Actuator, joint module, biped 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 an actuator, a joint module, a biped robot, a point-foot robot, a quadruped robot, a four-wheel-foot robot mechanical arm and a robot. The actuator mainly comprises a sun gear, a first bearing, a gear ring and a supporting frame, the first bearing for supporting the first-stage sun gear is fixed to the supporting frame, the supporting frame is fixed to the gear ring, the first bearing is supported through a static part, and the running stability of the sun gear can be improved. The operation of the first bearing is more stable, the abrasion is reduced, and the service life is prolonged.

Description

Technical Field

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

[0002] In robotics, actuators are often used to provide driving force for the robot's various motion structures to support the robot in completing predetermined actions. The motor and reducer are the two main components of the actuator. The motor is used as a driving element to provide power, and the input end of the reducer is connected to the motor rotor. The reducer is used as a power transmission mechanism to reduce the speed of the motor output power. By connecting the robot's components to be driven with the reducer output end, the robot's motion is driven.

[0003] In the prior art, for example, the actuator in the disclosed patent CN202311292686.1 adopts a robot joint module of a planetary reducer, and the support bearing of the first-stage sun gear is supported by the first-stage planetary carrier. However, the first-stage planetary carrier is a rotating part, and there is a clearance between its own assembly and its mating structural parts, and the assembly tolerance may magnify this clearance, which makes the rotation smoothness of the first-stage sun gear poor and prone to damage. The bearing of the first-stage sun gear is also prone to wear, and there is a problem of short service life. Summary of the invention

[0004] The present application provides an actuator, a joint module, a biped robot, a point-legged robot, a quadruped robot, a four-wheeled legged robot arm and a robot, aiming to solve the problem of poor rotation stability of the primary sun gear and bearings in existing actuators.

[0005] In one embodiment, an actuator is provided, which mainly includes a sun gear, a first bearing, a ring gear and a support frame, the sun gear includes a roughly cylindrical extension section and a tooth end, the support frame includes a roughly hollow annular cover portion, and a first support portion and a connecting portion that are respectively roughly hollow cylindrical, the outer ring of the cover portion is connected to the connecting portion, the inner ring of the cover portion is connected to the first support portion, and the radial projections of the first support portion and the connecting portion at least partially overlap; wherein the connecting portion is fixedly connected to the ring gear, the inner ring of the first support portion abuts against the outer ring of the first bearing, and the inner ring of the first bearing abuts against the outer side of the extension section.

[0006] In one embodiment, the actuator also includes a motor output shaft, which includes a fixed part and a stop part. The stop part is roughly hollow cylindrical, and one end of the stop part is connected to the fixed part; the fixed part is fixedly connected to the extension section, the inner wall of the stop part abuts the extension section, and the other end of the stop part abuts the inner ring of the first bearing.

[0007] In one solution, a first shaft shoulder is configured on a side of the extension section adjacent to the tooth end, and the first shaft shoulder abuts against the inner ring of the first bearing opposite to the stopper.

[0008] In one embodiment, the motor output shaft further includes a radially extending connecting section, and the axial height of the stop portion is substantially equal to the axial gap between the covering portion of the support frame and the connecting section.

[0009] In one solution, the outer side surface of the stopper in the radial direction is substantially configured as a conical surface, and the diameter of the conical surface at one end close to the first bearing is smaller than the diameter of the other end away from the first bearing.

[0010] In one embodiment, there is an axial opening between the inner ring of the first support portion and the outer side surface of the extension section, and the motor output shaft also includes a radially extending connecting section, which is blocked outside the axial opening, and there is a radially extending gap between the connecting section and one end of the adjacent first support portion.

[0011] In one embodiment, the first support portion also includes a first retaining ring protruding radially inward, and the first retaining ring is located at one end of the first support portion close to the output end of the actuator; a bearing seat for assembling a first bearing is located between the inner ring of the first support portion and the sun gear, and an axial height of an outer ring of the bearing seat is greater than an axial height of an inner ring of the bearing seat.

[0012] In one embodiment, the first bearing has a first end and a second end in the axial direction of the rotating shaft, the cover portion is adjacent to the first end in the axial direction, and the first retaining ring is adjacent to the second end in the axial direction.

[0013] In one embodiment, a wave spring is further included. The wave spring is disposed between the first bearing and the first retaining ring. The wave spring is used to provide a prestress to the outer ring of the first bearing away from the first retaining ring.

[0014] In one embodiment, the gear ring is provided with a first assembly hole, the connecting part is provided with a second assembly hole, a plurality of inwardly protruding bosses are arranged at intervals on the inner side of the connecting part, the inner end of each second assembly hole extends into the boss, the first assembly hole is aligned with the second assembly hole, and a closed structure is formed after the gear ring and the connecting part are assembled.

[0015] In one embodiment, the gear ring is provided with a coupling portion, which is located at an end of the gear ring away from the output end of the actuator. The coupling portion includes a tooth end face and a cylinder body. The tooth end face is a partial end face of the gear ring extending radially. Each first assembly hole is provided on the cylinder body, and an assembly groove of a clamping connection portion is defined between the tooth end face and the cylinder body, and the connection portion abuts against the tooth end face.

[0016] In one embodiment, the actuator also includes a planetary carrier and a second bearing. The planetary carrier is constructed with a second support portion and a plurality of shaft hole portions which are integrally formed. The second support portion is roughly hollow cylindrical, and the shaft hole portion is roughly hollow cylindrical. The plurality of shaft hole portions are arrayed and arranged around the outer side of the first support portion. The outer ring of the second bearing abuts against the second support portion, and the inner ring of the second bearing abuts against the first support portion. The enclosed cavity formed between the ring gear, the cover portion and the planetary carrier is an oil storage cavity.

