Robot joint actuator and robot

Abstract

The invention provides a joint actuator of a robot and the robot, and relates to the field of robots. The actuator specifically comprises an actuator shell (1), a motor (2) and a controller (3). The motor (2) comprises a motor winding (23); the actuator shell (1) comprises a circumferential shell (11), and the circumferential shell (11) is provided with a cavity structure (111); and an outgoing line (231) of the motor winding (23) is connected to the controller (3) through the cavity structure (111). According to the joint actuator, the cavity structure is arranged in the actuator shell of the joint actuator, so that the cable can be fixed in the actuator shell, compared with the mode that the cable is fixed through a buckle structure, the occupied space is smaller, the structure is simpler, then the size of the joint actuator can be reduced, the structure of the joint actuator is simplified, and the cost is reduced. Therefore, the joint actuator can meet the requirements of humanoid robots, quadruped robots and other robots for high size requirements, high lightweight requirements and the like of the joint actuator.

Description

Technical Field

[0001] The present disclosure relates to the technical field of robots, and in particular to a joint actuator of a robot and a robot. Background Art

[0002] The robot motion joints need to be equipped with integrated actuators to complete the motion commands of the master control unit. For joint actuators, in addition to providing sufficient torque, humanoid robots have higher requirements for the motion accuracy, size, and structural stability of joint actuators. The motion accuracy of humanoid robots depends on the accuracy of each actuator. On the basis of having the best precision mechanical parts, the control accuracy of each actuator must rely on the encoder's precise position feedback of the motion to obtain high-precision motion of the robot as a whole. The joint space of humanoid robots is small, but the traditional joint actuators are axially long and difficult to miniaturize. In traditional joint actuators, the encoder is set in the axial direction of the joint actuator. Although this setting method allows the encoder cable to be routed through the hollow shaft of the joint actuator, the encoder is set in the axial direction, which makes the length of the joint actuator on the axis longer. In addition, the humanoid robot joints have high requirements for lightweight, and the traditional joint actuators have complex mechanical structures and are difficult to lightweight.

[0003] The structure of an improved traditional joint actuator is as follows Figure 1 As shown, the actuator housing 1 is the main structural part of the entire joint actuator. The motor 2 of the joint actuator is placed in the actuator housing 1. The motor 2 includes a motor rotor 21 and a motor stator 22. The motor stator 22 is directly fixed on the actuator housing 1. The reducer 4 of the joint actuator is also directly fixed on the actuator housing 1. In order to reduce the length of the joint actuator on the axis, this improved traditional joint actuator sets the encoder at a lateral position deviating from the axis of the joint actuator, and the reducer 4 is connected to the encoder 5 on the output side of the joint actuator through a transmission belt 6. Therefore, in this improved traditional joint actuator, the encoder cable 56 extending from the encoder 5 on the output side of the joint actuator and the power cable extending from the motor 2 are routed along the side of the joint actuator. For easy maintenance, the cable passes through the side of the joint actuator, and a snap structure 7 that can be opened for maintenance is provided. At the same time, the snap structure 7 fixes the cable to the side of the actuator housing 1.

[0004] The above-mentioned improved traditional joint actuator has a highly integrated design of the joint actuator, which reduces the length of components and improves the connection accuracy of the motor 2 and the reducer 4, but the mechanical structure is still complex and the diameter of the joint actuator is still too long. In order to adapt to the high requirements of humanoid robots and quadruped robots for the installation size and lightweight of the joint actuator, it is necessary to further reduce the size of the joint actuator and simplify the structure of the joint actuator. Summary of the invention

[0005] The present disclosure provides a robot joint actuator and a robot.

[0006] According to a first aspect of the present disclosure, a joint actuator of a robot is provided, the joint actuator comprising an actuator housing, a motor, and a controller; the motor comprises a motor winding; the joint actuator, wherein:

[0007] The actuator housing comprises a circumferential housing, and the circumferential housing is provided with a cavity structure;

[0008] The lead wires of the motor windings are connected to the controller via the cavity structure.

