Actuator, joint module, motion joint of humanoid robot and humanoid robot

Abstract

The invention relates to the technical field of robots, and discloses an actuator, a joint module, a motion joint of a humanoid robot and the humanoid robot. The actuator comprises a motor assembly, a speed reducer assembly and a connecting piece arranged between the motor assembly and the speed reducer assembly; a first opening concave cavity allowing the first connecting part of the connecting piece to be embedded is formed in the speed reducer assembly, and the second connecting part of the connecting piece is embedded into the speed reducer assembly containing cavity and is in transmission connection with the speed reducer assembly input shaft. Therefore, the rotor frame can be made of materials which are light, easy to form and low in cost, the weight of the actuator is reduced, the manufacturing cost of the actuator is reduced, the rotor frame is connected with the input shaft of the speed reducer assembly through the connecting piece, the length of the input shaft can be shortened, and the bending moment of the input shaft is reduced. According to the invention, the transmission precision of the actuator and the stability of power output are ensured while the small size and light weight of the actuator are realized.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and more particularly to an actuator, and also to a joint module related to the actuator, a motion joint of a humanoid robot, and a humanoid robot. Background Art

[0002] In the driving system of humanoid robots, actuators and joint modules play a vital role.

[0003] The actuator includes a motor assembly and a reducer assembly installed in a housing. The output end of the motor assembly is directly connected to the input shaft of the reducer assembly through an adapter connected to the rotor to transmit power. At present, the input shaft and the adapter of the reducer assembly are made of materials with different strengths and stiffness. Long-term operation will affect the accuracy and stability of the reducer output due to the different material properties of the two. Summary of the invention

[0004] The purpose of the present application is to solve the deficiencies in the prior art and to provide an actuator and a joint module, a motion joint and a humanoid robot related to the actuator.

[0005] In a first aspect, the present application provides an actuator, comprising: A motor assembly, comprising a stator, a rotor and a rotor frame rotating with the rotor; Reducer assembly; Also included is a connecting member disposed between the motor assembly and the reducer assembly; Wherein, the rotor frame comprises: a rotor connecting portion connected to the rotor, An annular extension portion is disposed adjacent to the reducer assembly, and an outer edge thereof is connected to the rotor connection portion. A shaft coupling portion, one end of which is connected to the inner ring of the annular extension portion and extends in a direction away from the reducer assembly, the shaft coupling portion comprising a first shaft segment and a second shaft segment, the first shaft segment being configured with a first opening concave cavity in a direction toward the reducer assembly; The second shaft segment substantially overlaps with the projections of the stator and the rotor in the radial direction; The connecting piece comprises: A first connecting portion, the first connecting portion is embedded in the first opening concave cavity and connected to the second shaft segment, and the first connecting portion and the projection of the side wall of the first opening concave cavity in the radial direction substantially overlap; The second connecting portion is arranged toward the reducer assembly relative to the first connecting portion, is embedded in a corresponding accommodating cavity of the reducer assembly, and is drivingly connected to the input shaft of the reducer assembly.

[0006] In some implementation schemes of the present application, the reducer assembly input shaft and the connecting member are made of steel material, and the rotor frame is made of aluminum alloy material.

[0007] In some embodiments of the present application, the second connecting portion is provided with a hollow cavity, the inner wall of the hollow cavity is configured with tooth grooves, and the outer wall of one end of the input shaft of the reducer assembly close to the motor assembly is configured with transmission teeth corresponding to the tooth grooves; or, the second connecting portion is provided with a hollow cavity, the inner wall of the hollow cavity is axially configured with a hub groove, the outer wall of one end of the input shaft of the reducer assembly close to the motor assembly is axially configured with an axial groove, and a key corresponding to the hub groove is fixed in the axial groove.

[0008] In some embodiments of the present application, the first connecting portion is constructed with a plurality of evenly distributed first connecting holes along the axial direction, and a plurality of second connecting holes corresponding to the first connecting holes are constructed at the bottom of the first opening cavity and along the axial direction of the second shaft segment, and a first fastener passes through the first connecting hole and is fixed to the second connecting hole.

[0009] In some embodiments of the present application, a plurality of first hollow holes are further configured on the annular surface of the first connecting portion, and the first hollow holes and the first connecting holes are alternately arranged.

[0010] In some embodiments of the present application, the second shaft segment is axially configured with a plurality of evenly distributed second hollow holes, and the second hollow holes and the second connecting holes are alternately arranged.

[0011] In some embodiments of the present application, a connecting hole is constructed in a direction away from the first opening cavity and along the axial direction of the second shaft segment, which is coaxial with each of the second connecting holes and connected to the second connecting holes, and the aperture of the connecting hole is larger than the aperture of the second connecting hole.

[0012] In some embodiments of the present application, the motor assembly also includes a stator support seat, which is arranged relative to the rotor frame and away from the reducer assembly, and includes a support cylinder, the stator is fixed to the outer wall of the support cylinder, the rotor is arranged around the stator, the second shaft segment is axially inserted in the inner cavity of the support cylinder, and is coaxially arranged with the support cylinder, and a first rotating support assembly is sandwiched in the radial direction between the outer wall of the second shaft segment and the inner wall of the support cylinder, and the projections of the rotor, the stator, the support cylinder, the first rotating support assembly and the second shaft segment in the radial direction approximately overlap.

[0013] In some embodiments of the present application, the inner wall of the supporting cylinder close to one end of the reducer assembly has a first annular limiting flange extending radially toward the center, a stop is constructed between the first shaft segment and the second shaft segment, and the other end of the supporting cylinder away from the reducer assembly is connected to a bearing retaining ring, the first rotating support assembly abuts the first limiting flange and the stop toward the outside of the reducer assembly, and the first rotating support assembly abuts the bearing retaining ring away from the outside of the reducer assembly.