[0017] In one embodiment, the second support part also includes a second retaining ring, which is located on the inner side of the second support part and abuts against the outer ring of the second bearing. The first support part includes an annular platform, which is arranged at one end of the first support part away from the planetary carrier and abuts against the inner ring of the second bearing.

[0018] In one solution, projections of the first bearing and the second bearing in the radial direction at least partially overlap.

[0019] In one embodiment, the first support portion further includes a first retaining ring protruding radially inwardly, the first retaining ring is located at one end of the first support portion close to the output end of the actuator, and the first retaining ring and the second bearing at least partially overlap in radial projection.

[0020] In one embodiment, a joint module is provided, which mainly includes the actuator as described above.

[0021] 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.

[0022] In one embodiment, a point-legged robot is provided, wherein at least one driving joint adopts a joint module as described above, or an actuator as described above.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] In one embodiment, a robot is provided, wherein at least one driving joint adopts the joint module as described above, or the actuator as described above.

[0027] Beneficial effects of this application:

[0028] In an actuator, joint module, biped robot, point-legged robot, quadruped robot, four-wheeled legged robot mechanical arm and robot of the present application, the actuator mainly includes a sun gear, a first bearing, a gear ring and a support frame, wherein the support frame is fixedly connected to the gear ring, the inner ring of the first support part abuts against the outer ring of the first bearing, and the inner ring of the first bearing abuts against the sun gear. The first bearing supporting the first-stage sun gear is fixed to the support frame, and the support frame is fixed to the gear ring. Such a setting supports the first bearing with a static component. Compared with the traditional scheme in which the support bearing of the first-stage sun gear is supported by a rotating part such as a planetary carrier or a rotor, the dynamic error caused by multi-stage transmission is avoided, thereby providing stable support and ensuring the stability of the operation of the sun gear. At the same time, the motion state of the first bearing is more stable and not easy to wear, which effectively improves the service life of the first bearing.

[0029] At the same time, the operation of the sun gear is more stable, and the meshing stability between the sun gear and the planetary gear is better. When the sun gear rotates at high speed, there will be no large dynamic error, thereby reducing noise. The stable meshing relationship also reduces the possibility of damage to the gear structure meshing between the sun gear and the planetary gear. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] 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 any creative labor.

[0031] Figure 1 is a partial cross-sectional schematic diagram of an actuator in one embodiment of the present application;

[0032] 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;

[0033] Figure 3 is a cross-sectional schematic diagram of an actuator in one embodiment of the present application;

[0034] Figure 4 is a partial exploded schematic diagram of an actuator in one embodiment of the present application;

[0035] Figure 5 is another partial exploded schematic diagram of an actuator in one embodiment of the present application;

[0036] Figure 6 is a cross-sectional schematic diagram of an actuator in a three-dimensional state in an embodiment of the present application;

[0037] Figure 7 is an exploded schematic diagram of an actuator in a three-dimensional state in one embodiment of the present application;

[0038] Figure 8 is a partial exploded schematic diagram of an actuator in an embodiment of the present application in a three-dimensional cross-sectional state;

[0039] Fig. 9 is a cross-sectional schematic diagram of an actuator in one embodiment of the present application;

[0040] Fig.10 yes Fig. 9 An enlarged schematic diagram of the actuator at position A;

[0041] Fig.11 yes Fig. 9 An enlarged schematic diagram of the actuator at position B;

[0042] Fig.12 is a schematic diagram of the three-dimensional structure of a support frame of an actuator in one embodiment of the present application;

[0043] Fig.13 is a schematic top view of a support frame of an actuator in one embodiment of the present application;

[0044] Fig.14 is a bottom view schematic diagram of a support frame of an actuator in one embodiment of the present application;

[0045] Fig.15 yes Fig.14 A schematic cross-sectional view of the middle support frame along the CC direction;

[0046] Fig.16 yes Fig.14 A schematic cross-sectional view of the middle support frame along the DD direction;

[0047] Fig.17 is a cross-sectional schematic diagram of a sun gear of an actuator in an embodiment of the present application in a three-dimensional state;

[0048] Fig.18 is a cross-sectional schematic diagram of a motor output shaft of an actuator in an embodiment of the present application in a three-dimensional state;

[0049] Fig.19 is a schematic diagram of a three-dimensional structure of a robot in one embodiment of the present application;

[0050] Fig. 20 is a schematic diagram of the three-dimensional structure of another robot in one embodiment of the present application;

[0051] Fig.21 is a schematic diagram of a three-dimensional structure of another robot in an embodiment of the present application;

[0052] Fig. 22 It is a three-dimensional structural schematic diagram of a mechanical arm structure in one embodiment of the present application.