[0009] Optionally, a lead-out plate is provided at one end of the motor winding, and the lead-out plate collects the lead-out wires, and the collected lead-out wires are connected to the controller via the cavity structure.

[0010] Optionally, the joint actuator has an output side and a drive side, the output side is one side of the output end of the joint actuator, and the drive side is the other side of the joint actuator;

[0011] The lead-out plate is located at the output side of the joint actuator; and the controller is located at the driving side of the joint actuator.

[0012] Optionally, the lead-out board is a three-phase line lead-out board.

[0013] Optionally, the lead-out board is a printed circuit board.

[0014] Optionally, the actuator housing further includes a rear cover housing;

[0015] The circumferential shell is connected to the rear cover shell, and a part of the structure where the circumferential shell is connected to the rear cover shell is arranged as an oblique angle structure.

[0016] Optionally, the rear cover housing and the controller are located on the same side of the joint actuator in the axial direction.

[0017] Optionally, the actuator housing further comprises a rear cover housing, and the rear cover housing comprises a recessed portion matching the controller;

[0018] The motor further comprises a motor rotor and a motor stator; the motor rotor has a recess matching the recessed portion.

[0019] Optionally, the controller is embedded in a recessed portion of the rear cover shell.

[0020] Optionally, the motor further includes a motor rotor and a motor stator;

[0021] The structural thickness of the local structure of the motor rotor at a side away from the circumferential shell is greater than the structural thickness of the local structure of the motor rotor at a side close to the circumferential shell.

[0022] Optionally, the joint actuator further includes a reducer; the motor further includes a motor rotor and a motor stator;

[0023] An annular structure is arranged between the rotor shaft of the motor rotor and the retaining frame of the reducer.

[0024] Optionally, the joint actuator further includes a reducer;

[0025] An annular structure is arranged between the retaining frame of the reducer and the outer gear ring of the reducer.

[0026] Optionally, the annular structure is a polyetheretherketone material structure.

[0027] Optionally, the controller includes a controller back cover;

[0028] The controller back cover comprises a horizontal portion and an inner recessed portion perpendicular to the circumferential housing, and a controller connecting portion connecting the horizontal portion and the inner recessed portion, wherein an axial distance between the horizontal portion and the motor is greater than an axial distance between the inner recessed portion and the motor;

[0029] The cable interface of the joint actuator is located at the controller connecting portion and the recessed portion.

[0030] Optionally, the installation matching surface of the circumferential shell is finely machined, and the non-installation matching surface of the circumferential shell is roughly machined.

[0031] According to a second aspect of the present disclosure, a robot is provided, comprising at least one joint actuator of the robot described in the above technical solution.

[0032] The joint actuator and robot of the robot provided by the present invention provide a cavity structure in the actuator housing of the joint actuator so that the cable of the joint actuator can be fixed in the actuator housing of the joint actuator. Compared with using a snap structure to fix the cable, it occupies less space and has a simpler structure, which can reduce the size of the joint actuator, simplify the structure of the joint actuator, and reduce the weight of the joint actuator, so that the joint actuator meets the requirements of humanoid robots, quadruped robots and other robots for high size and high lightweight requirements of joint actuators.

[0033] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0035] Figure 1 It is a structural schematic diagram of a joint actuator in the prior art;

[0036] Figure 2 is a cross-sectional view of a joint actuator in one implementation of an embodiment of the present disclosure;

[0037] Figure 3 is a side view of a joint actuator in another implementation of the embodiment of the present disclosure;

[0038] Figure 4 is a cross-sectional view of a joint actuator in another implementation of the embodiment of the present disclosure;

[0039] Figure 5 is a bottom schematic diagram of a joint actuator in another implementation of an embodiment of the present disclosure;

[0040] Figure 6 It is a bottom schematic diagram of a joint actuator in the prior art;

[0041] Figure 7 is a cross-sectional view of a joint actuator in another implementation manner of the embodiment of the present disclosure.

