the positioning protrusion 21 is larger than the outer diameter of the bottom surface of the positioning groove 112, and the positioning protrusion 21 and the bottom surface of the positioning groove 112 are interference fit. The minimum inner diameter of the positioning protrusion 21 is larger than the outer diameter of the bottom surface of the positioning groove 112, and the positioning protrusion 21 and the bottom surface of the positioning groove 112 are interference fit. The interference fit makes the connection between the stator 2 and the stator adapter 1 more secure, and improves the stability of the system. At the same time, the interference fit can effectively prevent the stator 2 from loosening during operation, and improve the reliability and life of the system.

[0253] In one embodiment, see Figure 21 to Figure 24 The positioning protrusion 21 includes a first protruding tooth 211 and a second protruding tooth 212 . The first protruding tooth 211 and the second protruding tooth 212 respectively abut against the bottom surface of the positioning groove 112 .

[0254] The arrangement of the first protruding tooth 211 and the second protruding tooth 212 forms a plurality of points of abutment with the positioning groove 112 in the annular direction. This arrangement enables the first protruding tooth 211 and the second protruding tooth 212 to form mutual limitation in the annular direction after being assembled with the positioning groove 112. The abutment also forms radial fixation, and the interference fit forms axial positioning. That is, the above arrangement fixes the position between the positioning protrusion 21 and the stator adapter 1.

[0255] In addition, such a matching arrangement prevents the first protruding tooth 211 and the second protruding tooth 212 from moving, thereby improving the bonding degree between the positioning protrusion 21 and the positioning groove 112 .

[0256] In one embodiment, see Figure 21 to Figure 24 The top of the first protruding tooth 211 is defined as the first vertex 211a, the top of the second protruding tooth 212 is defined as the second vertex 212a, and the first width is between the first vertex 211a and the second vertex 212a. The first vertex 211a and the second vertex 212a are the contact positions of the first protruding tooth 211 and the second protruding tooth 212.

[0257] In one embodiment, see Figure 21 to Figure 25The first protruding tooth 211 has a first arc segment 211b and a second arc segment 211c, the intersection of the first arc segment 211b and the second arc segment 211c is the first vertex 211a, the first arc segment 211b is located on the side away from the second protruding tooth 212, and the second arc segment 211c is located on the side close to the second protruding tooth 212; the second protruding tooth 212 has a third arc segment 212b and a fourth arc segment 212c, the intersection of the third arc segment 212b and the fourth arc segment 212c is the second vertex 212a, the third arc segment 212b is located on the side away from the first protruding tooth 211, and the fourth arc segment 212c is located on the side close to the first protruding tooth 211.

[0258] The first arc segment 211b, the second arc segment 211c, the third arc segment 212b and the fourth arc segment 212c are arranged so that their axial cross-sections form two cones, and their first vertex 211a and the second fixed point correspond to form two complete ridges for forming axial scratches on the bottom surface of the positioning groove 112, and two ridges are squeezed on both sides of the scratches, so that the first protruding tooth 211 and the second protruding tooth 212 are tightly combined with the positioning groove 112.

[0259] In one embodiment, see Figure 21 to Figure 24 The bending direction of the first arc segment 211b is the same as the bending direction of the second arc segment 211c, the bending direction of the third arc segment 212b is the same as the bending direction of the fourth arc segment 212c, and the bending direction of the first arc segment 211b and the bending direction of the second arc segment 211c are opposite to the bending direction of the third arc segment 212b and the bending direction of the fourth arc segment 212c.

[0260] This setting makes the conical structure formed by the first arc segment 211b and the second arc segment 211c gradually increase in the direction away from the bottom surface of the positioning groove 112, which is beneficial to increase the structural strength of the first protruding tooth 211. The corresponding conical structure formed by the third arc segment 212b and the fourth arc segment 212c gradually increases in the direction away from the bottom surface of the positioning groove 112, which is beneficial to increase the structural strength of the second protruding tooth 212.