[0053] Reference numerals in the figures:

[0054] 1. sun gear; 11. extension section; 111. third assembly hole; 12. tooth end; 13. first shaft shoulder; 14. clearance groove;

[0055] 21. first bearing; 22. second bearing;

[0056] 3. gear ring; 31. first assembly hole; 32. joint;

[0057] 4. Support frame; 41. Covering part; 42. First supporting part; 421. Bearing position; 422. First retaining ring; 423. Ring platform; 43. Connecting part; 431. Second assembly hole; 432. Boss; 433. Chamfered connecting part;

[0058] 5. Motor output shaft; 51. Fixing portion; 511. Fourth assembly hole; 52. Stopping portion; 53. Connecting section;

[0059] 6. Wave spring;

[0060] 7. Planet carrier; 71. Second support portion; 711. Second retaining ring;

[0061] 72, shaft hole portion; 73, oil storage chamber;

[0062] 81. reducer; 811. output flange; 812. hollow transmission shaft; 82. motor; 821. stator; 822. rotor;

[0063] 91. driving plate; 92. upper shell; 93. side shell; 94. bottom shell; 95. third bearing; 96. fourth bearing;

[0064] 1000. Joint module. DETAILED DESCRIPTION

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] In mass-produced robot joint modules, higher requirements are placed on the smoothness and quietness of the sun gear rotation. However, existing robot joint modules are prone to noise generation due to high dynamic errors when rotating at high speeds, and the planetary gear teeth that match them are also damaged due to their low degree of fit, resulting in higher maintenance frequency.

[0073] Based on this, the present application makes improvements and innovations and proposes the following embodiments.

[0074] In one embodiment, see Figures 1 to 11 , an actuator is provided, which mainly includes a sun gear 1, a first bearing 21, a ring gear 3 and a support frame 4, the sun gear 1 includes a roughly cylindrical extension section 11 and a tooth end 12, the support frame 4 includes a roughly hollow annular cover portion 41, and a first support portion 42 and a connecting portion 43 that are respectively roughly hollow cylindrical, the outer ring of the cover portion 41 is connected to the connecting portion 43, the inner ring of the cover portion 41 is connected to the first support portion 42, and the radial projections of the first support portion 42 and the connecting portion 43 at least partially overlap; wherein the connecting portion 43 is fixedly connected to the ring gear 3, the inner ring of the first support portion 42 abuts against the outer ring of the first bearing 21, and the inner ring of the first bearing 21 abuts against the outer side of the extension section 11.

[0075] The first bearing 21 supporting the sun gear 1 is mounted on a fixed support frame 4, and the support frame 4 is fixed on the ring gear 3. This design supports the first bearing 21 through a static component. Compared with the traditional practice of mounting the support bearing of the first-stage sun gear 1 on a rotating component such as a planetary carrier 7 or a rotor, it effectively reduces the dynamic error caused by multi-stage transmission, provides more stable support, and ensures the stability of the operation of the sun gear 1. At the same time, the motion state of the first bearing 21 is more stable and not easy to wear, which effectively increases the service life of the first bearing 21.

[0076] In addition, this design makes the sun gear 1 run more smoothly and enhances the meshing stability between it and the planetary gears. Even at high speeds, the sun gear 1 can maintain a low dynamic error, thereby reducing the noise level. At the same time, a more stable meshing state reduces the risk of damage to the gear structure between the sun gear 1 and the planetary gears, extending the service life of the entire system.

[0077] In one embodiment, see Figures 1 to 6 , Fig.11 as well as Fig.18 The actuator also includes a motor output shaft 5, which includes a fixing portion 51 and a stop portion 52. The stop portion 52 is roughly hollow cylindrical, and one end of the stop portion 52 is connected to the fixing portion 51; the fixing portion 51 is fixedly connected to the extension section 11, the inner wall of the stop portion 52 abuts against the extension section 11, and the other end of the stop portion 52 abuts against the inner ring of the first bearing 21.

[0078] The motor output shaft 5 and the sun gear 1 are fixedly connected via the fixing portion 51 and the extension section 11. The inner ring of the first bearing 21 abuts against the sun gear 1, that is, the inner ring of the first bearing 21 rotates with the sun gear 1, and the other end of the stopper portion 52 abuts against the inner ring of the first bearing 21, so that the combination of the three can be tighter, and there will be no relative movement between the three, and they remain relatively still. This arrangement makes the power output of the motor output shaft 5 more stable, and the transmission effect and transmission accuracy of the sun gear 1 are also higher.

[0079] The motor output shaft 5 and the sun gear 1 are fixedly connected through the fixing portion 51 and the extension section 11, ensuring that there is no relative movement between the two and that they can operate synchronously. The inner ring of the first bearing 21 is in direct contact with the sun gear 1, which means that the inner ring of the first bearing 21 will rotate with the sun gear 1. The other end of the stopper 52 is in close contact with the inner ring of the first bearing 21. This design ensures that the motor output shaft 5, the inner ring of the first bearing 21 and the sun gear 1 are tightly connected, avoiding relative movement between them and maintaining a relatively static state.

[0080] The extension section 11 is provided with a third assembly hole 111, and the corresponding fixing portion 51 is provided with a fourth assembly hole 511. The third assembly hole 111 and the fourth assembly hole 511 are arranged in alignment and fixedly connected together by fasteners. The extension direction of the third assembly hole 111 and the fourth assembly hole 511 is parallel to the rotation axis of the sun gear 1, and such an arrangement ensures the axial connection between the two.

[0081] Such a structural design greatly improves the stability of the power output of the motor output shaft 5, and also improves the transmission effect and transmission accuracy of the sun gear 1. By reducing the relative displacement between internal components, it can not only reduce wear and noise, but also enhance the overall performance of the system, ensuring reliability and efficiency under long-term operation.

[0082] The inner wall of the stopper 52 abuts against the extension section 11, forming a radial limit for the extension section 11. The abutment further fixes the two to maintain a stable structural state after the combination. Combined with the cooperation between the first bearing 21 and the stopper 52, the axial stability of the motor output shaft 5 during rotation can be improved.