[0042] The reference numerals in the specific implementation manner are as follows:

[0043] Actuator housing 1; threaded hole 10; circumferential housing 11; rear cover housing 12; cavity structure 111; recessed portion 121; housing connection portion 122; motor 2; motor rotor 21; motor stator 22; motor winding 23; lead wire 231; lead plate 24; permanent magnet 25; drive side encoder chip 26; controller 3; controller rear cover 31; horizontal portion 311; inner recessed portion 312; controller connection portion 313; drive plate 32; reducer 4; reducer output shaft disc 41; retaining frame 401; outer gear ring 402; joint actuator output side encoder 5; joint actuator output side encoder disc 51; joint actuator output side encoder permanent magnet 52; joint actuator output side encoder boss 53; joint actuator output side encoder chip 54; joint actuator output side encoder circuit board 55; encoder cable 56; transmission belt 6; buckle structure 7; first annular structure 01; second annular structure 02. DETAILED DESCRIPTION

[0044] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0045] All technical terms used in this document have the same meanings as those generally understood by technicians in the technical field to which this application belongs; the terms used in this document are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0046] In the description of the embodiments of the present application, the term "at least one" refers to one or more, and "plurality" refers to more than two (including two).

[0047] In the description of the embodiments of the present application, the technical 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. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0048] With the rapid development of the robotics industry, robots are increasingly being used to collaborate with humans. In order to meet the various standards for collaboration with humans, higher requirements are placed on collaborative robots in terms of accuracy, volume, safety, and other aspects. For a robot, the movement of each joint is inseparable from the motor, reducer, encoder, and driver. For traditional large robots, the space requirements for robots are not high, so in order to save costs, traditional robots are basically directly spliced ​​together by many of the above-mentioned modules with different functions, with a low degree of integration, resulting in traditional robots being larger and more bulky.

[0049] For robots that work with people, the space requirements are extremely high. The present invention combines all functional modules to obtain a more integrated modular actuator, which is installed at each joint to obtain the most compact space layout, which is also conducive to production and maintenance, and has more cost advantages. It can be said that the integration, space layout and cost of the joint actuator are the core competitiveness of the robot.

[0050] In view of the above technical problems, the present invention provides a joint actuator, such as Figure 2 As shown, the joint actuator includes an actuator housing 1 , a motor 2 , and a controller 3 .

[0051] The actuator housing 1 is the main structural component of the entire joint actuator, which at least includes a circumferential housing 11, which is similar to a conventional joint actuator. Figure 1 As shown, a plurality of threaded holes 10 are opened in the circumferential housing 11 , which are used to realize radial fixation of the joint actuator. The joint actuator is connected to the robot body by fixing screws in the threaded holes 10 .

[0052] The motor 2 is placed in the actuator housing 1 . The motor 2 includes a motor rotor 21 , a motor stator 22 , and a motor winding 23 mounted on the motor stator 22 and composed of a plurality of coils or coil groups. The motor stator 22 is directly fixed on the actuator housing 1 .

[0053] The controller 3 includes a driving board 32. The controller receives a control signal and controls other components of the joint actuator, such as the motor 2, through the driving board.

[0054] Specifically, the cables extending from the motor 2, such as the lead wires 231 of the motor windings 23, are connected to the driving board 32, and the driving board 32 controls the motor 2 by transmitting signals through the cables.

[0055] The circumferential housing 11 of the actuator housing 1 is provided with a cavity structure 111 , and cables extending from the motor 2 , such as the lead wires 231 of the motor winding 23 , are connected to the driving board 32 of the controller 3 via the cavity structure 111 .

[0056] Since the cavity structure 111 is arranged in the circumferential shell 11, the cable extending from the motor 2 is connected to the drive board 32 through the cavity structure 111 of the circumferential shell 11. Therefore, the cable extending from the motor 2 is essentially routed through the side of the joint actuator. On the one hand, it realizes cable convergence and reduces the routing confusion inside the joint actuator. On the other hand, it also avoids the cable squeezing the position of other components inside the joint actuator.

[0057] In some embodiments, the cable extending from the motor 2 may also include a power cable of the motor 2 ; cables of other components of the joint actuator may also be connected to the drive board 32 via the cavity structure 111 .

[0058] In some embodiments, the cavity structure 111 may be configured as an openable cavity structure 111 , so that a worker may inspect and repair the cables collected in the cavity structure 111 by opening the cavity structure 111 .