[0261] At the same time, the bending direction of the first arc segment 211b and the second arc segment 211c is opposite to the bending direction of the third arc segment 212b and the fourth arc segment 212c, so that the two are in opposite directions in the annular direction, that is, the forces between the two and the bottom surface of the positioning groove 112 will be symmetrical, and the combined force points to the axial direction of the stator 2. With the layout of the annular array, the forces of each positioning protrusion 21 are finally balanced, maintaining the stability of the stator 2 and the connection between the stator 2 and the stator adapter 1. At the same time, such a setting has a supporting effect on the annular direction, which is conducive to keeping the stator 2 and the stator adapter 1 relatively still in the annular direction.

[0262] In one embodiment, see Figure 21 to Figure 24The first arc segment 211b and the second arc segment 211c are both circular arc segments, and the diameter of the first arc segment 211b is greater than the diameter of the second arc segment 211c; the third arc segment 212b and the fourth arc segment 212c are both circular arc segments, and the diameter of the third arc segment 212b is greater than the diameter of the fourth arc segment 212c. The structure of the circular arc segment is more stable, and the arc segment diameter setting on both sides of the protruding tooth can increase the annular span away from the end of the positioning groove 112, thereby increasing the structural strength of the first protruding tooth 211 and the second protruding tooth 212.

[0263] In one embodiment, see Figure 21 to Figure 24 , one end of the second arc segment 211c away from the first vertex 211a is connected to one end of the fourth arc segment 212c away from the second vertex 212a, and the radian of the second arc segment 211c is equal to the radian of the fourth arc segment 212c.

[0264] Such an arrangement forms a complete arc surface, and the arc surface forms an arched structure, which can support the first protruding tooth 211 and the second protruding tooth 212 to ensure structural stability. A cavity is formed between the first protruding tooth 211 and the second protruding tooth 212, and the cavity can reduce the mass of the stator 2 to achieve a weight reduction effect. The formed cavity can quickly conduct heat and improve the heat conduction efficiency.

[0265] In one embodiment, see Figure 21 to Figure 24 The second arc segment 211c and the fourth arc segment 212c form a tooth groove cavity 213, and the axial projection of the tooth groove cavity 213 is fan-shaped.

[0266] The fan-shaped structure means that the second arc segment 211c and the fourth arc segment 212c form an arc structure. Such an arc structure is arch-shaped and has a better supporting effect on the first protruding teeth 211 and the second protruding teeth 212. The first protruding teeth 211 and the second protruding teeth 212 have better structural stability.

[0267] In one embodiment, see Fig.25 A second chamfer 112a is formed between the side surface of the positioning groove 112 and the bottom surface 112c of the groove, and a third chamfer 112b is formed between the side surface and the outer surface of the cylindrical portion 11. The second chamfer 112a and the third chamfer 112b are both arc chamfers, and the bending directions of the second chamfer 112a and the third chamfer 112b are opposite.

[0268] This arrangement allows a smooth transition between the bottom surface of the positioning groove 112 and the outer surface of the stator adapter 1 , and the positions of the second chamfer 112 a and the third chamfer 112 b can play a role in strengthening the structure.

[0269] The bending direction of the second chamfer 112a is opposite to the bending direction of the first arc segment 211b of the adjacent first protruding tooth 211 or the third arc segment 212b of the second protruding tooth 212. In this way, even if the stator 2 rotates relative to the stator adapter 1, the positioning protrusion 21 will not directly form a line-surface contact with the second chamfer 112a, thereby increasing the abutment area and avoiding collision damage to the stator 2 or the stator adapter 1.

[0270] In one embodiment, see Fig.26 as well as Fig. 27 The outer side surface of the stator adapter 1 is divided into a plurality of docking surfaces 18 by a plurality of positioning grooves 112, and the outer end of each docking surface 18 is provided with a fourth chamfer 19. The fourth chamfer 19 is provided to facilitate the stator adapter 1 to enter the inner side surface of the stator 2. In this way, the stator adapter 1 can be easily inserted, and when the stator 2 is assembled, the end surface of the stator 2 can be avoided under the structure that the axial cross section of the inner ring of the stator 2 is a right angle, which is conducive to the assembly of the stator 2 and plays a role in precise positioning.