[0083] In one embodiment, see Figures 1 to 11 as well as Fig.17 The first shoulder 13 is configured on one side of the extension section 11 near the tooth end 12, and the first shoulder 13 and the stopper 52 abut against the inner ring of the first bearing 21. The first shoulder 13 and the stopper 52 work together to press the inner ring of the first bearing 21 from both ends. This design not only makes the assembly of the inner ring of the first bearing 21 more stable, eliminates the axial clearance between the inner ring of the first bearing 21 and the first shoulder 13 and the stopper 52, but also enhances the integrity between the inner ring of the first bearing 21 and all synchronously rotating parts.

[0084] In this way, the tight connection between the motor output shaft 5, the inner ring of the first bearing 21 and the sun gear 1 is ensured, avoiding any looseness or displacement that may occur during high-speed operation, thereby significantly improving the stability and accuracy of the entire transmission system.

[0085] In addition, eliminating axial clearance also helps reduce system vibration and noise, extend the service life of various components, and ensure efficient operation of the transmission system.

[0086] To facilitate assembly, a clearance groove 14 is provided on the side of the first shoulder 13 away from the stop portion 52. When the first bearing 21 is installed, the first shoulder 13 can be confirmed to be assembled in place. The clearance groove 14 is used to avoid the position of the root of the first shoulder 13 so that the end face of the first bearing 21 can be stably fitted with the first shoulder 13.

[0087] In one embodiment, see Figures 1 to 6 , Fig.11 as well as Fig.18 The motor output shaft 5 further includes a radially extending connecting section 53 , and the axial height of the stopper 52 is substantially equal to the axial gap between the covering portion 41 of the support frame 4 and the connecting section 53 .

[0088] The motor output shaft 5 is a moving part relative to the cover part 41 of the support frame 4, and the two need to be isolated to avoid movement interference. The setting of the stop part 52 not only plays a role in axial limiting the first bearing 21, but also supports the rotation gap between the motor output shaft 5 and the cover part 41, ensuring that there is a suitable rotation gap between the motor output shaft 5 and the cover part 41, thereby ensuring the smoothness and stability of the rotation.

[0089] In one embodiment, see Figures 1 to 6 , Fig.11 as well as Fig.18 The outer side surface of the stopper 52 in the radial direction is generally configured as a conical surface, and the diameter of the conical surface at one end close to the first bearing 21 is smaller than the diameter of the other end away from the first bearing 21 .

[0090] Such a setting first strengthens the connection between the stop portion 52 and the fixing portion 51, making the connection strength between the two higher. At the same time, the design of the conical surface makes the stop portion 52 gradually widen in the radial direction. This gradual structure can better disperse stress, enhance the overall structural strength of the stop portion 52, and improve its anti-deformation ability.

[0091] The design of the conical surface allows the stopper 52 to gradually expand in the radial direction, thereby ensuring that the stopper 52 will not interfere with the outer ring of the first bearing 21 or the support frame 4 during rotation.

[0092] The radial diameter of one end of the stop portion 52 close to the inner ring of the first bearing 21 is approximately equal to the radial thickness of the inner ring of the first bearing 21, or the radial diameter of one end of the stop portion 52 close to the inner ring of the first bearing 21 is smaller than the radial thickness of the inner ring of the first bearing 21. This can effectively avoid interference at the contact position of the stop portion 52, and the diameter after extending in the direction close to the fixing portion 51 will not touch the outer ring of the first bearing 21 or the support frame 4.

[0093] In one embodiment, see Fig.11 There is an axial opening between the inner ring of the first support portion 42 and the outer side surface of the extension section 11. The motor output shaft 5 also includes a radially extending connecting section 53, which is blocked outside the axial opening, and there is a radially extending gap between the connecting section 53 and one end of the adjacent first support portion 42.

[0094] The above-mentioned arrangement ensures that the noise generated inside the reducer 81 and the first transmission shaft needs to pass through the first transmission shaft during the process of being transmitted outward, and is transmitted from the axial opening to the connecting section 53. The connecting section 53 covers the axial opening. At this time, the sound will be offset to the greatest extent, and part of the sound will be transmitted along the radially extending gap. The radially extending gap will gradually consume the energy of the noise and avoid it from being emitted outward, thereby achieving a good noise reduction effect.

[0095] In one embodiment, the connecting section 53 is provided with a gap extending along the radial direction. The gap provided in the connecting section 53 cooperates with the gap between the connecting section 53 and the support frame 4 to achieve the purpose of doubly consuming noise energy, further reducing the transmission of noise, so as to achieve the purpose of noise reduction.

[0096] In one embodiment, see Figures 1 to 16 The first support portion 42 also includes a first retaining ring 422 protruding radially inward, and the first retaining ring 422 is located at one end of the first support portion 42 close to the output end of the actuator; between the inner ring of the first support portion 42 and the sun gear 1 is a bearing position 421 for assembling the first bearing 21, and the axial height of the outer ring of the bearing position 421 is greater than the axial height of the inner ring of the bearing position 421.

[0097] The design of the first retaining ring 422 ensures the lowest axial position limit of the first bearing 21, and avoids excessive axial movement of the first bearing 21 during operation. This helps to improve the stability and reliability of the system. The design of the first retaining ring 422 not only provides the function of axial limiting, but also enhances the overall structural strength of the first support part 42. It is generally a circular ring with a stable circular structure, and the circumferential sides of the circle are connected to one end of the first support part 42. The radial force is uniform, which can effectively improve its structural strength. At the same time, the presence of the first retaining ring 422 enables the axial force to be evenly distributed on the first support part 42, avoiding local stress concentration and further improving the stability of the structure.