[0059] Specifically, the shell corresponding to the cavity structure 111 can be set as a shell installed on the circumferential shell 11 by screws, and the shell corresponding to the cavity structure 111 can be removed by removing the screws, so that the staff can operate the cable in the cavity structure 111.

[0060] Compared to Figure 1 The conventional joint actuator shown is provided with an openable snap-fit ​​structure 7, that is, the cables extending from the motor 2 can be routed along the side of the joint actuator and connected to the drive plate 32 via the snap-fit ​​structure 7 to realize a conventional snap-fit ​​method of gathering and fixing the cables extending from the motor 2 on the side of the actuator housing 1. The cavity structure 111 provided in the joint actuator provided in the embodiment of the present disclosure occupies a space approximately equal to the space occupied by the cable, thereby reducing the space occupied by the snap-fit ​​structure, reducing the radial length of the joint actuator, and thereby reducing the size of the joint actuator.

[0061] At the same time, since no snap-fit ​​structure is required, the mechanical structure of the joint actuator is simplified and the weight of the joint actuator is reduced.

[0062] Therefore, compared with traditional joint actuators, the joint actuator provided by the embodiments of the present disclosure can meet the requirements of humanoid robots, quadruped robots and other robots for high size and high lightweight requirements of joint actuators.

[0063] In some embodiments, Figure 2 As shown, a lead plate 24 may be provided at one end of the motor winding 23 , and the lead plate 24 is used to collect the lead wires 231 . The lead wires 231 collected by the lead plate 24 are connected to the drive board 32 of the controller 3 via the cavity structure 111 .

[0064] Specifically, the plurality of lead wires 231 of the motor winding 23 are connected to the lead plate 24 , and the lead plate 24 collects the plurality of lead wires 231 and connects them to the driving board 32 of the controller 3 via the cavity structure 111 .

[0065] By setting up a lead-out plate, the direction of the lead-out wires can be changed on the basis of gathering the lead-out wires. Compared with not using a lead-out plate, the lead-out wires can be directly bent so that the lead-out wires can pass through the cavity structure to connect to the drive board. This can reduce the length of the motor winding end while avoiding the influence of bending on the lead-out wires, thereby reducing the axial length of the joint actuator and reducing the size of the joint actuator.

[0066] In some embodiments, the lead-out plate 24 and the controller 3 may be located on different sides of the joint actuator in the axial direction.

[0067] Specifically, the joint actuator can be divided into an output side and a driving side in the axial direction based on the position of the motor 2 .

[0068] Among them, the output side is one side of the output end of the joint actuator, and the driving side is the other side of the joint actuator; the lead-out board 24 can be located on the output side of the joint actuator; and the controller 3 can be located on the driving side of the joint actuator.

[0069] Since the driving side also needs to be arranged with a motor rotor 21 and a controller 3, it needs to arrange more components than the output side, and the available space is relatively small. By setting the lead-out plate 24 on the output side, the cavity structure 111 can be fully utilized, reducing the space occupied on the driving side, and making the mechanical structure layout of the joint actuator more reasonable.

[0070] In some embodiments, the lead-out board 24 may be a three-phase line lead-out board.

[0071] In some embodiments, the motor winding 23 needs to be supplied with three-phase alternating current to generate a rotating magnetic field. A three-phase lead-out board can be used to collect the power lines used to supply three-phase alternating current to the motor winding 23 and extend them through the cavity structure to the drive side of the joint actuator to be connected to the controller 3.

[0072] In the case where the lead-out plate 24 can be a three-phase line lead-out plate, the temperature lines of the motor 2 can also be collected through the lead-out plate 24 and extended to the driving side of the joint actuator through the cavity structure to be connected to the controller 3.

[0073] In some embodiments, the lead-out board 24 may be a PCB (Printed Circuit Board).

[0074] As a widely used circuit board, PCB has the advantage of high density, which is conducive to the high integration of joint actuators. It has the advantage of high reliability, which can improve the service life of joint actuators and can realize standardized, large-scale (quantified) and automated production, thereby ensuring the consistency of product quality of batch-produced joint actuators.