[0271] In one embodiment, the butt joint surface 18 is interference fit with the inner side surface of the first connecting section 111 and the inner side surface of the first extension section 121, and the positioning protrusion 21 extends into the positioning groove 112, and its first protruding teeth 211 and the second protruding teeth 212 are in contact with the bottom surface 112c of the positioning groove 112, but no groove is scratched. Such a setting is to fix the stator adapter 1 and the stator 2 by the interference fit at the butt joint surface 18, and the positioning protrusion 21 plays a positioning role and forms a limit of the annular stator adapter 1 relative to the stator 2, so as to stabilize the connection of the stator 2 after assembly.

[0272] The groove bottom surface 112c does not carve out a matching groove, and the secondary press-fitting of the disassembled stator adapter 1 and the stator 2 does not require adjustment of the circumferential matching position of the two, making assembly more convenient.

[0273] In one embodiment, see Fig. 27 , the axial height L3 of the stator core 22 is roughly equal to the axial height L4 of the cylindrical portion 11. This arrangement makes the end face of the stator core 22 away from the fixed disk 4 flush with the end face of the cylindrical portion 11 away from the fixed disk 4. After the stator core 22 and the stator adapter 1 are assembled, when assembled with the gear ring 3, the end face of the stator core 22 away from the fixed disk 4 and the end face of the cylindrical portion 11 away from the fixed disk 4 can be pressed at the same time, and the pressing direction is the same. The two will not slide relative to each other, and the matching relationship between the stator 2 and the stator adapter 1 will not change.

[0274] In one assembly embodiment, see Fig.28First, the stator adapter 1 and the stator 2 can be crimped and assembled. For example, a crimping jig can be used to press against the end of the extension portion 12 of the stator adapter 1 facing the fixed disk 4, so that the cylindrical portion 11 of the stator adapter 1 can be axially inserted into the hollow inside the stator 2 until the end of the cylindrical portion 11 away from the fixed disk 4 can be aligned with the corresponding end surface of the stator 2. The stator adapter 1 and the stator 2 can be assembled into a stator assembly. Thereafter, when the stator assembly is assembled with the ring gear 3, the fixed disk 4 and the ring gear 3 can be assembled and fixed to each other first, and the cover 5 can be assembled and covered on the opening of the ring gear 3. Thereafter, the ring gear 3 is installed from the opening of the stator adapter 1 on the side of the stator assembly facing the fixed disk 4, and the stator assembly and the ring gear assembly are pressed against each other axially until the stator 2 assembly and the ring gear 3 assembly overlap each other and reach a preset position.

[0275] According to the aforementioned embodiment, the flange portion 33 provided at one end of the gear ring 3 close to the fixed disk 4 and the inner wall surface of the first extension section 121 facing the fixed disk 4 (or the axial wall surface of the cavity 15) can abut against each other after the stator assembly and the gear ring assembly are crimped and assembled in place, and can be used to indicate the axial position in the aforementioned crimping operation. At the same time, the fastener between the flange portion 33 and the fixed disk 4 can be of a preset length, and the front end of this fastener can abut against the inner wall surface of the first extension section 121 facing the fixed disk 4 after the fastener is in place, and the flange portion 33 is set as an internal threaded hole, so that the length of this fastener can be set, so that by assembling this fastener to a preset degree during assembly, the inner wall surface of the first extension section 121 facing the fixed disk 4 can be pushed away from the flange portion 33, so as to maintain the gap between the inner wall surface of the first extension section 121 facing the fixed disk 4 and the flange portion 33 during assembly.

[0276] According to the aforementioned embodiment, the reinforcement ring 16 of the stator adapter 1 will form a small gap with the outer side surface of the cover 5 after being assembled in place, so that a chamber can be enclosed between the stator adapter 1, the first connecting section 111, the reinforcement ring 16, the tooth end surface 32 of the ring gear 3 and the cover 5. This chamber can be used to accommodate fasteners and assembly holes connecting the cover 5 and the ring gear 3, so that the connecting gap between the cover 5 and the ring gear 3 can be secondary sealed, which can achieve better sealing and noise isolation effects.