[0014] In some embodiments of the present application, the first rotating support assembly includes a first bearing and a second bearing, the first bearing is arranged close to the reducer assembly, the second bearing is arranged away from the reducer assembly, and the axial projections of the first bearing and the second bearing on the second shaft segment overlap.

[0015] In some embodiments of the present application, the first bearing and the second bearing are spaced apart, and a coaxial first bearing outer sleeve and a first bearing inner sleeve are axially clamped between the first bearing and the second bearing, wherein the axial sides of the first bearing outer sleeve respectively abut against the inner sides of the outer rings opposite to the first bearing and the second bearing, and the axial sides of the first bearing inner sleeve respectively abut against the inner sides of the inner rings opposite to the first bearing and the second bearing.

[0016] In a second aspect, the present application also provides a joint module, comprising the actuator described above; and an output encoder component for detecting an output displacement signal or position information of the reducer component.

[0017] In some embodiments of the joint module of the present application, the output encoder assembly includes a low-speed encoder seat and an output transmission shaft, the output transmission shaft includes a first rotating shaft and a second rotating shaft, wherein the first rotating shaft is connected to the low-speed encoder seat and is arranged at the center position of the motor assembly, and the second rotating shaft is connected to the output end of the reducer assembly and is arranged at the center position of the reducer assembly; the first rotating shaft and the second rotating shaft are coaxially connected through an axially decoupled torque coupling structure.

[0018] In some embodiments of the joint module of the present application, the low-speed encoder seat is arranged relative to the rotor frame and away from the reducer assembly, and the second shaft segment is constructed with a second open cavity connected to the first open cavity in the direction away from the reducer assembly, so that the second shaft segment forms a hollow structure, and the first rotating shaft passes through the center of the second shaft segment and is fixedly connected to the low-speed encoder seat; a second rotation support assembly is sandwiched in the radial direction between the outer wall of the first rotating shaft and the inner wall of the second open cavity, and the radial projections of the second rotation support assembly, the second shaft segment and the first rotation support assembly roughly overlap.

[0019] In some embodiments of the joint module of the present application, a second annular limiting flange extends radially toward the center on the inner wall of the second opening cavity close to the first opening cavity, and an annular shoulder extends radially outward on the outer wall of the first rotating shaft close to one end of the reducer assembly, and the second rotating support assembly abuts against the second limiting flange and the shoulder on the outside of the reducer assembly, and the second rotating support assembly abuts against the low-speed encoder seat away from the outside of the reducer assembly.

[0020] In some embodiments of the joint module of the present application, the output encoder assembly includes a low-speed encoder seat and an output transmission shaft, the output transmission shaft includes a first rotating shaft and a second rotating shaft, the first rotating shaft is connected to the low-speed encoder seat and is arranged at the center position of the motor assembly, the second rotating shaft is connected to the output end of the reducer assembly and is arranged at the center position of the reducer assembly; a connecting shaft is arranged between the first rotating shaft and the second rotating shaft, the first rotating shaft is axially coupled to the connecting shaft, and the second rotating shaft is coaxially connected to the connecting shaft through an axially decoupling torque coupling structure; or, the second rotating shaft is axially coupled to the connecting shaft, and the first rotating shaft is coaxially connected to the connecting shaft through an axially decoupling torque coupling structure.

[0021] In some embodiments of the joint module of the present application, the low-speed encoder seat is arranged opposite to the rotor frame and away from the reducer assembly, and the second shaft segment is constructed with a second open cavity connected to the first open cavity in the direction away from the reducer assembly, so that the second shaft segment forms a hollow structure, and the first rotating shaft passes through the center of the second shaft segment and is fixedly connected to the low-speed encoder seat; a second rotation support assembly is sandwiched in the radial direction between the outer wall of the first rotating shaft and the inner wall of the second open cavity, and the radial projections of the second rotation support assembly, the second shaft segment and the first rotation support assembly roughly overlap.

[0022] In some embodiments of the joint module of the present application, a second annular limiting flange extends radially toward the center on the inner wall of the second opening cavity close to the first opening cavity, and a second annular shoulder extends radially outward on the outer wall of the connecting shaft, the second rotation support assembly abuts the second limiting flange and the second shoulder close to the outer side of the reducer assembly, and the second rotation support assembly abuts the low-speed encoder seat away from the outer side of the reducer assembly.

[0023] In some embodiments of the joint module of the present application, the second rotation support assembly includes a third bearing and a fourth bearing, the third bearing is arranged close to the reducer assembly, and the fourth bearing is arranged away from the reducer assembly, and the projections of the third bearing and the fourth bearing in the axial direction of the output transmission shaft coincide.

[0024] In some embodiments of the joint module of the present application, the third bearing and the fourth bearing are spaced apart, and a coaxial second bearing outer sleeve and a second bearing inner sleeve are axially clamped between the third bearing and the fourth bearing, wherein the axial sides of the second bearing outer sleeve respectively abut against the inner sides of the outer rings opposite to the third bearing and the fourth bearing, and the axial sides of the second bearing inner sleeve respectively abut against the inner sides of the inner rings opposite to the third bearing and the fourth bearing.

[0025] In a third aspect, the present application also provides a motion joint of a humanoid robot, which adopts the joint module described above.

[0026] In a fourth aspect, the present application also provides a humanoid robot that employs at least one of the motion joints described above.