[0075] In some embodiments, Figure 2 As shown, the actuator housing 1 further includes a rear cover housing 12. The rear cover housing 12 is connected to the circumferential housing 11 to achieve packaging of the joint actuator.

[0076] like Figure 3 As shown, the part of the structure where the circumferential shell 11 is connected to the rear cover shell 12 is set as an angled structure. That is, there is an angled structure 112 on the circumferential shell 11, and the structure is connected to the rear cover shell 12.

[0077] The oblique angle structure is a structure in which one surface is at an oblique angle to another surface, and specifically, the oblique angle may be 45 degrees.

[0078] By setting the angle structure, the joint actuator can form a special structure for special parts of the robot. Figure 3 As shown, the joint actuator and the mirror joint actuator are mirrored with the "dashed line" symmetry axis to form a "V-shaped" structure. The two are connected on the contact surface through the bevel structure 112, which can be used for special parts of the robot.

[0079] In some embodiments, the rear cover housing 12 and the controller 3 are located on the same side of the joint actuator in the axial direction.

[0080] As described above, the joint actuator can be divided into an output side and a drive side in the axial direction based on the position of the motor 2. The output side is one side of the joint actuator output end, and the drive side is the other side of the joint actuator; the rear cover housing 12 and the controller 3 are both located on the drive side of the joint actuator.

[0081] like Figure 3 As shown, the rear cover shell 12 and the controller 3 are both located on the driving side of the joint actuator to ensure that after the joint actuator and the mirror joint actuator form a "V-shaped" structure, the controllers 3 of the joint actuator and the mirror joint actuator are relative to each other, which is convenient for controlling the joint actuator and the mirror joint actuator at the same time.

[0082] In some embodiments, machining with different precisions may be performed on the circumferential housing 11 to reduce the machining cost and machining time of the joint actuator.

[0083] like Figure 3 As shown, the installation matching surface 113 of the circumferential shell 11 is finely machined, and the non-installation matching surface of the circumferential shell is roughly machined.

[0084] In some embodiments, Figure 4 As shown, the rear cover housing 12 further includes a recessed portion 121 matched with the controller 3 . The motor rotor 21 has a recess matched with the recessed portion 121 .

[0085] Specifically, Figure 4 As shown, the rear cover shell 12 includes a shell connecting portion 122 connected to the circumferential shell 11 and a recessed portion 121. The shell connecting portion 122 covers the rotor outer side 212 of the motor rotor 21, and the recessed portion 121 covers the rotor inner side 211 of the motor rotor 21. There is a certain inclination angle between the rotor inner side 211 and the rotor outer side 212 of the motor rotor 21, leaving space for the recessed portion 121 to move upward. By moving the recessed portion 121 upward, a height difference is formed between the shell connecting portion 122 and the recessed portion 121, thereby forming a certain space for other components of the joint actuator to be embedded.

[0086] In some embodiments, the controller 3 is embedded in the recessed portion 121 of the rear cover housing 12 .

[0087] Since the controller 3 is a structure that is "high" in the middle and "low" on both sides, the shape of the "low" connecting portion 122 of the rear cover shell 12 and the "high" recessed portion 121 are matched. Therefore, the controller 3 can be embedded in the recessed portion of the rear cover shell 12 so that the bottom of the controller 3 can be "flush" with the connecting portion 121.

[0088] By embedding the controller 3 into the recessed portion 121 of the rear cover housing 12 , the axial length of the joint actuator can be further reduced, thereby reducing the size of the joint actuator.

[0089] In some embodiments, the structural thickness of the local structure of the motor rotor 21 on the side away from the circumferential shell 11 is greater than the structural thickness of the local structure of the motor rotor 21 on the side close to the circumferential shell 11 .

[0090] The side of the motor rotor 21 away from the circumferential housing 11 is the rotor inner side 211, and the side of the motor rotor 21 close to the circumferential housing 11 is the rotor outer side 212. In other words, the rotor inner side 211 is thick and the rotor outer side 212 is thin. Through the design of "thick inner side and thin outer side", the rotational inertia of the motor rotor can be reduced while ensuring the mechanical strength of the motor rotor.

