Actuator and robot joint

Abstract

The utility model discloses an actuator and a robot joint. The actuator comprises a shell, a motor, a first-stage planetary reducing mechanism, a second-stage planetary reducing mechanism and a low-speed end detection unit. The first-stage planetary reducing mechanism comprises a first-stage inner gear ring, a first-stage sun gear, a first-stage planet carrier and a first-stage planet gear; the second-stage planetary reducing mechanism comprises a second-stage inner gear ring, a second-stage sun gear, a second-stage planet carrier and a second-stage planet gear; the secondary planet carrier is provided with a first installation face, the shell is provided with a second installation face opposite to the first installation face, the first installation face and the second installation face are both perpendicular to the axial direction of the actuator, and the low-speed end detection unit comprises a magnetic ring fixed to the first installation face and a Hall element installed on the second installation face and matched with the magnetic ring. The whole structure of the actuator is simplified, the whole assembly of the actuator becomes simple, and the assembly efficiency of the actuator can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robot driving, in particular to an actuator and a robot joint. Background Art

[0002] The actuator is the middle component of the robot joint, which is used to provide power for the relative movement between the two moving parts of the robot joint and accurately control the movement angle of the two moving parts in the robot joint; the current actuators are divided into three categories according to the different reduction mechanisms, including actuators with planetary reduction mechanisms, actuators with RV reduction mechanisms, and actuators with harmonic reduction mechanisms. Among them, the more commonly used are actuators with planetary reduction mechanisms, which generally include motors, planetary reduction mechanisms, and related detection units. In order to achieve a larger transmission ratio, a two-stage planetary reduction mechanism is usually set inside the actuator. The detection unit includes a low-speed The low-speed end detection unit and the high-speed end detection unit are used to accurately control the output end of the actuator. The two-stage planetary reduction mechanism is distributed in the axial direction of the actuator. In order to detect the low-speed end and the high-speed end, it is usually necessary to set a code disk shaft that passes through the sun gear of the two-stage planetary reduction mechanism. One end of the code disk shaft serves as the planetary carrier of the secondary planetary reduction mechanism at the output end, and the other end passes through the two sun gears, and a low-speed end detection unit is configured between the other end of the code disk shaft and the actuator housing. Although this structure can realize high-speed and low-speed end detection, it requires the configuration of the code disk shaft and related bearings supporting the code disk shaft, which makes the structure of the entire actuator more complicated. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the utility model aims to provide an actuator and a robot joint to solve the problem that the actuator with a planetary reduction mechanism in the prior art has a relatively complex structure.

[0004] The purpose of the utility model is achieved by the following technical solutions:

[0005] An actuator, including a housing, a motor, a primary planetary reduction mechanism, a secondary planetary reduction mechanism, and a low-speed end detection unit;

[0006] The primary planetary reduction mechanism comprises a primary inner gear ring fixedly matched with the housing, a primary sun gear connected to the output end of the motor, a primary planet carrier, and a primary planetary gear pivotally connected to the primary planet carrier and meshed between the primary sun gear and the primary inner gear ring; the secondary planetary reduction mechanism comprises a secondary inner gear ring fixedly matched with the housing, a secondary sun gear connected to the primary planet carrier, a secondary planet carrier, and a secondary planetary gear pivotally connected to the secondary planet carrier and meshed between the secondary sun gear and the secondary inner gear ring;

[0007] A first mounting surface is provided on the secondary planetary carrier, and a second mounting surface opposite to the first mounting surface is provided on the shell. Both the first mounting surface and the second mounting surface are perpendicular to the axial direction of the actuator. The low-speed end detection unit includes a magnetic ring fixed on the first mounting surface, and a Hall element matched with the magnetic ring installed on the second mounting surface. The Hall element is used to cooperate with the magnetic ring to detect the rotation speed of the magnetic ring to obtain the angular velocity of the secondary planetary carrier.

[0008] According to the actuator of the embodiment of the utility model, a low-speed end detection unit is formed by combining a Hall element installed on the shell with a magnetic ring installed on the secondary planetary carrier to detect the angular velocity of the secondary planetary carrier to directly obtain the angular velocity of the output end of the actuator. There is no need to cross the code disk shaft at the middle radial position of the actuator, thus eliminating the code disk shaft and related bearing components for supporting the code disk shaft. Under the premise of meeting the detection requirements for the actuator, the overall structure of the actuator is simplified. In addition, since there is no need to set the code disk shaft, the overall assembly of the actuator becomes simple, which is beneficial to improving the assembly efficiency of the actuator.