[0027] Beneficial effects of this application: The actuator provided by the present application has a motor assembly and a reducer assembly that are embeddedly connected through a connector, so that the rotor frame in the motor assembly and the connector have a larger connection area. The rotor frame and the connector can be made of different materials, and the transmission will not be affected by the difference in materials between the two, and the axial space of the actuator will not be increased. Furthermore, by connecting the connector to the input shaft of the reducer assembly, the length of the input shaft can be shortened, the strength of the input shaft can be increased, and the output accuracy and operation stability of the reducer assembly can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0029] Figure 1 A schematic diagram of the actuator structure assembly provided in an embodiment of the present application; Figure 2 A schematic diagram of the actuator structure provided in an embodiment of the present application; Figure 3 A schematic diagram of the structural assembly related to the motor assembly in the actuator provided in an embodiment of the present application; Figure 4A three-dimensional diagram of the rotor frame structure in the actuator provided in an embodiment of the present application; Figure 5 A cross-sectional view of the rotor frame structure in the actuator provided in an embodiment of the present application; Figure 6 A three-dimensional schematic diagram of the connecting member structure in the actuator provided in the embodiment of the present application Figure 1 ; Figure 7 A three-dimensional schematic diagram of the connecting member structure in the actuator provided in the embodiment of the present application Figure 2 ; Figure 8 A schematic diagram of an output transmission shaft structure in an actuator provided in an embodiment of the present application; Fig. 9 A schematic diagram of another output transmission shaft structure in the actuator provided in an embodiment of the present application; Fig.10 It is a structural schematic diagram of a joint module provided in an embodiment of the present application applied to a hip-span joint of a humanoid robot; Fig.11 It is a schematic diagram of the structure of a humanoid robot provided in an embodiment of the present application.

[0030] Reference numerals in the figures: 1-housing; 11-second fastener; 2-motor assembly; 21-stator; 22-rotor; 23- rotor frame; 231- rotor connection part; 232- annular extension; 2321- annular outer edge; 2322- inner ring; 2323- third hollow hole; 233-coupling shaft; 2331-first shaft section; 23311-first opening cavity; 23312-stopper; 2332-second shaft segment; 23321-second connecting hole; 23322-connecting hole; 23323-second opening cavity; 23324-second hollow hole; 23325-second limiting flange; 24-stator support seat; 241-support cylinder; 2411-first limiting flange; 242-bearing retaining ring; 25-first rotation support assembly; 25a-first bearing; 25b-second bearing; 26-first bearing outer sleeve; 27-first bearing inner sleeve; 3-reducer assembly; 31-input shaft; 311-transmission gear; 32-output end; 33-accommodation chamber; 4-Connectors; 41-first connecting portion; 411-first connecting hole; 412-first fastener; 413-first hollow hole; 42-second connecting portion; 421-hollow cavity; 422-tooth groove; 100 - actuator; 5-output encoder assembly; 51-low speed encoder seat; 52- output transmission shaft; 521- first rotating shaft; 5211- shoulder; 522- second rotating shaft; 523- connecting shaft; 53-second rotation support assembly; 53a-third bearing; 53b-fourth bearing; 54-second bearing outer sleeve; 55-second bearing inner sleeve; 6- High-speed encoder seat; 1000-joint module. DETAILED DESCRIPTION

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] In addition, in the present invention, unless otherwise clearly specified and limited, the term "coaxial connection" means that the axis lines of two or more elements after connection are on the same straight line.

[0036] 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.

[0037] 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.

[0038] In the present invention, the 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.

[0039] Some specific implementation plans of the present application are described below in conjunction with the accompanying drawings.

[0040] See also Figure 1-Figure 3 The actuator 100 of the present application includes a motor assembly 2 and a reducer assembly 3 arranged in a housing 1, wherein the reducer assembly 3 can be an integrated component that is assembled as a whole and is provided with an input shaft 31 and an output end 32. The motor assembly 2 in the embodiment of the present application adopts the structure of an external rotor motor, including a stator 21, a rotor 22 arranged around the stator 21, and a rotor frame 23 that rotates with the rotor 22.

[0041] See also Figure 4 and Figure 5 The rotor frame 23 is constructed with a rotor connecting portion 231, an annular extension portion 232 and a connecting shaft portion 233, wherein the rotor connecting portion 231 is connected to the rotor 22 and is driven to rotate by the rotor 22; the annular extension portion 232 is arranged adjacent to the reducer assembly 3, approximately perpendicular to the rotation center of the stator 21 and the rotor 22, and its annular outer edge 2321 is connected to the rotor connecting portion 231; one end of the connecting shaft portion 233 is connected to the inner ring 2322 of the annular extension portion 232, and extends in a direction away from the reducer assembly 3, the center of the connecting shaft portion 233 is on the same axial line as the rotation center of the stator 21 and the rotor 22, and includes a first shaft segment 2331 and a second shaft segment 2332, wherein the first shaft segment 2331 is constructed with a first open cavity 23311 in the direction toward the reducer assembly 3, and the second shaft segment 2332 approximately overlaps with the radial projections of the stator 21 and the rotor 22.

[0042] A connector 4 is provided between the motor assembly 2 and the reducer assembly 3. The connector 4 includes a first connector 41 and a second connector 42. The first connector 41 is adapted to the peripheral shape of the first opening cavity 23311, is embedded in the first opening cavity 23311, and roughly overlaps with the radial projection of the side wall of the first opening cavity 23311. The second connector 42 is integrally formed with the first connector 41, is arranged toward the reducer assembly 3 relative to the first connector 41, is embedded in the corresponding accommodation cavity 33 of the reducer assembly 3, and is transmission-connected to the input shaft 31 of the reducer assembly.

[0043] At the bottom of the first opening cavity 23311 and along the axial direction of the side wall of the second shaft section 2332, a plurality of evenly distributed second connection holes 23321 are constructed, and a plurality of first connection holes 411 corresponding to the second connection holes 23321 are axially constructed on the first connection part 41. When the first connection part 41 is embedded in the first opening cavity 23311, the end surface of the first connection part 41 facing the rotor frame 23 fits with the bottom of the first opening cavity 23311, and the first fastener 412 passes through the first connection hole 411 and is screwed on the second connection hole 23321, so that the first connection part 41 is connected to the second shaft section 2332, thereby connecting and fixing the connection member 4 to the rotor frame 23. In this way, through the connection member 4, the power output by the motor assembly 2 is transmitted to the reducer assembly input shaft 31 through the rotor frame 23 by the connection member 4, and then output by the reducer assembly 3 through the output end 32.