[0098] In one embodiment, see Figures 1 to 16 The first bearing 21 has a first end and a second end in the axial direction of the rotating shaft, and the covering portion 41 is adjacent to the first end in the axial direction, and the first retaining ring 422 is adjacent to the second end in the axial direction.

[0099] The cover portion 41 is connected to the first support portion 42, and extends in the opposite direction to the first retaining ring 422, that is, extends radially outward. This arrangement enables the annular structure formed by the cover portion 41 and the first retaining ring 422 to radially support the first bearing 21 at both ends of the axial direction, thereby reducing the deformation of the first bearing 21 when subjected to radial pressure. This helps to maintain the normal working state of the first bearing 21 and prolong its service life.

[0100] In addition, the radial support enables the force from the first bearing 21 to be evenly distributed in the radial direction, avoiding local stress concentration and further improving the stability of the system.

[0101] The design of the first retaining ring 422 and the cover portion 41 not only provides the functions of axial limiting and radial support, but also enhances the overall structural strength of the first support portion 42. This helps to resist external shocks and vibrations and improves the durability of the actuator.

[0102] In one embodiment, see Figures 1 to 11 The actuator further includes a wave spring 6, which is disposed between the first bearing 21 and the first retaining ring 422. The wave spring 6 is used to provide a prestress to the outer ring of the first bearing 21 away from the first retaining ring 422. That is, the wave spring 6 is used to provide an axial preload force to the outer ring of the first bearing 21, which can eliminate the gap between the inner and outer rings of the first bearing 21 and the ball.

[0103] Specifically, the wave spring 6 is located in the space between the first bearing 21 and the first retaining ring 422, and its two ends are respectively in contact with the first bearing 21 and the first retaining ring 422, thereby providing the first bearing 21 with a prestress in a direction away from the first retaining ring 422. This prestress ensures that the first bearing 21 can maintain stable and smooth operation even in a high-speed rotation state.

[0104] There may be an axial gap between the outer ring and the ball of the first bearing 21, and the bottom of the outer ring is not in direct contact with the first retaining ring 422, which may increase the axial gap and further affect the stability of the bearing operation. The prestress provided by the wave spring 6 can keep the axial gap within a smaller range, ensuring the performance under high-speed operation conditions.

[0105] During long-term operation, the bearings and related components may undergo axial displacement due to external factors such as wear and temperature changes. The elastic characteristics of the wave spring 6 can automatically compensate for such displacement, maintain the smooth operation of the sun gear 1, and effectively reduce the vibration and noise caused by the displacement.

[0106] During the operation of the reducer 81, temperature changes will cause thermal expansion and contraction of the material, which may cause changes in the axial clearance of the bearing. With its elastic properties, the wave spring 6 can automatically adjust the axial clearance changes caused by temperature changes to ensure the stability of the system operation. By reducing vibration, wear and impact, the wave spring 6 not only helps to extend the service life of the bearing, but also improves the durability and reliability of the entire transmission system.

[0107] In one embodiment, see Figures 1 to 4The gear ring 3 is provided with a first assembly hole 31, and the connecting portion 43 is provided with a second assembly hole 431. A plurality of inwardly protruding bosses 432 are arranged at intervals on the inner side of the connecting portion 43. The inner end of each second assembly hole 431 extends into the boss 432. The first assembly hole 31 is aligned with the second assembly hole 431. After the gear ring 3 and the connecting portion 43 are assembled, a closed structure is formed.

[0108] The precise alignment of the first assembly hole 31 and the second assembly hole 431 ensures a high-precision connection between the connecting portion 43 and the gear ring 3. This high-precision connection not only improves the sealing of the reducer 81, but also enhances its structural stability. The sealing design between the gear ring 3 and the connecting portion 43 effectively prevents the lubricating grease from leaking from the joint between the two, ensures a clean environment between the reducer 81 and the motor 82, and also prevents foreign matter such as dust from invading the joint, further ensuring the normal operation of the reducer 81.

[0109] The extension direction of the first assembly hole 31 and the second assembly hole 431 are both perpendicular to the rotation axis direction of the reducer 81. This design not only ensures the overall structural integrity of the cover portion 41, but also makes full use of the lateral space of the gear ring 3, avoiding the need to increase the thickness of the gear ring 3 in the radial direction to set the assembly holes, thereby reducing the use of materials and achieving a lightweight design.

[0110] The first assembly hole 31 and the second assembly hole 431 are fixedly connected by threaded fasteners (such as bolts and nuts), thereby ensuring the firmness and reliability of the connection.

[0111] In a specific embodiment, the first assembly hole 31 is a countersunk hole, and the second assembly hole 431 is a threaded hole. The threaded section of the threaded fastener is threadedly matched with the second assembly hole 431, and the nut section enters the first assembly hole 31 to form a limit in the axial direction. The nut section is completely embedded in the first assembly hole 31, and will not cause assembly interference on the peripheral side of the gear ring 3, thereby achieving a compact structure and reliable connection. Such a design is not only beautiful, but also further improves the overall performance and service life of the reducer 81.

[0112] In one embodiment, see Figures 1 to 4 The gear ring 3 is provided with a coupling portion 32, which is located at the end of the gear ring 3 away from the output end of the actuator. The coupling portion 32 includes a tooth end face and a cylinder body. The tooth end face is a partial end face of the gear ring 3 extending radially. Each first assembly hole 31 is provided on the cylinder body, and an assembly groove of a clamping connection portion 43 is defined between the tooth end face and the cylinder body, and the connection portion 43 abuts against the tooth end face.

