Actuator and robot

Abstract

The embodiment of the invention provides an actuator and a robot. The actuator is suitable for driving the robot to execute actions and comprises a body and two driving mechanisms. The driving mechanisms are arranged on the two opposite sides of the body respectively, each driving mechanism comprises a planet wheel set, a power output assembly and a power source, and the power output assembly comprises a first power output ring and a second power output ring. Power output by the power source is output to a connecting rod mechanism of the robot through the planet wheel set and the power output assembly, so that the waist of the robot acts. Therefore, in the embodiment of the invention, through the driving change of the two driving mechanisms, the four power output rings can act synchronously or asynchronously, so that the waist of the robot generates actions close to the waist of a real human body, such as bending or swinging the waist.

Description

[0001] This application is a divisional application of the Chinese patent application with the application date of January 16, 2023, application number: 202310077936.3, and name: Actuator and Robot. Technical Field

[0002] The present application relates to the field of robotics, and in particular to an actuator and a robot. Background Art

[0003] The waist drive structure supports and connects the upper and lower torsos of humanoid robots, controlling waist movements. Currently, waist actuators in robots often only have pitch and pitch degrees of freedom, or achieve rotational freedom through the stacking of multiple motors placed in different axes. This limits the movement of the waist and reduces its flexibility, affecting the robot's fidelity. Furthermore, the stacking of multiple motors in different axes complicates the structure of the waist joint and makes it bulky. Summary of the Invention

[0004] Multiple aspects of the present application provide an actuator and a robot, which can realize the freedom of multi-directional rotation of the waist through the rotation changes of the first power output ring and the second power output ring, so that the waist of the robot can rotate or swing.

[0005] An embodiment of the present application provides an actuator suitable for driving a robot to perform an action. The actuator includes a body and a driving mechanism. The body includes a mounting body, a first transmission shaft and a second transmission shaft, and the second transmission shaft is relatively rotatably mounted on the first transmission shaft. The driving mechanism includes a transmission mechanism, a power output assembly, a power source, and a support frame fixed to the side of the mounting body. The power output assembly includes a first power output ring and a second power output ring, which are rotatably mounted on the support frame respectively, and the transmission mechanism is transmission-connected between the first transmission shaft and the first power output ring and between the second transmission shaft and the second power output ring. The power source includes a first motor assembly and a second motor assembly. The first motor assembly is connected to the first transmission shaft to drive the first transmission shaft to drive the first power output ring to rotate relative to the support frame. The second motor assembly is connected to the second transmission shaft to drive the second transmission shaft to drive the second power output ring to rotate relative to the support frame.

[0006] In some embodiments, the transmission mechanism includes a first sun gear fixed to the first transmission shaft, a second sun gear fixed to the second transmission shaft, and a planetary gear set mounted in the support frame. The planetary gear set includes a first planetary gear and a second planetary gear, wherein the first planetary gear is meshed with the first sun gear, the second planetary gear is meshed with the second sun gear, and the first power output ring and the second power output ring are both provided with internal teeth and mesh with the first planetary gear and the second planetary gear, respectively.

[0007] In some embodiments, the support frame includes two circular mounting portions spaced apart, the first power output ring and the second power output ring are rotatably mounted on the two mounting portions, and the first planetary gear and the second planetary gear are located between the two mounting portions.

[0008] In some embodiments, the support frame also includes a first mounting column and a second mounting column located between the two mounting parts, the first mounting column and the second mounting column are respectively arranged on the inner sides of the two mounting parts, the first planetary gear is installed on the first mounting column, and the second planetary gear is installed on the second mounting column.

[0009] In some embodiments, the support frame further includes a limiting member, and the end of the first transmission shaft passes through the two mounting portions and is fixed on the limiting member, wherein a bearing is provided between the limiting member and the support frame, and the limiting member can rotate relative to the support frame.

[0010] In some embodiments, the planetary gear set includes a plurality of first planetary gears and a plurality of second planetary gears uniformly arranged around the first transmission shaft, and the first planetary gears and the second planetary gears are axially staggered. The first power output ring surrounds the plurality of first planetary gears and meshes with each of the first planetary gears. The second power output ring surrounds the plurality of second planetary gears and meshes with each of the second planetary gears.