[0044] The radial direction in the above structural description refers to the radial direction radiating outward from the center of the transverse section of the stator 21, the rotor 22 and the reducer assembly 3 in the motor assembly 2, and the axial direction refers to the direction of the central axis of the stator 21, the rotor 22 and the reducer assembly 3. It is worth noting that the description of the axial and radial directions is also consistent with the axial and radial expressions directly quoted by the positions and transmission centers of the various components associated with the motor assembly 2 and the reducer assembly 3, and will not be described in detail.

[0045] In the above-mentioned structure of the actuator 100 of the present application, the first connecting part 41 in the connecting member 4 is completely embedded in the first opening cavity 23311 constructed with the rotor frame 23, so that the first connecting part 41 and the side wall of the first opening cavity 23311 are in the same axial space, and the second connecting part 42 is embedded in the accommodating cavity 33 of the reducer assembly 3, so that the second connecting part 42 and the accommodating cavity 33 are in the same axial space. In this way, the motor assembly 2 and the reducer assembly 3 are still arranged close to each other, and the axial length of the actuator 100 will not be increased. At the same time, after the first connecting portion 41 is embedded in the first opening cavity 23311, its end surface facing the rotor frame 23 fits with the bottom surface of the first opening cavity 23311, so that there is a larger contact area between the rotor frame 23 and the connecting member 4, and each second connecting hole 23321 is axially arranged along the side wall of the second shaft segment 2332, so that the first connecting portion 41 and the second shaft segment 2332 are axially connected at multiple points, each connection point is subjected to balanced force, and the connection is firm and reliable, thereby ensuring the reliability and stability of the connection between the connecting member 4 and the rotor frame 23. In this way, the rotor frame 23 can still be made of a material that is relatively light, easy to shape and low in cost, and the connector 4 can be connected to the input shaft 31 of the reducer assembly 3 using a material with good rigidity and strength, and the rotor frame 23 will not be affected by the different material properties between the rotor frame 23 and the connector 4, and there is no need to increase the structural size of the connection end of the rotor frame 23 relative to the input shaft 31 of the reducer assembly 3 or increase the contact area at the connection, which can avoid the defects of increased material cost and increased axial size caused by this, and can make the connector 4 always maintain the same rotation output accuracy as the rotor frame 23, which meets the current demand for low-cost and lightweight actuators. Moreover, the connector 4 only uses the first connecting portion 41 and the second connecting portion 42 that are compatible with the rotor frame 23 and the reducer assembly 3, which is not only convenient for assembly with the motor assembly 2 and the reducer assembly 3, but also has a simple structure, has very little impact on the cost of the actuator 100, and does not increase the overall weight of the actuator 100. While achieving the small size and lightweight of the actuator 100, the transmission accuracy and power output stability of the actuator 100 are effectively guaranteed. Furthermore, the second connecting portion 42 of the connecting member 4 is embedded in the accommodating cavity 33 of the reducer assembly 3 and connected to the input shaft 31 of the reducer assembly. The input shaft 31 is no longer directly connected to the rotor frame 23 in the motor assembly 2. This not only simplifies the structural design of the rotor frame 23 and the input shaft 31 of the reducer assembly 3, but also greatly shortens the length of the input shaft 31, enhances the strength of the input shaft 31, and reduces the bending moment of the input shaft 31, thereby reducing the radial runout of the input shaft 31, thereby improving the operating stability of the reducer assembly 3.

[0046] In the preferred embodiment of the actuator 100 of the present application, the input shaft 31 of the reducer assembly and the connecting member 4 are made of steel with high strength and mechanical properties, which can meet the requirement that the rotor frame 23 is made of aluminum alloy material that is light, low cost and easy to form, and can significantly reduce the overall weight of the actuator 100 structure, and can maintain stable performance in harsh environments, and also have good heat dissipation performance. In this way, under the premise of meeting the mechanical properties of the actuator 100, the overall weight of the actuator 100 can be reduced, the production cost can be reduced, and the heat dissipation performance can be improved.

[0047] See also Figure 1 , Figure 7 In some embodiments of the actuator 100 of the present application, the second connecting part 42 is provided with a hollow cavity 421, and a tooth groove 422 is constructed on the inner wall of the hollow cavity 421. A transmission tooth 311 corresponding to the tooth groove 422 is constructed on the outer wall of the input shaft 31 of the reducer assembly near the motor assembly 2. During installation, the input shaft 31 is embedded in the hollow cavity 421, and the transmission tooth 311 cooperates with the tooth groove 422, so that the second connecting part 42 drives the input shaft 31 to rotate, and the power output by the motor assembly 2 is transmitted to the input shaft 31, and the input shaft 31 cooperates with the primary planetary mechanism and the secondary planetary mechanism in the reducer assembly 3 to be output at a low speed from the output end 32. It can be understood that a hub groove can also be constructed in the axial direction of the inner wall of the hollow cavity 421 of the second connecting part 42, and an axial groove is constructed on the outer wall of the end of the input shaft 31 near the motor assembly 2, and a flat key is fixed in the axial groove to cooperate with the hub groove, so that the second connecting part 42 and the input shaft 31 are connected by a key to transmit power. Of course, the transmission structure between the second connecting part 42 and the input shaft 31 is not only the matching structure of the transmission teeth 311 and the tooth grooves 422 (including splines) and the key connection structure described above, but can also be other matching structures. As long as they can ensure stable and reliable power transmission between the second connecting part 42 and the input shaft 31, they are all within the protection scope of this application.