[0009] In a preferred embodiment, a partition extending radially along the actuator and located above the secondary planet carrier is provided on the housing, a through slot is provided on the partition, a mounting seat fixedly matched with the partition is embedded in the through slot, the upper end surface of the secondary planet carrier forms a first mounting surface for mounting the magnetic ring, the lower surface of the mounting seat forms a second mounting surface for mounting the Hall element, the upper surface of the mounting seat is flush with or lower than the upper side surface of the partition, and the bottom edge of the Hall element is flush with or higher than the lower side surface of the partition. The radially extending partition provided on the housing is used as a mounting base, and the Hall element is mounted on the partition so that the Hall element can match the magnetic ring. A through slot is provided on the partition for embedding and fixing the mounting seat of the Hall element. During assembly, the Hall element and the mounting seat are formed into an assembly and then embedded into the through slot, which facilitates the assembly of the Hall element. At the same time, the assembly formed by the Hall element and the mounting seat will not protrude from the upper and lower sides of the partition after being embedded in the through slot, thereby not occupying the axial space of the actuator.

[0010] In a preferred embodiment, a downwardly sunken installation recess is provided on the upper end surface of the secondary planet carrier, the bottom surface of the installation recess forms a first installation surface, and the magnetic ring is embedded in the installation recess. By providing the installation recess, the installation height of the magnetic ring is reduced, and a larger magnetic ring can be installed on the secondary planet carrier to improve the detection accuracy, which is also conducive to improving the utilization rate of the axial space of the actuator and making the internal structure of the actuator more compact.

[0011] In a preferred embodiment, the housing includes an upper shell and a lower shell fixedly connected to the upper shell, the partition extends from the top of the lower shell toward the radial inner side of the actuator so that the primary planetary reduction mechanism and the secondary planetary reduction mechanism are respectively placed on the upper and lower sides of the partition, the upper shell surrounds the periphery of the motor and the primary planetary reduction mechanism, the lower shell surrounds the periphery of the secondary planetary reduction mechanism, and the primary planet carrier is pivotally connected to the inner edge of the partition through a bearing. The primary planetary reduction mechanism and the secondary planetary reduction mechanism are separated by the partition to facilitate their respective assembly, and the bearing between the partition and the primary planet carrier is used to provide radial support to the primary planet carrier so that the primary planet carrier can rotate smoothly.

[0012] In a preferred embodiment, the motor includes a rotor located inside the upper shell, a stator located inside the rotor and matching the rotor, a primary inner gear ring fixed to the inner edge of the stator, and the rotor and the primary sun gear are synchronously connected together through a connecting bracket located above the stator, the connecting bracket is pivotally connected to the primary inner gear ring through a bearing, and the lower end of the primary inner gear ring is fixedly connected to the upper side of the partition by bolts. In this way, not only can the above-mentioned Hall element be installed by using the partition, but also the primary inner gear ring fixed to the stator is connected to the partition, and the partition is used as the installation base of the motor, making the structure of the entire actuator more compact.

[0013] In a preferred embodiment, the top wall of the upper shell is located above the connecting bracket, and a high-speed end detection unit is arranged between the top wall of the upper shell and the connecting bracket. The high-speed end detection unit includes a high-speed end magnetic ring fixed on the connecting bracket, and a high-speed end Hall element fixed on the top wall of the upper shell. The high-speed end Hall element cooperates with the high-speed end magnetic ring to detect the rotation speed of the high-speed end magnetic ring to obtain the angular velocity of the connecting bracket. By detecting the angular velocity of the connecting bracket, the rotation speed of the motor rotor is obtained, thereby further improving the control accuracy of the actuator.

[0014] In a preferred embodiment, a PCB is provided on the top of the upper shell, and the Hall element and the high-speed Hall element are both connected to the PCB for signal communication. The electrical components used to power and communicate with the Hall element and the high-speed Hall element are integrated into the PCB, further making the internal structure of the actuator more compact.