[0011] In some embodiments, the first motor assembly includes a first motor, a first magnetic member, and a first control module. The first motor is connected to the first transmission shaft to drive the first transmission shaft to rotate. The first magnetic member is fixed to the first transmission shaft and can rotate synchronously with the first transmission shaft to generate a first magnetic field change signal. The first control module is electrically connected to the first motor to control the operation of the first motor and cooperate with the first magnetic member to detect the motion state of the first transmission shaft.

[0012] In some embodiments, the outer circumferences of the first power output ring and the second power output ring are respectively provided with a first power output point and a second power output point extending outward, and the first power output point and the second power output point respectively serve as power output ends for the external connecting rod to be pivoted and drive the external connecting rod to move.

[0013] In some embodiments, two sets of symmetrically arranged first transmission shafts and second transmission shafts are provided in the installation body, and the actuator includes two symmetrically arranged driving mechanisms, and two support frames of the two driving mechanisms are respectively fixed on both sides of the installation body.

[0014] An embodiment of the present application also provides a robot comprising the above-mentioned actuator.

[0015] In this embodiment, two sets of motors and two coaxial transmission shafts achieve two coaxial power outputs through a drive mechanism, simplifying integration and effectively solving the structural complexity and bloated size issues caused by the stacking of motors with different axial directions. Furthermore, with the appropriate linkage structure, waist movement control can be achieved, enhancing the robot's flexibility in performing related actions. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0017] Figure 1 This is a front view of the actuator according to an embodiment of the present application.

[0018] Figure 2 This is a right side view of the actuator according to an embodiment of the present application.

[0019] Figure 3 for Figure 2 Section view along section line AA.

[0020] Figure 4 This is a schematic diagram of an exploded view of an actuator according to an embodiment of the present application.

[0021] Figure 5 Schematic diagram of a support frame according to an embodiment of the present application.

[0022] Figure 6 This is a schematic diagram of the exploded view of the robot waist mechanism according to an embodiment of the present application.

[0023] Figure 7 This is a side view of the robot waist mechanism according to an embodiment of the present application.

[0024] Figure 8 This is a front view of the robot waist mechanism according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the specific embodiments of this application and the corresponding drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0026] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0027] See also Figures 1 to 5 The actuator 1 provided in the embodiment of the present application is suitable for the waist position of the robot, and is used to support and connect between the upper and lower parts of the robot's body, and provide corresponding degrees of freedom to drive the robot to perform waist-related movements. The actuator 1 includes a body 10 and a drive mechanism 20. The body 10 includes a mounting body 11 and a first transmission shaft 12 and a second transmission shaft 13 arranged coaxially, and the second transmission shaft 13 is relatively rotatably sleeved on the first transmission shaft 12. The drive mechanism includes a transmission mechanism 3, a power output assembly 22, a power source 23, and a support frame 24 fixed to the side of the mounting body. Among them, the power output assembly includes a first power output ring 221 and a second power output ring 222 as two outputs. In order to achieve more flexible driving of the external structure, the actuator 1 is provided with two of the above-mentioned drive mechanisms, and two sets of symmetrically arranged first transmission shafts 12 and second transmission shafts 13 are provided in the mounting body 11 of the body 10 to achieve four outputs. The following content will specifically introduce the case of four outputs, and the figure also uses four output examples.

[0028] The main body 10 includes a mounting body 11 and two coaxially arranged first transmission shafts 12. The two first transmission shafts 12 are symmetrically arranged on the mounting body 11, and the outwardly extending ends of the two first transmission shafts 12 respectively pass through the two opposite side surfaces of the mounting body 11, and a second transmission shaft 13 is sleeved on each end. Among them, a first sun gear 14 is respectively assembled between the end faces of the ends of the two first transmission shafts 12 and the second transmission shaft 13, and the first sun gear 14 can be driven by the corresponding first transmission shaft 12 to rotate synchronously. In addition, the second transmission shaft 13 can rotate on the first transmission shaft 12 and is provided with a second sun gear 15. The second sun gear 15 can be connected to the second transmission shaft 13 through a transition connection method of an intermediate connecting piece.