[0277] In one disassembly embodiment, first, the fasteners between the stator adapter 1 and the fixed disk 4 can be removed, and then the disassembly jig is used to support the fixed disk 4 and the lower edge of the stator core 22 of the stator 2 outward respectively, and the fixed disk 4 and the stator core 22 are pushed away in opposite directions, so that the combination of the stator adapter 1 and the stator 2 can be axially separated from the reducer 8 combination, so that the stator 2 and the ring gear 3 (or the reducer 8 assembly) can be disassembled. This disassembly method is better suitable for the need to maintain or replace the stator 2 or the reducer 8. In this disassembly method, since the stator adapter 1 and the stator 2 do not need to be disassembled, the interference fit between the two achieved by the scored grooves is still valid, so there is no need to crimp the stator adapter 1 and the stator 2 again.

[0278] In one embodiment, a joint module 1000 is provided, which includes an actuator as in any of the above embodiments, and a stator adapter as in any of the above embodiments.

[0279] In one embodiment, the joint module is roughly cylindrical in structure, and further includes a reducer 8, a rotor 91 and a housing 92. The drive plate of the joint module 1000 is fixed on the bracket of the housing 92. A third bearing is provided between the fixed disk 4 and the output flange 81. The upper shell of the housing 92 is fixed to the bracket and covers the drive plate. The bearing support of the output flange 81 can be a cross roller bearing. The reducer 8 also includes a hollow transmission shaft connected to the output flange 81. The output flange 81 outputs power outward, and the hollow transmission shaft is used to cooperate with the drive plate to record the real-time rotation speed of the output flange 81.

[0280] In one embodiment, see Fig.32 , a point-legged robot is provided, wherein at least one driving joint adopts an actuator as in any of the above embodiments, or adopts a joint module 1000 as in any of the above embodiments, or a stator adapter as in any of the above embodiments. The point-legged robot can meet the requirements of achieving stable walking, balance control, adaptability to complex terrain, efficient movement, load capacity, and high adaptability to multiple terrain environments in terms of driving joints.

[0281] In one embodiment, a quadruped robot is provided, wherein at least one driving joint adopts an actuator as in any of the above embodiments, or adopts a joint module 1000 as in any of the above embodiments, or a stator adapter as in any of the above embodiments. The quadruped robot can meet the requirements of achieving stable walking, balance control, adaptability to complex terrain, efficient movement, load capacity, and high adaptability to multiple terrain environments in terms of driving joints.

[0282] In one embodiment, see Fig.33, a four-wheeled leg robot is provided, at least one driving joint of which adopts an actuator as in any of the above embodiments, or adopts a joint module 1000 as in any of the above embodiments, or a stator adapter as in any of the above embodiments. The four-wheeled leg robot can meet the requirements of achieving stable walking, balance control, adaptability to complex terrain, efficient movement, load capacity, and high adaptability to multiple terrain environments in terms of driving joints.

[0283] In one embodiment, see Fig.34 , a biped robot is provided, wherein at least one driving joint of the biped robot adopts an actuator as in any of the above embodiments, or adopts a joint module 1000 as in any of the above embodiments, or a stator adapter as in any of the above embodiments. The biped robot can meet the requirements of achieving stable walking, balance control, adaptability to complex terrain, efficient movement, load capacity, and high adaptability to multiple terrain environments in terms of driving joints.

[0284] In one embodiment, see Fig.35 , a robotic arm is provided, wherein at least one driving joint adopts an actuator as in any of the above embodiments, or adopts a joint module 1000 as in any of the above embodiments, such as a stator adapter as in any of the above embodiments. The above robotic arm usually includes a plurality of driving joints, and the application of the above actuator or joint module 1000 can ensure the multi-degree-of-freedom motion capability of the robotic arm.

[0285] In one embodiment, a robot is provided, wherein at least one driving joint of the robot adopts a joint module 1000 as in any of the above embodiments, such as a stator adapter as in any of the above embodiments.

[0286] Based on the excellent performance of the above actuator, this embodiment provides, but is not limited to, joint modules, biped robots, point-legged robots, quadruped robots, mechanical arms, and quad-legged robots. These application examples all use the actuator in this embodiment, and by optimizing the connection method between the stator and the stator adapter, not only the robot's motion accuracy and response speed are improved, but also the system's heat dissipation performance is significantly improved, extending the service life of the equipment.

Claims

1. A stator adapter for an actuator, characterized in that: The stator adapter is constructed with a cylindrical portion and an extension portion that are generally hollow cylindrical; The outer side of the cylindrical portion is used to nest the stator of the actuator, the inner side of the cylindrical portion is used to nest and install the gear ring of the actuator, and the extension portion is used to abut against the fixed disk of the actuator; The thermal conductivity of the stator adapter is greater than 68 W / (m·K).