[0048] See also Figure 1-Figure 3 , Figure 6 , Figure 7In some embodiments of the actuator 100 of the present application, the first opening cavity 23311 is a circular cavity, the first connecting portion 41 is roughly annular, and a plurality of uniformly distributed first connecting holes 411 are constructed on its annular surface along the axial direction. A plurality of second connecting holes 23321 are constructed at the bottom of the first opening cavity 23311 and along the axial direction of the side wall of the second shaft segment 2332. The second connecting holes 23321 correspond to the positions of the first connecting holes 411. The first fastener 412 passes through the first connecting hole 411 and is fixed on the second connecting hole 23321 to fix the connecting member 4 and the rotor frame 23 as a whole. In the above structure, the connecting member 4 is connected to the rotor frame 23 at multiple points through the first connecting portion 41. At the same time, each second connecting hole 23321 is arranged axially along the side wall of the second shaft segment 2332. In this way, the effective axial connection length between the first connecting portion 41 and the second shaft segment 2332 can be guaranteed, so that the connection between the connecting member 4 and the rotor frame 23 is firm and reliable.

[0049] See also Figure 6 , Figure 7 In some implementation schemes of the actuator 100 of the present application, a plurality of first hollow holes 413 are further constructed on the annular surface of the first connecting portion 41. The first hollow holes 413 and the first connecting holes 411 are alternately arranged on the first connecting portion 41, which can further reduce the weight of the connecting member 4 and ensure and balance the strength of the first connecting portion 41.

[0050] See also Figure 4 , Figure 5 In some embodiments of the actuator 100 of the present application, a plurality of evenly distributed second hollow holes 23324 are axially configured on the second shaft section 2332 of the rotor frame 23, and the second hollow holes 23324 and the second connecting holes 23321 are alternately arranged on the second shaft section 2332. Furthermore, a plurality of evenly distributed third hollow holes 2323 are also configured on the annular extension portion 232 of the rotor frame 23, and are opened along the axial direction. Similarly, this configuration structure can further reduce the weight of the rotor frame 23, and can ensure and balance the strength of the rotor frame 23.

[0051] Please see again Figure 4 , Figure 5 In some embodiments of the actuator 100 of the present application, a connecting hole 23322 is configured on the rotor frame 23 in the direction away from the first opening cavity 23311 and along the axial direction of the second shaft segment 2332. The connecting hole 23322 is coaxial with each second connecting hole 23321 and connected to the second connecting hole 23321, and the aperture of the connecting hole 23322 is larger than the aperture of the second connecting hole 23321. In this way, on the one hand, the weight of the rotor frame 23 can be further reduced, and on the other hand, the aperture of the connecting hole 23322 is larger than the aperture of the second connecting hole 23321, which is beneficial to the processing and chip removal of the second connecting hole 23321.

[0052] Please see again Figure 1-Figure 3 In some embodiments of the actuator 100 of the present application, the motor assembly 2 may further include a stator support seat 24, which is fixed in the housing 1 by a second fastener 11 and is arranged away from the reducer assembly 3 relative to the rotor frame 23. The stator support seat 24 includes a support cylinder 241, which is roughly hollow cylindrical. The stator 21 is fixed to the outer wall of the support cylinder 241, and the rotor 22 is arranged around the stator 21. The second shaft segment 2332 is axially inserted into the inner cavity of the support cylinder 241 and is coaxially arranged with the support cylinder 241 to ensure that the axis lines of the stator 21, the rotor 22 and the support cylinder 241 are in the same straight line. In the radial direction between the outer wall of the second shaft section 2332 and the inner wall of the support cylinder 241, the first rotation support assembly 25 is sandwiched, the outer wall of the second shaft section 2332 is radially abutted against the inner ring portion of the first rotation support assembly 25, and the inner wall of the support cylinder 241 is radially abutted against the outer ring portion of the first rotation support assembly 25, so that the rotor frame 23 is rotatably connected relative to the support cylinder 241 while rotating with the rotor 22, and the radial projections of the rotor 22, the stator 21, the support cylinder 241, the first rotation support assembly 25 and the second shaft section 2332 are roughly overlapped. In this way, the support cylinder 241 on which the stator 21 and the rotor 22 are installed, the first rotation support assembly 25, and the second shaft section 2332 are all arranged in the same radial space, which not only greatly shortens the overall axial use space of the actuator 100, but also makes the above-mentioned components have consistent concentricity. At the same time, the radial difference between the support cylinder 241 and the second shaft section 2332 is used to construct a space for arranging the first rotating support assembly 25. The length of the support cylinder 241 and the second shaft section 2332 can also allow the first rotating support assembly 25 to have a certain length of layout space, and multiple support members can be provided to increase the supporting effect, reduce the radial swing generated when the rotor frame 23 rotates at high speed, reduce the noise during operation, and ensure the stability of the rotor frame 23 during rotation. At the same time, the structural space can be fully utilized, and the stability of the power output of the motor assembly 2 is improved while reducing the overall axial size of the actuator 100.

[0053] Please see again Figure 1-Figure 3 In some implementation schemes of the actuator 100 of the present application, the inner wall of the supporting cylinder 241 close to one end of the reducer assembly 3 has a first annular limiting flange 2411 extending radially toward the center, the first shaft segment 2331 and the second shaft segment 2332 are arranged in a step-like manner, and a stopper 23312 is constructed therebetween, and a bearing retaining ring 242 is connected to the other end of the supporting cylinder 241 away from the reducer assembly 3, and the first rotating support assembly 25 abuts against the first limiting flange 2411 and the stopper 23312 toward the outside of the reducer assembly 3, and the first rotating support assembly 25 abuts against the bearing retaining ring 242 away from the outside of the reducer assembly 3, so that the first rotating support assembly 25 is axially positioned.

[0054] In some embodiments of the actuator 100 of the present application, the first rotation support assembly 25 includes a first bearing 25a and a second bearing 25b which are spaced apart on the support cylinder 241, the first bearing 25a being arranged close to the reducer assembly 3, and the second bearing 25b being arranged away from the reducer assembly 3. The first bearing 25a and the second bearing 25b have substantially the same diameter, and their projections in the axial direction of the second shaft segment 2332 coincide, so that double support can be formed on the second shaft segment 2332. The two support points enable the first bearing 25a and the second bearing 25b to have a certain span in the axial direction of the second shaft segment 2332, so that the load can be balanced, the stability of the rotation of the rotor frame 23 can be improved, and the stability of the power transmission of the reducer input shaft 31 can be improved.