[0029] The two drive mechanisms 20 are symmetrically arranged on opposite sides of the mounting body 11, i.e., the left and right sides of the body, along the axial direction of the first transmission shaft 12, and are axially positioned by the arrangement of planetary gear fixing columns 92 and bearings. Each drive mechanism 20 includes a transmission mechanism 3, a power output assembly 22, a power source 23, and a support frame 24. The transmission mechanism 3 includes the aforementioned first sun gear 14, second sun gear 15, and planetary gear set 21. The planetary gear set 21 includes a first planetary gear 211 and a second planetary gear 222. The power output assembly 22 includes a first power output ring 221 and a second power output ring 222. The power source 23 includes a first motor assembly 231 and a second motor assembly 232, which are symmetrically arranged on opposite sides of the mounting body 11 along the radial direction of the first transmission shaft 12. The support frame 24 includes two circular mounting portions 240, a first mounting column 241, a second mounting column 242, and a stopper 243.

[0030] The support frame 24 is mounted on the mounting body 11, and the two mounting portions 240 are planar structures spaced apart. A first mounting post 241 and a second mounting post 242 are located between the two mounting portions 240. These posts may be, but are not limited to, spaced apart along the circumference of the first transmission shaft 12 and located on opposite sides of the first transmission shaft 12 in the radial direction. The first mounting post 241 and the second mounting post 242 can be secured to the inner sides of the two mounting portions 240 by screwing or welding, respectively. The mounting portion 240 with the first mounting post 241 is then secured to the second mounting post 242 by screwing. In addition, a detachable limit member 243 is also provided on the mounting portion 240 having the first mounting column 241, which is used to be connected and fixed to the end of the first transmission shaft 12, and a bearing is provided between the limit member 243 and this mounting portion 240, so that the limit member 243 can rotate relative to this mounting portion 240, wherein the end of the first transmission shaft 12 passes through the two mounting portions and is pivotally connected to the limit member 243.

[0031] The first planetary gear 211 can be pivotally mounted on the first mounting post 241 via one or more bearings and meshed with the first sun gear 14, while the second planetary gear 222 can also be pivotally connected to the second mounting post 2421 via one or more bearings and meshed with the second sun gear 15.

[0032] In some embodiments, the planetary gear set 21 may also be composed of a plurality of first planetary gears 211 and a plurality of second planetary gears 222. For example, one mounting portion 240 may be provided with a plurality of first mounting posts 2411 arranged in a circular pattern, while the other mounting portion 240 may be provided with a plurality of second mounting posts 242 arranged in a circular pattern and staggered with the first mounting posts 241. This allows the plurality of first planetary gears 211 and the plurality of second planetary gears 222 to be mounted on the first mounting posts 241 and the second mounting posts 242, respectively, so that they are staggered and symmetrically arranged along the rotational direction of the first transmission shaft 12. The first power output ring 221 and the second power output ring 222 are both gear rings with internal teeth on their inner circumferences. The first power output ring 221 surrounds the plurality of first planetary gears 211 and is engaged with each of the first planetary gears 211, while the second power output ring 222 surrounds the plurality of second planetary gears 222 and is engaged with each of the second planetary gears 222. The second power output ring 222 is mounted on the mounting portion 240 via a wire bearing locking ring 91 and a bearing.

[0033] Therefore, when the first sun gear 14 drives the first planetary gear 211 to rotate, the first power output ring 221 can rotate synchronously with the first planetary gear 211. When the second sun gear 15 drives the second planetary gear 222 to rotate, the second power output ring 222 can rotate synchronously with the second planetary gear 222, thereby forming a speed reduction mechanism on the mounting body 11 and completing power transmission.