[0091] In some embodiments, Figure 5 As shown, the controller 3 includes a controller back cover 31; the controller back cover 31 includes a horizontal portion 311 and an inner recess 312 perpendicular to the circumferential shell 11, and a controller connecting portion 313 connecting the horizontal portion 311 and the inner recess 312, and the axial distance between the horizontal portion 311 and the motor 2 is greater than the axial distance between the inner recess and the motor 2.

[0092] The actuator back cover 31 of the conventional joint actuator is as follows Figure 6 As shown, the actuator rear cover 31 protrudes from the rear cover housing 12 , and the cable interface of the joint actuator is located at the actuator rear cover 31 and at the connection between the actuator rear cover 31 and the rear cover housing 12 .

[0093] The actuator rear cover 31 of the joint actuator provided in the embodiment of the present disclosure is as follows Figure 5 As shown, since the controller 3 is embedded in the recessed portion 121 of the rear cover shell 12, the actuator rear cover 31 cannot protrude obviously from the rear cover shell 12. If the cable interface of the joint actuator is set at the horizontal portion 311 of the actuator rear cover 31, it will cause difficulty in plugging and unplugging the cable.

[0094] By designing a partial hollow structure at the bottom of the joint actuator, that is, digging out an inner recess 312 with a height difference with the horizontal part 311 on the actuator back cover 31, the cable interface of the joint actuator is placed in the connecting part 313 and the inner recess 312. On the one hand, it avoids the influence of cable plugging and unplugging on the axial length of the joint actuator, and on the other hand, it also facilitates cable plugging and unplugging.

[0095] In some embodiments, the joint actuator further includes a reducer 4 .

[0096] Similar to traditional joint actuators, such as Figure 1 As shown, the reducer 4 of the joint actuator provided in the embodiment of the present disclosure is also directly fixed on the actuator housing 1, and the reducer output shaft disc 41 is connected to the joint actuator output side encoder disc 51 of the joint actuator output side encoder 5 through the transmission belt 6, and the joint actuator output side encoder disc 51 is connected to the joint actuator output side encoder permanent magnet 52 through the joint actuator output side encoder boss 53, and the joint actuator output side encoder 5 also includes a joint actuator output side encoder chip 54 and a joint actuator output side encoder circuit board 55, and an encoder cable 56 is extended.

[0097] In some embodiments, the encoder cable may also be connected to the controller 3 via the cavity structure 111 .

[0098] In some embodiments, the motor 2 may be a permanent magnet motor including a permanent magnet 25 , the joint actuator may further include a drive-side encoder chip 26 , and the reducer 4 of the joint actuator may be a planetary reducer.

[0099] The connection accuracy between the motor 2 and the reducer 4 is improved through the highly integrated design of the joint actuator.

[0100] In some embodiments, Figure 7 As shown, a first annular structure 01 is provided between the rotor shaft 210 of the motor rotor 21 and the retaining frame 401 of the reducer 4 instead of the bearing structure.

[0101] In some embodiments, Figure 7 As shown, a second annular structure 02 is provided between the retaining frame 401 of the reducer 4 and the outer gear ring 402 of the reducer 4 instead of the bearing structure.

[0102] Compared with metal bearing structures, the annular structure of special materials can be designed to be thinner under the condition of the same strength, which can further reduce the axial length of the joint actuator and thus reduce the size of the joint actuator.

[0103] In some embodiments, the ring structure is a polyetheretherketone material structure.

[0104] Peek (polyetheretherketone) is a special polymer material, a special engineering plastic with excellent properties such as high temperature resistance, self-lubrication, easy processing and high mechanical strength. It has good anti-static electrical insulation properties. Compared with the metal bearing structure, it has less impact on the internal circuit and magnetic field of the joint actuator, and can improve the performance of the joint actuator.