[0113] The purpose of the joint portion 32 is to provide a reliable butt joint surface for the connecting portion 43, thereby ensuring a tight connection between the connecting portion 43 and the gear ring 3. The joint portion 32 not only forms a circumferential limit for the connecting portion 43, but also makes the two more tightly and reliably connected.

[0114] Specifically, the radial outer diameter of the coupling portion 32 is equal to the radial outer diameter of the gear ring 3, and the radial inner diameter of the coupling portion 32 is matched with the radial outer diameter of the connecting portion 43 to ensure that the two can be tightly coupled. The axial dimension of the coupling portion 32 is less than or equal to the axial dimension of the connecting portion 43, so that while ensuring the structural strength of the coupling portion 32, a lightweight design can be achieved, the axial dimension of the reducer 81 can be reduced, and the overall structure can be more compact and reliable.

[0115] The connecting portion 43 and the tooth end surface can be in abutment with each other, which not only makes the structure more compact, but also improves the sealing performance and effectively prevents the intrusion of foreign matter. The joint portion 32 and the connecting portion 43 can be in an interference fit in the radial direction, which can further ensure the sealing performance after the two are combined, and ensure the cleanliness and stable operation of the reducer 81.

[0116] In one embodiment, see Figures 1 to 4 The connecting portion 43 is a thin-walled circular ring structure, and a boss 432 protruding inward is arranged on the inner side of the connecting portion 43, and the second assembly hole 431 is at least partially located in the boss 432. The thin-walled circular ring structure is arranged so that its outer side can adapt to the gear ring 3, and at the same time, it can reduce weight and save materials while maintaining the necessary strength and rigidity. The boss 432 is on the inner side, which can play a supporting role, maintain the structural stability of the connecting portion 43, and also facilitate the reducer 81 to improve the sealing and stability.

[0117] The setting of the boss 432 can ensure that the second assembly hole 431 has sufficient extension space, thereby ensuring the structural stability after the first assembly hole 31 and the second assembly hole 431 are assembled. Tight assembly can reduce vibration and noise caused by loose components and improve the operating quality of the reducer 81.

[0118] In order to ensure the structural stability of the boss 432, a chamfered connection portion 433 is provided between the boss 432 and the connection portion 43. The chamfered connection portion 433 can increase the support for the boss 432 structure from the side and ensure that its extended length meets the requirements of the second assembly hole 431.

[0119] In one embodiment, see Figure 3 , Figure 4 , Figure 7 and Figure 8The actuator also includes a planetary carrier 7 and a second bearing 22. The planetary carrier 7 is constructed with a second support portion 71 and a plurality of shaft hole portions 72 which are manufactured in one piece. The second support portion 71 is roughly hollow cylindrical, and the shaft hole portion 72 is roughly hollow cylindrical. The plurality of shaft hole portions 72 are arrayed and arranged around the outer side of the first support portion 42. The outer ring of the second bearing 22 abuts against the second support portion 71, and the inner ring of the second bearing 22 abuts against the first support portion 42. The enclosed cavity formed between the ring gear 3, the cover portion 41 and the planetary carrier 7 is an oil storage cavity 73.

[0120] The support frame 4 is assembled with the ring gear 3, the second bearing 22 and the planetary carrier 7, and the outer ring of the second bearing 22 abuts against the second support portion 71 of the planetary carrier 7, and the inner ring of the second bearing 22 abuts against the first support portion 42 of the support frame 4, so that the outer side of the second support portion 71, that is, a space for accommodating lubricating grease is formed between the planetary carrier 7 and the ring gear 3, and then cooperates with the cover portion 41 to form a closed cavity, that is, an oil storage chamber 73, which can accommodate and store more lubricating grease, thereby improving the lubrication effect of various components in the reducer 81 and meeting the lubrication requirements of the reducer 81.

[0121] In addition, the support frame 4 is provided to separate the interior of the reducer 81 from the motor assembly of the actuator, thereby maintaining the internal sealing of the reducer 81, and the lubricating grease will not diffuse into the motor assembly and affect the motor assembly. At the same time, foreign matter or dust inside the motor assembly or the actuator will not enter the reducer 81, so as to provide a good operating environment for the reducer 81. In an environment with sufficient lubricating grease and a sealed environment, the failure probability of the reducer 81 can be reduced, and the frequency of replenishing lubricating grease can also be reduced, which can comprehensively reduce the maintenance frequency of the reducer 81 and even the entire actuator, thereby increasing its service life and reducing the cost of use.

[0122] In addition, the planetary carrier 7 is provided with a second support portion 71 to change the support bearing of the planetary carrier 7, that is, the second bearing 22, from the outer support to the inner support, and the position of the second bearing 22 is located on the inner side of the planetary shaft close to the rotation axis of the planetary carrier 7. The above-mentioned setting does not require the support bearing to be provided on the outer side of the planetary carrier 7, and the structure required for support becomes the inner second support portion 71, thereby reducing the radial size of the support structure. In addition, the bearing mounting position of the second support portion 71 is located on the inner side, and its outer side is vacant, so there is no need to provide a support structure for supporting the planetary carrier 7, which further reduces the material consumption of the first-stage planetary carrier 7, thereby achieving the purpose of weight reduction, and the vacant outer space can also be connected to the oil storage chamber 73, thereby increasing the storage space of the oil storage chamber 73, thereby increasing the storage capacity of lubricating grease.