[0034] The first motor assembly 231 includes a first motor 23111, a first magnetic member 2312, and a first control module 2313. The first motor 23111 can be, but is not limited to, a servo motor, connected to the first transmission shaft 12, and used to drive the first transmission shaft 12 to rotate. The first magnetic member 2312 is a magnet or other component that can generate a magnetic field, fixed to the first transmission shaft 12, and can generate a first magnetic field change signal during the process of synchronous rotation with the first transmission shaft 12. The first control module 2313 can be, but is not limited to, a circuit board, which can be fixed to the mounting body 11 by screws and electrically connected to the first motor 23111 and the first magnetic member 2312, respectively. Therefore, the first control module 2313 can control the operation of the first motor 23111 and at the same time receive the first magnetic field change signal.

[0035] The second motor assembly 232 has the same structure as the first motor assembly 231, but with different connection locations. The second motor assembly 232 includes a second motor 2321, a second magnetic member 2322, and a second control module 2323. The second motor 2321 is connected to the second transmission shaft 13 and is used to drive the second transmission shaft 13 to rotate. The second magnetic member 2322 is fixed to the second transmission shaft 13 via screws and generates a second magnetic field change signal while rotating synchronously with the second transmission shaft 13. The second control module 2323 is electrically connected to the second motor 2321 and the second magnetic member 2322, respectively, to control the operation of the second motor 2321 and receive the second magnetic field change signal. In some embodiments, the mounting body 11 may also be provided with a cable duct to accommodate and route the cables of the first control module 2313 and the second control module 2323, facilitating connection to other actuators or a power source. This also protects the cables and prevents damage to the cables during the robot's operation.

[0036] The following describes the operation processes of the first power output ring 221 and the second power output ring 222 under the action of the first motor assembly 231 and the second motor assembly 232 respectively through some embodiments.

[0037] The operation process of the first power output ring 221 of the embodiment of the present application is as follows: when the first control module 2313 controls the operation of the first motor 23111, the first transmission shaft 12 will be driven by the first motor 23111 to drive the first sun gear 14 to rotate, and the first sun gear 14 will then rotate in conjunction with the first planetary gear 211, so that the first planetary gear 211 rotates in conjunction with the first power output ring 221 (through the reduction mechanism formed by each gear and the gear ring, the effect of reducing the speed and increasing the torque is achieved). At the same time, the first magnetic member 2312 on the first transmission shaft 12 generates a first magnetic field change signal due to synchronous rotation, and transmits this signal to the first control module 2313, so that the first control module 2313 can sense the motion state of the first power output ring 221 based on the change in the magnetic field and feedback it to the control end, so as to serve as a position record and motion state detection, and can complete the closed-loop control of the actuator 1 through circuit control (a control method that performs correction based on the output feedback of the control object). Among them, the control end is the control system of the robot, which is connected to the first control module 2313 and can control its operation.

[0038] It will be appreciated that the operation process of the second power output ring 222 in the embodiment of the present application is similar to that of the first power output ring 221. When the second control module 2323 controls the operation of the second motor 2321, the second transmission shaft 13 is driven by the second motor 2321 to drive the second sun gear 15 to rotate. The second sun gear 15 then drives the second planetary gears 222 to rotate, causing the second planetary gears 222 to drive the second power output ring 222 to rotate. At the same time, the second magnetic member 2322 on the second transmission shaft 13 generates a second magnetic field change signal due to synchronous rotation, and transmits this signal to the second control module 2323, so that the second control module 2323 can sense the motion state of the second power output ring 222 based on the change in the magnetic field and feedback it to the control end.

[0039] In this embodiment, the outer circumferences of the first power output ring 221 and the second power output ring 222 are respectively provided with outwardly extending first power output points 22A and second power output points 22B for pivotally connecting with the external connecting rod, thereby driving the external connecting rod to move. For example, they are ball studs, and the first power output point 22A and second power output point 22B on the first power output ring 221 correspond to the first power output point 22A and second power output point 22B on the second power output ring 222, respectively. In addition, the first power output point 22A and second power output point 22 on the first power output ring 221 are located on one side of the support frame 24, and the first power output point 22A and second power output point 22B on the second power output ring 222 are located on the other side of the support frame 24 and are symmetrically arranged with the first power output point 22A and second power output point 22B of the first power output ring 221. Therefore, the two drive mechanisms 20 can be connected to the external linkage mechanism through the two first power output points 22A and the two second power output points 22B to link the robot movement, and through the two first motors 2311 and the two second motors 232, respectively control the four output points to produce synchronous or asynchronous rotation, so that the robot waist has a higher degree of freedom and can achieve movements such as bending and swinging the waist.