2. The stator adapter according to claim 1, characterized in that: The cylindrical portion includes a first connecting section that is roughly hollow cylindrical, the extending portion includes a first extending section that is roughly hollow cylindrical, a second extending section that is roughly hollow annular, and a second connecting section that is roughly hollow cylindrical, one end of the first extending section is connected to one end of the first connecting section, one end of the second extending section is connected to one end of the first extending section that is away from the first connecting section, the inner side of one end of the second connecting section is connected to the outer ring of the second extending section, and the axial projections of the first connecting section, the first extension section, the second extension section, and the second connecting section do not overlap.

3. The stator adapter according to claim 2, characterized in that: The second extension section is a continuous, hole-free structure, and the inner side surface of the second connecting section is a continuous, hole-free structural surface, and a semi-open cavity is defined by the inner side surfaces of the first extension section, the second extension section, and the second connecting section; the second connecting section is constructed with a plurality of first assembly holes arranged in a surrounding and array manner, and the first extension section is constructed with an abutment surface at one end adjacent to the first connecting section, and the abutment surface is roughly an annular plane.

4. The stator adapter according to claim 2, characterized in that: The cylindrical portion further includes a reinforcement ring, which is arranged inwardly along the outer edge of one end of the cylindrical portion and is substantially annular, and the inner diameter of the reinforcement ring is smaller than the inner diameter of the cylindrical portion and the inner diameter of the extension portion, and the cylindrical portion and the reinforcement ring are integrally formed; The extension portion further comprises an insulating portion, wherein the insulating portion comprises a first insulating layer substantially in the shape of a hollow cylinder and a second insulating layer substantially in the shape of a circular ring; The first insulating layer substantially covers the radial outer side of the first extending segment, and the second insulating layer substantially covers the second extending segment and a side of the second connecting segment adjacent to the first connecting segment.

5. An actuator, characterized in that: include: A stator, a stator adapter, a gear ring and a fixed plate, wherein the stator adapter is configured with a cylindrical portion and an extension portion which are substantially in the shape of a hollow cylinder; The stator is nested outside the cylindrical portion, the gear ring is nested inside the cylindrical portion, and radial projections of the stator, the cylindrical portion and the gear ring at least partially overlap; The fixed disk is connected to one end of the gear ring, and the extension portion abuts against the fixed disk; The thermal conductivity of the stator adapter is greater than that of the ring gear.

6. The actuator according to claim 5, characterized in that The cylindrical portion includes a first connecting section that is roughly hollow cylindrical, and the extending portion includes a first extending section that is roughly hollow cylindrical, one end of the first extending section is connected to one end of the first connecting section, the first extending section and the first connecting section have the same inner diameter, the ring gear is radially abutted against the first extending section and the first connecting section respectively, and the axial projections of the first extending section and the first connecting section at least partially overlap.

7. The actuator according to claim 6, characterized in that The thickness of the first extending section is greater than the thickness of the first connecting section.

8. The actuator according to claim 6, characterized in that The ratio of the thickness of the first extension section to the thickness of the first connection section is 1:1.1 to 1:

2.

9. The actuator according to claim 6, characterized in that An abutment surface is formed at one end of the first extension section adjacent to the first connection section. The abutment surface is substantially an annular plane. The first extension section and the first connection section are formed in one piece.

10. The actuator according to claim 9, characterized in that A first chamfer is provided at the intersection of the abutting surface and the outer side surface of the first connecting section.

11. The actuator according to claim 6, characterized in that The extension portion further includes a second extension segment that is roughly annular in structure, one end of which is connected to an end of the first extension segment that is away from the first connecting segment, and the second extension segment does not overlap with the first connecting segment and the projection of the first extension segment in the axial direction.

12. The actuator according to claim 11, characterized in that The inner diameter of the circle formed by the axial projection of the second extending section is larger than the outer diameter of the first connecting section, and the second extending section and the first extending section are integrally formed.