[0123] In one embodiment, see Figures 1 to 16The second support portion 71 also includes a second retaining ring 711, which is located on the inner side of the second support portion 71 and abuts against the outer ring of the second bearing 22. The first support portion 42 includes an annular platform 423, which is located at one end of the first support portion 42 away from the planetary carrier 7 and abuts against the inner ring of the second bearing 22.

[0124] In the above arrangement, in addition, the contact direction between the ring stage 423 and the inner ring of the second bearing 22 is opposite to the contact direction between the second retaining ring 711 and the outer ring of the second bearing 22, and the second bearing 22 is completely limited by the arrangement of the first support portion 42 and the second support portion 71, thereby ensuring the support function of the second bearing 22 and providing a basis for the stable operation of the planet carrier 7. Such cooperation is conducive to reducing the wear of the second bearing 22 and extending the service life of the inner and outer rings of the second bearing 22.

[0125] In one embodiment, see Figures 1 to 4 as well as Fig.11 The radial projections of the first bearing 21 and the second bearing 22 at least partially overlap. Such a configuration is compact, effectively utilizes radial space, saves axial space, and is conducive to reducing the volume of the actuator.

[0126] At the same time, the first bearing 21 and the second bearing 22 share a support component, and the radial projections overlap, so that the load can be more evenly distributed between the two bearings, thereby improving the load-bearing capacity and operational stability of the entire system. The assembly process can be simplified because only one support frame 4 needs to be correctly installed, rather than adjusting the positions of the two bearings independently.

[0127] Optionally, the cross-sectional shapes and sizes of the first bearing 21 and the second bearing 22 are substantially equal, so that the load capacities of the two are close and the axial fitting distance is easy to adjust.

[0128] In one embodiment, the first support portion 42 further includes a first retaining ring 422 protruding radially inward (see Fig.11 ), the first retaining ring 422 is located at one end of the first support portion 42 close to the output end of the actuator, and the first retaining ring 422 and the second bearing 22 are at least partially overlapped in radial projection. The first retaining ring 422 and the second bearing 22 are at least partially overlapped in radial projection, so that the first retaining ring 422 can play an increased supporting role for the second bearing 22, effectively ensure the shape stability of the first support portion 42, avoid the occurrence of support failure, and provide support for the overall structural strength of the support.

[0129] In one embodiment, the actuator is roughly cylindrical in structure, and further includes a motor 82, a reducer 81, an upper shell 92, a side shell 93 and a bottom shell 94. The side shell 93 is used to cover the motor 82 and the reducer 81. The side shell 93 is fixedly connected to the drive plate 91 away from the motor 82. The motor 82 is an outer rotor motor, including an inner stator 821 and an outer rotor 822. The rotor connector is connected to the side shell 93 through a third bearing 95. The bottom shell 94 is connected to the outer ring of the output flange 811 through a fourth bearing 96. The upper shell 92 is fixed to the side shell 93 through a fixing member and covers the drive plate 91. The fourth bearing 96 can be a cross roller bearing. The reducer 81 includes an output flange 811 and a hollow transmission shaft 812 that are connected to each other. The output flange 811 outputs power to the outside, and the hollow transmission shaft 812 is used to cooperate with the drive plate 91 to record the real-time rotation speed of the output flange 811.

[0130] In one embodiment, a joint module 1000 is provided, which includes an actuator as described in any of the above embodiments. The specific structure of the actuator ensures efficient power transmission and precise motion control.

[0131] In one embodiment, see Fig.21 , provides a biped robot, wherein at least one driving joint adopts the joint module 1000 as in any of the above embodiments, or the actuator 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.

[0132] In one embodiment, see Fig.19 , a point-legged robot is provided, wherein at least one driving joint adopts the joint module 1000 as in any of the above embodiments, or the actuator as in any of the above embodiments. The point-legged robot can meet the requirements of driving joints to achieve stable walking, balance control, adaptability to complex terrain, efficient movement, load capacity, and high adaptability to multiple terrain environments.

[0133] In one embodiment, a quadruped robot is provided, wherein at least one driving joint adopts the joint module 1000 in any of the above embodiments, or the actuator in any of the above embodiments. The quadruped robot can meet the requirements of driving joints to achieve stable walking, balance control, adaptability to complex terrain, efficient movement, load capacity, and high adaptability to multiple terrain environments.

[0134] In one embodiment, see Fig. 20, provides a four-wheeled leg robot, at least one of whose driving joints adopts the joint module 1000 in any of the above embodiments. The four-wheeled leg robot can meet the requirements of driving joints to achieve stable walking, balance control, adaptability to complex terrain, efficient movement, load capacity and high adaptability to multiple terrain environments.

[0135] In one embodiment, see Fig. 22 , a mechanical arm is provided, at least one driving joint of which adopts the joint module 1000 in any of the above embodiments. The above mechanical arm usually includes a plurality of driving joints, and the application of the above reducer, actuator or joint module 1000 can ensure the multi-degree-of-freedom motion capability of the mechanical arm.

[0136] 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, or an actuator as in any of the above embodiments.

[0137] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

[0138] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. An actuator, characterized in that include: A sun gear, a first bearing, a gear ring and a support frame, wherein the sun gear comprises an extension section and a tooth end which are substantially cylindrical, and the support frame comprises a cover portion which is substantially hollow annular, and a first support portion and a connecting portion which are substantially hollow cylindrical, wherein an outer ring of the cover portion is connected to the connecting portion, and an inner ring of the cover portion is connected to the first support portion, and projections of the first support portion and the connecting portion in radial direction at least partially overlap; The connecting portion is fixedly connected to the gear ring, the inner ring of the first supporting portion abuts against the outer ring of the first bearing, and the inner ring of the first bearing abuts against the outer side of the extension section.