[0040] As can be seen from the above description, the present embodiment utilizes four motors and a control module to adjust the rotational state of each power output ring, thereby linking the external linkage mechanism to achieve more degrees of freedom. This allows the robot's waist to perform movements similar to those of a real human waist, such as bending, swinging, or twisting, thereby improving the robot's realistic performance. Furthermore, the robot's waist motion state can be further determined by recording the motion state and position induced by magnetic field changes. Furthermore, due to the symmetrical design of the two drive mechanisms, the power output and reduction gear mechanism components can be partially shared, making component manufacturing relatively convenient and reducing manufacturing costs.

[0041] See also Figures 6 to 8The embodiment of the present application further provides a robot waist mechanism 100, comprising two frames 2, two transmission mechanisms 3 and the above-mentioned actuator 1. Each frame 2 comprises an annular structure and is rotatably sleeved on the body 10 of the actuator 1, and a transmission part 40 is provided on the outside. The two frames 2 are respectively sleeved on the left and right sides of the body 10 along the axial direction of the body 10, and the transmission part 40 extends outward along the radial direction of the body 10. The transmission parts 40 of the two frames 2 are staggered from each other in the axial direction without overlapping, for example, respectively close to the front and rear sides of the body 10.

[0042] The two transmission mechanisms 3 are respectively disposed on the transmission parts 40 of the two frames 2 , and each transmission mechanism 3 includes an output rod 50 , a rotating shaft 60 and two linkage components 70 .

[0043] The output rod 50 includes a shaft 521, an operating rod 522, a bearing 53, a bearing locking plate 54, and a control circuit assembly 55. The shaft 521 has a head end 521A and a tail end 521B. The tail end 521B is connected to the operating rod 522, and adapters 523 are provided on opposite sides of the tail end 521B. The end of the operating rod 522, away from the shaft 521, has an annular sleeve 5221 for articulating to a lower limb structure of the robot, such as a hip joint.

[0044] The rotating shaft 60 includes a shaft barrel 601, a first shaft sleeve 61, and a second shaft sleeve 62. The first shaft sleeve 61 passes through and rotatably connects to one of the transmission parts 40, corresponding to one side of the shaft barrel 601, while the second shaft sleeve 62 corresponds to the other side of the same shaft barrel 601. In this embodiment, the shaft barrel 601 is provided with two radially opposing side surfaces, each of which is provided with a plurality of screw holes. The first shaft sleeve 61 and the second shaft sleeve 62 are respectively provided with corresponding through-holes. Screws are inserted through the through-holes and locked into the screw holes, thereby locking the first shaft sleeve 61 and the second shaft sleeve 62 to the opposite sides of the shaft barrel 601. Of course, in other possible embodiments, the shaft barrel 601, the first shaft sleeve 61, and the second shaft sleeve 62 may also be an integrally formed structure.

[0045] The head end 521A extends outward into the shaft cylinder 601, and one or more bearings 53 may be disposed within the shaft cylinder 601 for mounting and positioning the head end 521A, allowing the shaft 521 to be rotatably connected to the shaft cylinder 601. Furthermore, a bearing locking plate 54 can be secured to the shaft cylinder 601 via screws and press-fit onto the bearing 53, allowing the control circuit assembly 55 to be secured to the bearing locking plate 54 via snap-fit ​​or locking, thereby completing the assembly of the output rod 50 and the rotating shaft 60. Each linkage assembly 70 includes a swinging member 71, two first connecting rods 72, and two second connecting rods 73. The swinging member 71 includes a first end 711 and a second end 712, located at opposite ends of the swinging member 71. A socket hole 713 is disposed between the first end 711 and the second end 712. In the same transmission mechanism 3, the swinging member 71 of the two linkage assemblies 70 is respectively mounted on the first shaft sleeve 61 and the second shaft sleeve 62 via the sleeve hole 713. One end of the first connecting rod 72 is pivotally mounted on one of the adapter portions 523 of the shaft 521, and the other end is pivotally connected to the first end 711 of the swinging member 71, facing the operating rod 522. The second connecting rod 73 has one end pivotally connected to the second end of the swinging member 71, and the other end pivotally connected to the first power output point 22A or the second power output point 22B. For example, the second connecting rod 73 of one transmission mechanism 3 is pivotally connected to the first power output point 22A, while the second connecting rod 73 of the other transmission mechanism 3 is pivotally connected to the second power output point 22B.