13. The actuator according to claim 11, characterized in that The extension portion also includes a second connecting segment that is roughly cylindrical in shape, the inner side of one end of the second connecting segment is connected to the outer ring of the second extension segment, the axial projection of the second connecting segment does not overlap with the second extension segment, and the inner diameter of the circle formed by the projection is larger than the inner diameter of the second extension segment and the outer diameter of the first connecting segment, and the second connecting segment and the second extension segment are integrally formed.

14. The actuator according to claim 13, characterized in that The first connecting section and the first extending section are configured as a first step on an axial cross section, the first extending section, the second extending section and the second connecting section are configured as a second step on an axial cross section, and the first step and the second step are radially outward and approach the fixed disk in sequence.

15. The actuator according to claim 13, characterized in that The second extension section is a continuous non-porous structure, and the inner side surface of the second connecting section is a continuous non-porous structure surface. A semi-open cavity is defined by the inner side surfaces of the first extension section, the second extension section and the second connecting section.

16. The actuator according to claim 13, characterized in that The second connecting section is constructed with a plurality of first assembly holes arranged in a surrounding and array manner, the first assembly holes are extended in the axial direction, and the fixing plate is provided with a plurality of second assembly holes arranged in a surrounding and array manner corresponding to the first assembly holes, and the stator adapter and the fixing plate are fastened by passing through the second assembly holes and the first assembly holes in sequence through a plurality of fasteners.

17. The actuator according to claim 16, characterized in that The first assembly hole is a through hole with an internal thread, and the second assembly hole is a countersunk through hole. The countersunk head of the countersunk through hole is arranged on a side of the fixing plate away from the stator adapter.

18. The actuator according to claim 6, characterized in that The cylindrical portion also includes a reinforcement ring, which is arranged inward along the outer edge of one end of the first connecting section and is roughly ring-shaped. The inner diameter of the reinforcement ring is smaller than the inner diameter of the first connecting section and the inner diameter of the extension portion. The first connecting section and the reinforcement ring are integrally formed.

19. The actuator according to claim 18, characterized in that The projections of the reinforcement ring and the first connecting section in the axial direction do not overlap, and the projections of the reinforcement ring and the extending portion in the axial direction do not overlap.

20. The actuator according to claim 18, characterized in that A side of the reinforcement ring close to the first connecting section and an inner side of the first connecting section are configured to form a spacing space, and a tooth end surface of the gear ring is located in the spacing space.

21. The actuator according to claim 20, characterized in that A cover piece is also covered on the opening of the gear ring, and the radial inner side of the reinforcement ring is abutted and matched with the radial outer side of the cover piece.

22. The actuator according to claim 21, characterized in that The gear ring includes a coupling portion, which is a cylindrical structure extending outward from the tooth end surface of the gear ring, and the cover is assembled and connected with the coupling portion. The coupling portion is provided with a plurality of third assembly holes extending radially, and the plurality of third assembly holes are surrounded and arranged in an array, and the cover is correspondingly provided with a plurality of fourth assembly holes extending radially, and the gear ring and the cover are fastened and connected by the aligned third assembly holes and the fourth assembly holes, and the coupling portion is located in the interval space.

23. The actuator according to claim 22, characterized in that The third assembly hole is a countersunk through hole, the countersunk head of the third assembly hole is located at the outer side of the coupling portion away from the covering member, and the first connecting section abuts against the outer circle of the coupling portion.

24. The actuator according to claim 5, characterized in that The gear ring is roughly in the shape of a hollow cylinder, the outer wall surface of the gear ring is a smooth axial guide surface, the inner wall surface of the stator adapter is sleeved on the outer wall surface of the gear ring, and the inner wall surface of the stator adapter can move relatively along the outer wall surface of the gear ring.

25. The actuator according to claim 24, characterized in that The extension portion is fixedly connected to the fixing plate.

26. The actuator according to claim 5, characterized in that The thermal conductivity of the material of the stator adapter is at least 200% of the thermal conductivity of the gear ring.

27. The actuator according to claim 5, characterized in that The thermal conductivity of the material of the stator adapter is at least 350% of the thermal conductivity of the gear ring.

28. The actuator according to claim 5, characterized in that The material thermal conductivity of the stator adapter is 180 to 450 W / (m·K).