[0105] The present disclosure also provides a robot, comprising at least one joint actuator of the robot described in the above embodiments. Since the joint actuator of the robot is provided with a cavity structure in the actuator housing of the joint actuator, the cable of the joint actuator can be fixed in the actuator housing of the joint actuator. Through the above technical solution, compared with using a snap-on structure to fix the cable, it occupies less space and has a simpler structure, thereby reducing the size of the joint actuator and simplifying the structure of the joint actuator. Since the size of the robot joint actuator is reduced and the structure is simplified, the volume and weight of the robot can also be reduced.

[0106] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0107] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A robot joint actuator, comprising an actuator housing (1), a motor (2), and a controller (3); the motor (2) comprising a motor winding (23); the joint actuator is characterized in that: The actuator housing (1) comprises a circumferential housing (11), and the circumferential housing (11) is provided with a cavity structure (111); The lead wire (231) of the motor winding (23) is connected to the controller (3) via the cavity structure (111).

2. The joint actuator according to claim 1, characterized in that: A lead-out plate (24) is provided at one end of the motor winding (23), and the lead-out plate (24) gathers the lead-out wires (231). The gathered lead-out wires (231) are connected to the controller (3) via the cavity structure (111).

3. The joint actuator according to claim 2, characterized in that: The joint actuator has an output side and a drive side, the output side is one side of the output end of the joint actuator, and the drive side is the other side of the joint actuator; The lead-out plate (24) is located on the output side of the joint actuator; and the controller (3) is located on the driving side of the joint actuator.

4. The joint actuator according to claim 2, characterized in that: The lead-out board (24) is a three-phase line lead-out board.

5. The joint actuator according to claim 2, wherein: The lead-out board (24) is a printed circuit board.

6. The joint actuator according to claim 1, characterized in that: The actuator housing (1) further comprises a rear cover housing (12); The circumferential shell (11) is connected to the rear cover shell (12), and a part of the structure where the circumferential shell (11) and the rear cover shell (12) are connected is arranged as an oblique angle structure.

7. The joint actuator according to claim 6, characterized in that: The rear cover housing (12) and the controller (3) are located on the same side of the joint actuator in the axial direction.

8. The joint actuator according to claim 1, characterized in that: The actuator housing (1) further comprises a rear cover housing (12), wherein the rear cover housing (12) comprises a recessed portion (121) matching the controller (3); The motor (2) further comprises a motor rotor (21) and a motor stator (22); the motor rotor (21) has a recess that matches the recessed portion (121).

9. The joint actuator according to claim 8, characterized in that: The controller (3) is embedded in the recessed portion (121) of the rear cover housing (12).

10. The joint actuator according to claim 1, characterized in that: The motor (2) further comprises a motor rotor (21) and a motor stator (22); The structural thickness of the local structure of the motor rotor (21) on a side away from the circumferential shell (11) is greater than the structural thickness of the local structure of the motor rotor (21) on a side close to the circumferential shell (11).

11. The joint actuator according to claim 1, characterized in that: The joint actuator further comprises a reducer (4); the motor (2) further comprises a motor rotor (21) and a motor stator (22); An annular structure is provided between the rotor shaft (210) of the motor rotor (21) and the retaining frame (401) of the reducer (4).

12. The joint actuator according to claim 1, characterized in that: The joint actuator also includes a reducer (4); An annular structure is provided between the retaining frame (401) of the reducer (4) and the outer gear ring (402) of the reducer (4).

13. The joint actuator according to claim 11 or 12, characterized in that: The annular structure is a polyetheretherketone material structure.

14. The joint actuator according to claim 1, characterized in that: The controller (3) comprises a controller back cover (31); The controller back cover (31) comprises a horizontal portion (311) and an inner recess (312) perpendicular to the circumferential housing (11), and a controller connecting portion (313) connecting the horizontal portion (311) and the inner recess (312), wherein an axial distance between the horizontal portion (311) and the motor (2) is greater than an axial distance between the inner recess and the motor (2); The cable interface of the joint actuator is located at the controller connecting portion (313) and the inner recess (312).

15. The joint actuator according to claim 1, characterized in that: The mounting matching surface of the circumferential shell (11) is finely machined, and the non-mounting matching surface of the circumferential shell (11) is roughly machined.

16. A robot, characterized in that: A robot joint actuator comprising at least one of claims 1 to 15.

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