[0055] See also Figure 1 and Figure 3 In some embodiments of the actuator 100 of the present application, the first bearing 25a and the second bearing 25b are arranged at intervals, and a first bearing outer sleeve 26 and a first bearing inner sleeve 27 are coaxially sandwiched between the first bearing 25a and the second bearing 25b, wherein the first bearing outer sleeve 26 is respectively abutted against the inner sides of the outer rings of the first bearing 25a and the second bearing 25b on both sides in the axial direction, and the first bearing inner sleeve 27 is respectively abutted against the inner sides of the inner rings of the first bearing 25a and the second bearing 25b on both sides in the axial direction. The outer ring of the first bearing 25a facing the outer side of the reducer assembly 3 abuts against the first limiting flange 2411, and the inner ring abuts against the stopper 23312, and the outer ring of the second bearing 25b away from the reducer assembly 3 abuts against the bearing retaining ring 242, and the inner ring is abutted by the high-speed encoder seat 6 connected to the end of the second shaft section 2332 away from the reducer assembly 3. In this way, the first bearing outer sleeve 26 and the first bearing inner sleeve 27 correspond to the first limiting flange 2411 on the supporting cylinder 241, the stopper 23312 on the rotor frame 23, the bearing retaining ring 242 and the high-speed encoder seat 6 to axially position the inner and outer rings of the first bearing 25a and the second bearing 25b.

[0056] The present application also provides a joint module 1000 , comprising the actuator 100 described above, and an output encoder component 5 for detecting an output displacement signal or position information of the reducer component 3 .

[0057] See also Figure 1-Figure 3 , Figure 8In some implementation schemes of the joint module 1000 of the present application, the output encoder assembly 5 includes a low-speed encoder seat 51, which is connected to the output transmission shaft 52, wherein the output transmission shaft 52 includes a first rotating shaft 521 and a second rotating shaft 522, the first rotating shaft 521 is connected to the low-speed encoder seat 51, and is arranged at the center position of the motor assembly 2, the second rotating shaft 522 is connected to the output end 32 of the reducer assembly, and is arranged at the center position of the reducer assembly 3, the first rotating shaft 521 and the second rotating shaft 522 are coaxially connected through an axially decoupled torque coupling structure, and the output displacement signal or position information of the reducer assembly 3 is detected through the magnetic ring and the induction component arranged on the low-speed encoder seat 51. The output drive shaft 52 adopts a connection structure in the form of a first rotating shaft 521 and a second rotating shaft 522. On the one hand, it can avoid the influence of radial runout caused by a longer shaft of the output drive shaft 52 on the output displacement signal or position information detection accuracy of the reducer assembly 3. At the same time, when the motion joints of the humanoid robot are impacted, there is a certain degree of tolerance between the first rotating shaft 521 and the second rotating shaft 522, which can bear, buffer and absorb such impact force, thereby avoiding slight deformation of the output drive shaft 52 and causing the defect of reduced output displacement signal or position information detection accuracy of the reducer assembly 3, thereby ensuring high-precision control and instant feedback during operation of the joint module 1000.

[0058] See also Figure 1-Figure 3 , Figure 5 , Figure 8 In some implementation schemes of the joint module 1000 of the present application, the low-speed encoder seat 51 is arranged opposite to the rotor frame 23 and away from the reducer assembly 3. The second shaft segment 2332 of the rotor frame 23 is constructed with a second open cavity 23323 in the direction away from the reducer assembly 3, which is connected to the first open cavity 23311, so that the second shaft segment 2332 forms a hollow structure. The first rotating shaft 521 can pass through the center of the second shaft segment 2332 and be fixedly connected to the low-speed encoder seat 51. A second rotating support assembly 53 is also sandwiched in the radial direction between the outer wall of the first rotating shaft 521 and the inner wall of the second opening cavity 23323. The outer ring portion of the second rotating support assembly 53 abuts against the inner wall of the second opening cavity 23323, and the inner ring portion abuts against the outer wall of the first rotating shaft 521. The radial projections of the second rotating support assembly 53, the second shaft segment 2332 and the first rotating support assembly 25 roughly overlap, so that radial swing will not occur during the rotation of the first rotating shaft 521, thereby improving the stability of the output transmission shaft 52 during rotation, ensuring the detection accuracy of the reducer output end 32, and thus ensuring the accuracy and reliability of the control of the motion joints of the humanoid robot.

[0059] See also Figure 3 and Figure 5In some embodiments of the joint module 1000 of the present application, on the inner wall of the second opening cavity 23323 close to the first opening cavity 23311, an annular second limiting flange 23325 extends radially toward the center, and on the outer wall of the first rotating shaft 521 close to one end of the reducer assembly 3, an annular shoulder 5211 extends radially outward, the second rotating support assembly 53 abuts the second limiting flange 23325 and the shoulder 5211 close to the outer side of the reducer assembly 3, and the second rotating support assembly 53 abuts the low-speed encoder seat 51 away from the outer side of the reducer assembly 3, so that the second rotating support assembly 53 is axially positioned.

[0060] See also Figure 8 In some implementation schemes of the joint module 1000 of the present application, a connecting shaft 523 is provided between the first rotating shaft 521 and the second rotating shaft 522, the first rotating shaft 521 is axially coupled to the connecting shaft 523, and the second rotating shaft 522 is coaxially connected to the connecting shaft 523 via an axially decoupled torque coupling structure. Alternatively, the second rotating shaft 522 is axially coupled to the connecting shaft 523, and the first rotating shaft 521 is coaxially connected to the connecting shaft 523 via an axially decoupled torque coupling structure. In this way, the coaxial connection between the first rotating shaft 521 and the second rotating shaft 522 can also be achieved through the rotational connection between the connecting shaft 523 and the first rotating shaft 521 and the second rotating shaft 522, and by adopting the connecting shaft 523 structure, the first rotating shaft 521 and the second rotating shaft 522 can be configured with standard parts, thereby reducing the cost of the output transmission shaft 52 and facilitating the processing of the connecting shaft 523.