29. The actuator according to claim 5, characterized in that The material thermal conductivity of the stator adapter is 210 to 250 W / (m·K).

30. The actuator according to claim 5, characterized in that The material thermal conductivity of the stator adapter is 380 to 420 W / (m·K).

31. The actuator according to claim 5, characterized in that The stator adapter is made of metal material.

32. The actuator according to claim 5, characterized in that The material of the stator adapter is copper, copper alloy, aluminum, or aluminum alloy, and the material of the gear ring is steel.

33. The actuator according to claim 13, characterized in that Also includes An insulating portion, the insulating portion comprising a first insulating layer substantially in the shape of a hollow cylinder and a second insulating layer substantially in the shape of a ring; The first insulating layer substantially covers the radial outer side of the first extending section, and the second insulating layer substantially covers the axial end surface of the second extending section away from the fixed disk.

34. The actuator according to claim 33, characterized in that An extension width of the second insulating layer is greater than a sum of a radial dimension of the second connecting segment and a radial dimension of the second extending segment.

35. The actuator according to claim 33, characterized in that One end of the first insulating layer facing the second extending section is connected to the inner ring of the second insulating layer.

36. The actuator according to claim 33, characterized in that The first insulating layer and the second insulating layer are formed into one piece by coating with insulating paint.

37. The actuator according to claim 33, characterized in that The first insulating layer and the second insulating layer are both insulating sheets, and the insulating sheets are highland barley paper.

38. The actuator according to claim 15, characterized in that A flange portion is configured at one end of the gear ring adjacent to the fixed disk. The flange portion is assembled between the second extension section and the fixed disk and is located in the cavity.

39. The actuator according to claim 38, characterized in that A first radial gap is formed between the outer ring of the flange portion and the second connecting section, and a first axial gap is formed between the radial end surface of the flange portion adjacent to the stator adapter and the second extending section.

40. The actuator according to claim 39, characterized in that The fixing plate is structured with a clamping ring protruding toward one side of the stator adapter. The clamping ring is arranged to abut against the outer ring of the flange portion and is located in the cavity.

41. The actuator according to claim 40, characterized in that A second radial gap is formed between the outer ring of the clamping ring and the second connecting section, and a second axial gap is formed between the radial end surface of the clamping ring and the second extending section.

42. The actuator according to claim 41, characterized in that The first radial gap is larger than the second radial gap, and the first axial gap is smaller than the second axial gap.

43. The actuator according to claim 40, characterized in that The fixed disk is constructed with a first annular portion that is roughly annular in shape, and the first annular portion is located radially inside the retaining ring. The first annular portion is provided with a plurality of fifth assembly holes that are arranged in a row and surround each other. The gear ring is provided with a plurality of sixth assembly holes on the flange portion corresponding to the fifth assembly holes. Fasteners are passed through the fifth assembly holes and the sixth assembly holes in sequence to form a fastened connection between the gear ring and the fixed disk.

44. The actuator according to claim 43, characterized in that The fixed disk is constructed with a second annular portion that is roughly annular, and the second annular portion is located radially outside the retaining ring. The axial distance between the first annular portion and a side of the retaining ring facing the stator is a first distance, and the axial distance between the second annular portion and a side of the retaining ring facing the stator is a second distance, and the first distance is greater than the second distance.

45. The actuator according to claim 5, characterized in that Also includes A positioning protrusion is arranged on the inner side of the stator and protrudes radially inward; The outer side surface of the cylindrical portion is provided with a positioning groove extending axially, and the positioning protrusion is engaged with the positioning groove.

46. ​​The actuator according to claim 45, characterized in that There are multiple groups of positioning protrusions, which are arranged in a ring array on the inner side of the stator, and the positioning grooves are correspondingly arranged in multiple groups.

47. The actuator according to claim 45, characterized in that The stator includes a stator core and a plurality of stator windings, wherein the plurality of stator windings are wound on the stator core, the stator core has an inner side surface, the positioning protrusion protrudes radially inward from the inner side surface, and the axial height of the stator core is substantially equal to the axial height of the cylindrical portion.

48. The actuator according to claim 47, characterized in that The outer diameter of the extension portion is defined to be greater than the inner diameter of the stator core.