[0015] In a preferred embodiment, an upper cover fixed to the upper shell is arranged above the top wall of the upper shell, and an installation chamber is formed between the upper cover and the top wall of the upper shell, the PCB board is located in the installation chamber, a wire groove is arranged on the side wall of the upper shell, the lower end of the wire groove extends to the bottom end of the side wall of the upper shell, and the upper end extends to the upper surface of the top wall of the upper shell and is connected to the installation chamber, the PCB board is connected to the Hall element through a wire, one end of the wire is connected to the PCB board, and the other end of the wire passes through the wire groove and the threading hole on the mounting seat from top to bottom in sequence and is connected to the Hall element. By arranging the wire groove on the side wall of the upper shell, the wire connecting the PCB board and the Hall element is protected, and the stability of the low-speed end detection is improved.

[0016] In a preferred embodiment, the housing includes an annular base, which is located below the lower housing, the secondary inner gear ring is clamped between the lower housing and the annular base, and the lower housing, the secondary inner gear ring, and the annular base are fixed together by connecting bolts that cross the three. The secondary inner gear ring is used as part of the actuator housing to simplify the structure of the actuator, while the outer diameter of the secondary inner gear ring is increased as much as possible, thereby improving the transmission ratio of the secondary planetary reduction mechanism.

[0017] A robot joint comprising the actuator mentioned above. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings in the specification, which constitute a part of the present application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention.

[0019] Figure 1 It is a structural schematic diagram of the utility model;

[0020] Figure 2 It is a cross-sectional view of the utility model;

[0021] Figure 3 for Figure 2 Schematic diagram of the assembly of the central magnetic ring and the secondary planetary carrier.

[0022] In the figure: 10, shell; 11, upper shell; 111, wire groove; 112, top wall; 113, side wall; 12, lower shell; 121, partition; 122, through groove; 123, mounting seat; 13, annular base; 20, motor; 21, rotor; 22, stator; 23, connecting bracket; 30, primary planetary reduction mechanism; 31, primary inner ring gear; 32, primary sun gear; 33, primary planetary gear; 34, primary planetary carrier; 40, secondary planetary reduction mechanism; 41, secondary inner ring gear; 42, secondary sun gear; 43, secondary planetary gear; 44, secondary planetary carrier; 441, upper end face; 442, mounting recess; 51, magnetic ring; 52, Hall element; 61, high-speed end magnetic ring; 62, high-speed end Hall element; 70, upper cover; 71, PCB board. DETAILED DESCRIPTION

[0023] Below, in conjunction with the accompanying drawings and specific implementation methods, the utility model is further described. It should be noted that, under the premise of no conflict, the various embodiments described below or the various technical features can be arbitrarily combined to form a new embodiment. Except for special instructions, the materials and equipment used in this embodiment can be purchased from the market. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar numbers throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0024] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In the description of the present application, "plurality" means two or more, unless otherwise precisely and specifically specified.

[0025] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, or it can be connected through an intermediary medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0026] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] Please refer to Figure 1-3 As shown, an actuator of the utility model includes a housing 10, a motor 20, a primary planetary reduction mechanism 30, a secondary planetary reduction mechanism 40, and a low-speed end detection unit; wherein the primary planetary reduction mechanism 30 and the secondary planetary reduction mechanism 40 are both installed inside the housing 10, the primary planetary reduction mechanism 30 includes a primary inner ring gear 31, a primary sun gear 32, a primary planetary gear 33, and a primary planet carrier 34, the primary inner ring gear 31 is fixedly matched with the housing 10, the primary sun gear 32 is connected to the output end of the motor 20, the primary planetary gear 33 is pivotally connected to the primary planet carrier 34, and the primary planetary gear 33 is meshed between the primary sun gear 32 and the primary inner ring gear 31, the motor 20 drives the primary sun gear 32 to rotate, so that the primary planetary gear 33 rotates while revolving around the primary sun gear 32, and then drives the primary planet carrier 34 to rotate; the secondary planetary reduction mechanism 40 includes a secondary inner ring gear 41 fixedly matched with the housing 10, a secondary connected to the primary planet carrier 34 A sun gear 42, a secondary planet carrier 44, and a secondary planet gear 43 pivotally connected to the secondary planet carrier 44 and meshed between the secondary sun gear 42 and the secondary inner gear ring 41; a first mounting surface is provided on the secondary planet carrier 44, and a second mounting surface opposite to the first mounting surface is provided on the housing 10, the first mounting surface and the second mounting surface are both arranged perpendicular to the axial direction of the actuator, and the two are separated by a certain distance in the axial direction of the actuator, and the low-speed end detection unit includes a magnetic ring 51 and a Hall element 52, wherein the magnetic ring 51 is fixedly mounted on the first mounting surface, that is, the magnetic ring 51 is fixedly connected to the secondary planet carrier 44, the Hall element 52 is fixed to the housing 10 and is located on the second mounting surface, the Hall element 52 matches the magnetic ring 51, and the Hall element 52 is used to cooperate with the magnetic ring 51 to detect the rotation speed of the magnetic ring 51 to obtain the angular velocity of the secondary planet carrier 44, as the output end of the actuator, the angular velocity of the secondary planet carrier 44 is the angular velocity of the output end of the actuator.