[0061] See also Figure 1-Figure 3 In some implementation schemes of the joint module 1000 of the present application, the second rotation support assembly 53 includes a third bearing 53a and a fourth bearing 53b which are spaced apart and arranged on the first rotating shaft 521, the third bearing 53a is arranged close to the reducer assembly 3, and the fourth bearing 53b is arranged far from the reducer assembly 3. The third bearing 53a and the fourth bearing 53b have substantially the same diameter, and the projections of the third bearing 53a and the fourth bearing 53b in the axial direction of the first rotating shaft 521 overlap, so that a double support can be formed on the first rotating shaft 521. The two support points make the third bearing 53a and the fourth bearing 53b have a certain span in the axial direction of the first rotating shaft 521, so as to balance the load, improve the stability of the rotation of the first rotating shaft 521, and ensure the detection accuracy of the output encoder.

[0062] See also Figure 1-Figure 3In some implementation schemes of the joint module 1000 of the present application, the third bearing 53a and the fourth bearing 53b are arranged at intervals, and a coaxial second bearing outer sleeve 54 and a second bearing inner sleeve 55 are axially clamped between the third bearing 53a and the fourth bearing 53b, wherein the axial sides of the second bearing outer sleeve 54 respectively abut against the inner sides of the outer rings of the third bearing 53a and the fourth bearing 53b, and the axial sides of the second bearing inner sleeve 55 respectively abut against the inner sides of the inner rings of the third bearing 53a and the fourth bearing 53b, so as to axially position the inner and outer rings of the third bearing 53a and the fourth bearing 53b.

[0063] See also Fig.10 In some embodiments of the present application, a motion joint of a humanoid robot is provided, which adopts the joint module 1000 described above. Fig.10 The application of joint module 1000 in the hip joint of a humanoid robot is demonstrated.

[0064] See also Fig.11 In some embodiments of the present application, a humanoid robot is also provided, which adopts at least one of the above-mentioned motion joints.

[0065] 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 motor assembly, comprising a stator, a rotor and a rotor frame rotating with the rotor; Reducer assembly; Also included is a connecting member disposed between the motor assembly and the reducer assembly; Wherein, the rotor frame comprises: a rotor connecting portion connected to the rotor, An annular extension portion is disposed adjacent to the reducer assembly, and an outer edge thereof is connected to the rotor connection portion. A shaft coupling portion, one end of which is connected to the inner ring of the annular extension portion and extends in a direction away from the reducer assembly, the shaft coupling portion comprising a first shaft segment and a second shaft segment, the first shaft segment being configured with a first opening concave cavity in a direction toward the reducer assembly; The second shaft segment substantially overlaps with the projections of the stator and the rotor in the radial direction; The connecting piece comprises: A first connecting portion, the first connecting portion is embedded in the first opening concave cavity and connected to the second shaft segment, and the first connecting portion and the projection of the side wall of the first opening concave cavity in the radial direction substantially overlap; The second connecting portion is arranged toward the reducer assembly relative to the first connecting portion, is embedded in a corresponding accommodating cavity of the reducer assembly, and is drivingly connected to the input shaft of the reducer assembly.

2. The actuator according to claim 1, characterized in that The input shaft of the reducer assembly and the connecting piece are made of steel, and the rotor frame is made of aluminum alloy.

3. The actuator according to claim 1, characterized in that The second connecting portion is provided with a hollow cavity, the inner wall of which is configured with tooth grooves, and the outer wall of one end of the input shaft of the reducer assembly close to the motor assembly is configured with transmission teeth corresponding to the tooth grooves; or, the second connecting portion is provided with a hollow cavity, the inner wall of which is axially configured with a hub groove, and the outer wall of one end of the input shaft of the reducer assembly close to the motor assembly is axially configured with an axial groove, and a key corresponding to the hub groove is fixed in the axial groove.

4. The actuator according to claim 1, characterized in that The first connecting portion is configured with a plurality of evenly distributed first connecting holes along the axial direction, and a plurality of second connecting holes corresponding to the first connecting holes are configured at the bottom of the first opening cavity and along the axial direction of the second shaft segment, and a first fastener passes through the first connecting hole and is fixed to the second connecting hole.

5. The actuator according to claim 4, characterized in that A plurality of first hollow holes are also configured on the annular surface of the first connecting portion, and the first hollow holes and the first connecting holes are arranged alternately.

6. The actuator according to claim 4, characterized in that The second shaft segment is axially configured with a plurality of evenly distributed second hollow holes, and the second hollow holes and the second connecting holes are alternately arranged.

7. The actuator according to claim 4, characterized in that A connecting hole is constructed in a direction away from the first opening cavity and along the axial direction of the second shaft segment. The connecting hole is coaxial with each of the second connecting holes and connected to the second connecting holes. The diameter of the connecting hole is larger than the diameter of the second connecting hole.

8. The actuator according to any one of claims 1 to 7, characterized in that: The motor assembly also includes a stator support seat, which is arranged relative to the rotor frame and away from the reducer assembly, and includes a support cylinder, the stator is fixed to the outer wall of the support cylinder, the rotor is arranged around the stator, the second shaft segment is axially inserted in the inner cavity of the support cylinder, and is coaxially arranged with the support cylinder, and a first rotating support assembly is sandwiched in the radial direction between the outer wall of the second shaft segment and the inner wall of the support cylinder, and the projections of the rotor, the stator, the support cylinder, the first rotating support assembly and the second shaft segment in the radial direction are roughly overlapped.