49. The actuator according to claim 45, characterized in that The width of the positioning protrusion in the annular direction close to one end of the stator adapter is defined as a first width, and the width of the bottom surface of the positioning groove in the annular direction is defined as a second width, and the second width is greater than the first width.

50. The actuator according to claim 49, characterized in that A ratio of the second width to the first width is 1.5:1 to 2.5:

1.

51. The actuator according to claim 45, characterized in that The minimum inner diameter of the positioning protrusion is greater than the outer diameter of the bottom surface of the positioning groove, and the positioning protrusion and the bottom surface of the positioning groove are interference fit.

52. The actuator according to claim 49, characterized in that The positioning protrusion includes a first protruding tooth and a second protruding tooth, and the first protruding tooth and the second protruding tooth respectively abut against the bottom surface of the positioning groove.

53. The actuator according to claim 52, characterized in that The top end of the first protruding tooth is defined as a first vertex, the top end of the second protruding tooth is defined as a second vertex, and the first width is defined between the first vertex and the second vertex.

54. The actuator according to claim 53, characterized in that The first protruding tooth has a first arc segment and a second arc segment, the intersection of the first arc segment and the second arc segment is the first vertex, the first arc segment is located on a side away from the second protruding tooth, and the second arc segment is located on a side close to the second protruding tooth; The second protruding tooth has a third arc segment and a fourth arc segment, the intersection of the third arc segment and the fourth arc segment is the second vertex, the third arc segment is located on the side away from the first protruding tooth, and the fourth arc segment is located on the side close to the first protruding tooth.

55. The actuator according to claim 54, characterized in that The bending direction of the first arc segment is the same as the bending direction of the second arc segment, the bending direction of the third arc segment is the same as the bending direction of the fourth arc segment, and the bending direction of the first arc segment and the bending direction of the second arc segment are opposite to the bending direction of the third arc segment and the bending direction of the fourth arc segment.

56. The actuator according to claim 55, characterized in that An end of the second arc segment away from the first vertex is connected to an end of the fourth arc segment away from the second vertex, and the curvature of the second arc segment is equal to the curvature of the fourth arc segment.

57. The actuator according to claim 56, characterized in that The second arc segment and the fourth arc segment form a tooth groove cavity, and the axial projection of the tooth groove cavity is fan-shaped.

58. The actuator according to claim 56, characterized in that A second chamfer is formed between the side surface of the positioning groove and the bottom surface of the groove, and a third chamfer is formed between the side surface and the outer side surface of the cylindrical portion. The second chamfer and the third chamfer are both arc chamfers, and the bending directions of the second chamfer and the third chamfer are opposite.

59. The actuator according to claim 46, characterized in that The outer side surface of the stator adapter is divided into a plurality of butt joint surfaces by a plurality of the positioning grooves, and the outer end of each butt joint surface is provided with a fourth chamfer.

60. A joint module, characterized in that: Comprising the actuator as claimed in any one of claims 5 to 58, or the stator adapter as claimed in claims 1 to 4.

61. A humanoid robot, characterized in that: At least one driven joint adopts the joint module as claimed in claim 60, or the actuator as claimed in any one of claims 5 to 59, or the stator adapter as claimed in claims 1 to 4.

62. A point-foot robot, characterized in that: At least one driven joint adopts the joint module as claimed in claim 60, or the actuator as claimed in any one of claims 5 to 59, or the stator adapter as claimed in claims 1 to 4.

63. A quadruped robot, characterized in that: At least one driven joint adopts the joint module as claimed in claim 60, or the actuator as claimed in any one of claims 5 to 59, or the stator adapter as claimed in claims 1 to 4.

64. A four-wheeled legged robot, characterized in that: At least one driven joint adopts the joint module as claimed in claim 60, or the actuator as claimed in any one of claims 5 to 59, or the stator adapter as claimed in claims 1 to 4.

65. A robotic arm, characterized in that: At least one driven joint adopts the joint module as claimed in claim 60, or the actuator as claimed in any one of claims 5 to 59, or the stator adapter as claimed in claims 1 to 4.

66. A robot, characterized in that: At least one driven joint adopts the joint module as claimed in claim 60, or the actuator as claimed in any one of claims 5 to 59, or the stator adapter as claimed in claims 1 to 4.

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