2. The actuator according to claim 1, characterized in that Also includes: A motor output shaft, the motor output shaft comprising a fixing portion and a stopper portion, the stopper portion being substantially in the shape of a hollow cylinder, one end of the stopper portion being connected to the fixing portion; The fixing portion is fixedly connected to the extending section, the inner wall of the stop portion abuts against the extending section, and the other end of the stop portion abuts against the inner ring of the first bearing.

3. The actuator according to claim 2, characterized in that A first shaft shoulder is configured on one side of the extension section adjacent to the tooth end, and the first shaft shoulder and the stopper portion abut against the inner ring of the first bearing.

4. The actuator according to claim 2, characterized in that: The motor output shaft also includes a radially extending connecting section, and the axial height of the stop portion is substantially equal to the axial gap between the covering portion of the support frame and the connecting section.

5. The actuator according to claim 2, characterized in that: The outer side surface of the stopper in the radial direction is substantially configured as a conical surface, and the diameter of the conical surface at one end close to the first bearing is smaller than the diameter of the other end away from the first bearing.

6. The actuator according to claim 2, characterized in that: There is an axial opening between the inner ring of the first support portion and the outer side surface of the extension section. The motor output shaft also includes a radially extending connecting section, which is blocked outside the axial opening. There is a radially extending gap between the connecting section and one end of the adjacent first support portion.

7. The actuator according to claim 3, characterized in that The first support part also includes a first retaining ring protruding radially inward, and the first retaining ring is located at one end of the first support part close to the output end of the actuator; the bearing position for assembling the first bearing is between the inner ring of the first support part and the sun gear, and the axial height of the outer ring of the bearing position is greater than the axial height of the inner ring of the bearing position.

8. The actuator according to claim 7, characterized in that The first bearing has a first end and a second end in the axial direction of the rotating shaft, the covering portion is adjacent to the first end in the axial direction, and the first retaining ring is adjacent to the second end in the axial direction.

9. The actuator according to claim 7, characterized in that: It also includes a wave spring, which is arranged between the outer ring of the first bearing and the first retaining ring, and is used to provide a prestress to the outer ring of the first bearing away from the first retaining ring.

10. The actuator according to claim 1, characterized in that The gear ring is provided with a first assembly hole, the connecting part is provided with a second assembly hole, a plurality of inwardly protruding bosses are arranged at intervals on the inner side of the connecting part, the inner end of each second assembly hole extends into the boss, the first assembly hole is aligned with the second assembly hole, and the gear ring and the connecting part are assembled to form a closed structure.

11. The actuator according to claim 10, characterized in that The gear ring is provided with a coupling portion, which is located at an end of the gear ring away from the output end of the actuator. The coupling portion includes a tooth end face and a cylinder body. The tooth end face is a partial end face of the gear ring extending radially. Each of the first assembly holes is provided on the cylinder body, and an assembly groove for clamping the connecting portion is defined between the tooth end face and the cylinder body, and the connecting portion abuts against the tooth end face.

12. The actuator according to any one of claims 1 to 11, characterized in that Also includes A planetary carrier and a second bearing, wherein the planetary carrier is constructed with a second support portion and a plurality of shaft hole portions which are integrally formed, the second support portion is roughly in the shape of a hollow cylinder, the shaft hole portion is roughly in the shape of a hollow tube, a plurality of the shaft hole portions are arrayed and arranged around the outer side of the first support portion, the outer ring of the second bearing abuts against the second support portion, the inner ring of the second bearing abuts against the first support portion, and the enclosed cavity formed between the ring gear, the cover portion and the planetary carrier is an oil storage cavity.

13. The actuator according to claim 12, characterized in that The second support part also includes a second retaining ring, which is located on the inner side of the second support part and abuts against the outer ring of the second bearing. The first support part includes an annular platform, which is arranged at one end of the first support part away from the planetary carrier and abuts against the inner ring of the second bearing.

14. The actuator according to claim 12, characterized in that The projections of the first bearing and the second bearing in the radial direction at least partially overlap.

15. The actuator according to claim 12, characterized in that The first support portion further includes a first retaining ring protruding radially inwardly, the first retaining ring is located at an end of the first support portion close to the output end of the actuator, and the first retaining ring and the second bearing at least partially overlap in radial projection.

16. A joint module, characterized in that: Comprising an actuator as claimed in any one of claims 1 to 15.

17. A bipedal robot, characterized in that: At least one driven joint adopts the joint module as claimed in claim 16, or the actuator as claimed in any one of claims 1 to 15.

18. A point-foot robot, characterized in that: At least one driven joint adopts the joint module as claimed in claim 16, or the actuator as claimed in any one of claims 1 to 15.

19. A quadruped robot, characterized in that: At least one driven joint adopts the joint module as claimed in claim 16, or the actuator as claimed in any one of claims 1 to 15.

20. A four-wheeled legged robot, characterized in that: At least one driven joint adopts the joint module as claimed in claim 16, or the actuator as claimed in any one of claims 1 to 15.

21. A robotic arm, characterized in that: At least one driven joint adopts the joint module as claimed in claim 16, or the actuator as claimed in any one of claims 1 to 15.

22. A robot, characterized in that: At least one driven joint adopts the joint module as claimed in claim 16, or the actuator as claimed in any one of claims 1 to 15.

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