9. The actuator according to claim 8, characterized in that The inner wall of the supporting cylinder at one end close to the reducer assembly has a first annular limiting flange extending radially toward the center, a stopper is constructed between the first shaft section and the second shaft section, and the other end of the supporting cylinder away from the reducer assembly is connected to a bearing retaining ring, the first rotating support assembly abuts against the first limiting flange and the stopper toward the outside of the reducer assembly, and the first rotating support assembly abuts against the bearing retaining ring away from the outside of the reducer assembly.

10. The actuator according to claim 8, characterized in that The first rotating support assembly includes a first bearing and a second bearing. The first bearing is arranged close to the reducer assembly, and the second bearing is arranged away from the reducer assembly. The axial projections of the first bearing and the second bearing on the second shaft segment overlap.

11. The actuator according to claim 10, characterized in that The first bearing and the second bearing are arranged at intervals, and a coaxial first bearing outer sleeve and a first bearing inner sleeve are axially clamped between the first bearing and the second bearing, wherein the axial sides of the first bearing outer sleeve are respectively abutted against the inner sides of the outer rings opposite to the first bearing and the second bearing, and the axial sides of the first bearing inner sleeve are respectively abutted against the inner sides of the inner rings opposite to the first bearing and the second bearing.

12. The joint module is characterized in that: include: The actuator according to any one of claims 1 to 11; as well as, A low-speed encoder component output encoder component is used to detect the output displacement signal or position information of the reducer component.

13. The joint module according to claim 12, characterized in that: The low-speed encoder assembly output encoder assembly includes a low-speed encoder seat and an output transmission shaft, and the output transmission shaft includes a first rotating shaft and a second rotating shaft, wherein the first rotating shaft is connected to the low-speed encoder seat and is arranged at the center position of the motor assembly, and the second rotating shaft is connected to the output end of the reducer assembly and is arranged at the center position of the reducer assembly; the first rotating shaft and the second rotating shaft are coaxially connected through an axially decoupled torque coupling structure.

14. The joint module according to claim 13, characterized in that: The low-speed encoder seat is arranged relative to the rotor frame and away from the reducer assembly. The second shaft segment is constructed with a second open cavity connected to the first open cavity in the direction away from the reducer assembly, so that the second shaft segment forms a hollow structure. The first rotating shaft passes through the center of the second shaft segment and is fixedly connected to the low-speed encoder seat. A second rotating support assembly is sandwiched in the radial direction between the outer wall of the first rotating shaft and the inner wall of the second open cavity, and the radial projection of the second rotating support assembly and the second shaft segment roughly overlap.

15. The joint module according to claim 14, characterized in that: A second annular limiting flange is radially extended toward the center on the inner wall of the second opening cavity close to the first opening cavity, and an annular shoulder is radially extended outward on the outer wall of the first rotating shaft close to one end of the reducer assembly, and the second rotating support assembly abuts against the second limiting flange and the shoulder on the outer side of the reducer assembly, and the second rotating support assembly abuts against the low-speed encoder seat away from the outer side of the reducer assembly.

16. The joint module according to claim 12, characterized in that: The output encoder assembly of the low-speed encoder assembly includes a low-speed encoder seat and an output transmission shaft, and the output transmission shaft includes a first rotating shaft and a second rotating shaft, the first rotating shaft is connected to the low-speed encoder seat and is arranged at the center position of the motor assembly, and the second rotating shaft is connected to the output end of the reducer assembly and is arranged at the center position of the reducer assembly; a connecting shaft is arranged between the first rotating shaft and the second rotating shaft, the first rotating shaft is axially coupled to the connecting shaft, and the second rotating shaft is coaxially connected to the connecting shaft through an axially decoupling torque coupling structure; or, the second rotating shaft is axially coupled to the connecting shaft, and the first rotating shaft is coaxially connected to the connecting shaft through an axially decoupling torque coupling structure.

17. The joint module according to claim 16, characterized in that: The low-speed encoder seat is arranged opposite to the rotor frame and away from the reducer assembly. The second shaft segment is constructed with a second open cavity connected to the first open cavity in the direction away from the reducer assembly, so that the second shaft segment forms a hollow structure. The first rotating shaft passes through the center of the second shaft segment and is fixedly connected to the low-speed encoder seat. A second rotating support assembly is sandwiched in the radial direction between the outer wall of the first rotating shaft and the inner wall of the second open cavity, and the radial projection of the second rotating support assembly and the second shaft segment roughly overlap.

18. The joint module according to claim 17, characterized in that: A second annular limiting flange is radially extended toward the center on the inner wall of the second opening cavity close to the first opening cavity, and a second annular shoulder is radially extended outward on the outer wall of the connecting shaft. The second rotation support assembly abuts against the second limiting flange and the second shoulder close to the outer side of the reducer assembly, and the second rotation support assembly abuts against the low-speed encoder seat away from the outer side of the reducer assembly.

19. The joint module according to any one of claims 14, 15, 17 and 18, characterized in that: The second rotation support assembly includes a third bearing and a fourth bearing. The third bearing is arranged close to the reducer assembly, and the fourth bearing is arranged away from the reducer assembly. The projections of the third bearing and the fourth bearing in the axial direction of the output transmission shaft overlap.

20. The joint module according to claim 19, characterized in that: The third bearing and the fourth bearing are arranged at intervals, and a coaxial second bearing outer sleeve and a second bearing inner sleeve are axially clamped between the third bearing and the fourth bearing, wherein the axial sides of the second bearing outer sleeve are respectively abutted against the inner sides of the outer rings opposite to the third bearing and the fourth bearing, and the axial sides of the second bearing inner sleeve are respectively abutted against the inner sides of the inner rings opposite to the third bearing and the fourth bearing.

21. A motion joint of a humanoid robot, characterized in that: A joint module according to any one of claims 12 to 20 is adopted.

22. A humanoid robot, characterized in that At least one motion joint according to claim 21 is used.

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