[0046] In this embodiment, the transmission mechanism 3 near the front of the body 10 has two second connecting rods 73 pivotally connected at one end to the second ends 712 of the two swinging members 71, and at the other end to the first power output points 22A of the two first power output rings 221, respectively. This positions the linkage assembly 70 between the second power output rings 222 on opposite sides of the body 10. The other transmission mechanism 3 near the rear of the body 10 has two second connecting rods 73 pivotally connected at one end to the second ends 712 of the swinging members 71, and at the other end to the second power output points 22B of the two second power output rings 222, respectively. This positions the linkage assembly 70 between the first power output rings 221 on opposite sides of the body 10. In summary, the robot waist mechanism 100 has two transmission mechanisms 3, and each transmission mechanism 3's linkage assembly 70 has two second connecting rods 73. Therefore, the robot waist mechanism 100 has a total of four second connecting rods 73, each of which is connected to the four power output points of the actuator 1. Of course, in other possible embodiments, the pivotal positions of the two transmission mechanisms 3 and the first power output ring 221 and the second power output ring 222 may also be interchanged, depending on usage requirements.

[0047] In some embodiments, the first and second connecting rods 72 and 73 are further provided with pivoting components, such as bearings or joints, at their respective ends. Interoperable components are also provided at the corresponding joints, enabling quick assembly of the connecting rods and achieving multi-directional motion. For example, spherical pins 721 are provided at respective ends of the first connecting rod 72, with corresponding ball sockets provided on the adapter 523 and the first end 711 of the swinging member 71, respectively. This allows the first connecting rod 72 to move in multiple directions between the adapter 523 and the first end 711. Alternatively, joint bearings 731 are provided at respective ends of the second connecting rod 73, which are pivotally connected to the swinging member 71 and the output point to achieve rotational and oscillating motion.

[0048] From the above description, it can be seen that the embodiment of the present application is driven by two drive mechanisms 20 with a total of four motors, which can respectively drive the two first power output rings 221 and the two second power output rings 222 to rotate, stop and turn, so that each first power output point 22A and each second power output point 22B respectively drive each first connecting rod 72 and each second connecting rod 73 to produce various motion changes, thereby causing the output rod 50 to rotate or swing and other movements.

[0049] It is worth noting that the output rod 50 of the embodiment of the present application is connected to the robot's hip joint and the structure below. When the first connecting rods 72 and the second connecting rods 73 drive the output rod 50 to rotate or swing, the robot's waist actuator 1 and the structure above it can rotate or swing relative to the hip joint and the structure below it, thereby achieving the robot's waist movement and adjusting the robot's walking posture. The following further describes the operation of the robot waist mechanism 100 provided in the embodiment of the present application.

[0050] like Figure 7 As shown, when one set of power output components 22 is fixed and does not move, and the first power output ring 221 and the second power output ring 222 of the other set of power output components 22 rotate synchronously, one of the output rods 50 can be fixed, while the other output rod 50 rotates upward or downward according to the rotation direction of the output ring, and swings up and down along the gravity direction of the main body 10, so as to achieve the effect of swinging the robot's waist forward or backward.

[0051] like Figure 8As shown, when the first motor 23111 and the second motor 2321 of the right drive mechanism 20 respectively drive the first power output ring 221 and the second power output ring 222 to rotate upward, while the first motor 23111 and the second motor 2321 of the left drive mechanism 20 respectively drive the first power output ring 221 and the second power output ring 222 to rotate downward, the two output rods 50 will have a height difference and tilt, thereby swinging rightward relative to the body 10. Of course, when the first motor 23111 and the second motor 2321 of the right drive mechanism 20 respectively drive the first power output ring 221 and the second power output ring 222 to rotate downward, while the first motor 23111 and the second motor 2321 of the left drive mechanism 20 respectively drive the first power output ring 221 and the second power output ring 222 to rotate upward, the two output rods 50 will swing leftward relative to the body 10. Therefore, by driving the two drive mechanisms 20 in opposite directions, the left and right swinging of the two output rods 50 can be controlled.

[0052] As can be seen from the above description, the embodiment of the present application causes the two output rods 50 to produce corresponding forward and backward rotation or swing through the driving changes of the four sets of motors. When the assembly is installed at the waist of the robot, the forward and backward and left and right swings required by the robot during walking can be realized.

[0053] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. An actuator, suitable for driving a robot to perform an action, characterized in that: include: The body comprises a mounting body, a first transmission shaft and a second transmission shaft, wherein the second transmission shaft is rotatably sleeved on the first transmission shaft; as well as A driving mechanism, comprising a transmission mechanism and a power output assembly; The power output assembly includes a first power output ring and a second power output ring, which are rotatably mounted on the side of the mounting body respectively; and the outer circumferences of the first power output ring and the second power output ring are respectively provided with a first power output point and a second power output point extending outward, and the first power output point and the second power output point respectively serve as power output ends for the external connecting rod to be pivotally connected and drive the external connecting rod to move; The transmission mechanism also includes a first sun gear fixed to the first transmission shaft, a second sun gear fixed to the second transmission shaft, and a planetary gear set installed on the side of the mounting body; the planetary gear set includes first planetary gears and second planetary gears evenly arranged around the first rotating shaft, wherein the first planetary gear is meshed with the first sun gear, the second planetary gear is meshed with the second sun gear, the first power output ring surrounds at least one of the first planetary gears and is meshed with each of the first planetary gears, and the second power output ring surrounds at least one of the second planetary gears and is meshed with each of the second planetary gears.

2. The actuator according to claim 1, wherein: The first planetary gear and the second planetary gear are staggered in the axial direction.

3. The actuator according to claim 1, wherein: There is at least one first planetary gear and at least one second planetary gear.

4. The actuator according to claim 1, wherein: The driving mechanism also includes a support frame, which is arranged on the mounting body. The support frame includes two mounting parts, one of which is provided with a plurality of first mounting columns arranged in a ring shape, and the other mounting part is provided with a plurality of second mounting columns arranged in a ring shape and staggered with the first mounting columns. The first planetary gear is mounted on the first mounting column, and the second planetary gear is mounted on the second mounting column.

5. The actuator according to claim 4, characterized in that The first power output ring surrounds the first planetary gears and is meshed with each of the first planetary gears; The second power output ring surrounds the second planetary gears and is meshed with each of the second planetary gears.

6. The actuator according to claim 4, characterized in that The driving mechanism further comprises: A power source includes a first motor assembly and a second motor assembly, the first motor assembly is connected to the first transmission shaft, used to drive the first transmission shaft to drive the first power output ring to rotate relative to the support frame, and the second motor assembly is connected to the second transmission shaft, used to drive the second transmission shaft to drive the second power output ring to rotate relative to the support frame.

7. The actuator according to claim 6, characterized in that The first motor assembly includes a first motor, a first magnetic member and a first control module. The first motor is connected to the first transmission shaft to drive the first transmission shaft to rotate. The first magnetic member is fixed on the first transmission shaft and can rotate synchronously with the first transmission shaft to generate a first magnetic field change signal. The first control module is electrically connected to the first motor to control the operation of the first motor and cooperate with the first magnetic member to detect the motion state of the first transmission shaft.

8. The actuator according to claim 6, characterized in that The first motor assembly and the second motor assembly are radially symmetrically arranged on two opposite sides of the mounting body along the first transmission shaft.

9. The actuator according to claim 6, characterized in that The second motor assembly comprises: a second motor, a second magnetic member, and a second control module; The second motor is connected to the second transmission shaft, the second magnetic member is fixed on the second transmission shaft, and the second control module is electrically connected to the second motor and the second magnetic member respectively.

10. A robot, characterized in that: Comprising the actuator according to any one of claims 1 to 9.

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