[0028] In the utility model, a low-speed end detection unit is formed by combining a Hall element 52 installed on the housing 10 with a magnetic ring 51 installed on the secondary planetary carrier 44 to detect the angular velocity of the secondary planetary carrier 44 to directly obtain the angular velocity of the output end of the actuator. There is no need to cross the code disk shaft at the middle position of the actuator radial direction, and the code disk shaft and related bearing components for supporting the code disk shaft are omitted. On the premise of meeting the detection requirements for the actuator, the overall structure of the actuator is simplified, and since there is no need to set the code disk shaft, the overall assembly of the actuator becomes simple, which is beneficial to improving the assembly efficiency of the actuator.

[0029] In a preferred embodiment, a partition 121 extending in the radial direction of the actuator is provided on the housing 10. The partition 121 is located above the secondary planet carrier 44. A through slot 122 is provided on the partition 121. A mounting seat 123 is embedded in the through slot 122. The mounting seat 123 is fixed to the partition 121 after being placed in the through slot 122 in an assembleable manner. The lower surface of the mounting seat 123 forms a second mounting surface, that is, the Hall element 52 is fixed on the lower surface of the mounting seat 123. The upper end surface 441 of the secondary planet carrier 44 forms a first mounting surface, that is, the magnetic ring 51 is fixed to the upper end surface 441 of the secondary planet carrier 44. The upper surface of the mounting seat 123 is flush with or lower than the upper side surface of the partition 121, and the bottom edge of the Hall element 52 is flush with or higher than the lower side surface of the partition 121. The Hall element 52 is installed on the partition 121 by using the radially extending partition 121 set on the shell 10 as an installation basis, so that the Hall element 52 can match the magnetic ring 51, and a through groove 122 is opened on the partition 121 for embedding the mounting seat 123 for fixing the Hall element 52. During assembly, the Hall element 52 and the mounting seat 123 are formed into an assembly and then embedded in the through groove 122, which facilitates the assembly of the Hall element 52. At the same time, after the assembly formed by the Hall element 52 and the mounting seat 123 is embedded in the through groove 122, it will not protrude from the upper and lower sides of the partition 121, thereby not occupying the axial space of the actuator.

[0030] Furthermore, a downwardly recessed mounting recess 442 is provided on the upper end surface 441 of the secondary planetary carrier 44, and the bottom surface of the mounting recess 442 forms a first mounting surface. The magnetic ring 51 is embedded in the mounting recess 442. By providing the mounting recess 442, the mounting height of the magnetic ring 51 is reduced, and a larger magnetic ring can be installed on the secondary planetary carrier 44 to improve the detection accuracy. At the same time, it is beneficial to improve the utilization rate of the axial space of the actuator and make the internal structure of the actuator more compact.

[0031] In other embodiments, the partition 121 may also be disposed at the bottom of the upper shell 11 , that is, the partition 121 extends from the bottom of the upper shell 11 toward the radial inner side of the actuator.

[0032] In the utility model, the shell 10 includes an upper shell 11 and a lower shell 12, and the upper shell 11 and the lower shell 12 are fixed together by bolts. In a preferred embodiment, the partition 121 can be extended from the top of the lower shell 12 toward the radial inner side of the actuator, and the interior of the shell 10 is divided into two upper and lower spaces by the partition 121, wherein the first-stage planetary reduction mechanism 30 is located in the upper space and the second-stage planetary reduction mechanism 40 is located in the lower space, and then the first-stage planetary reduction mechanism 30 and the second-stage planetary reduction mechanism 40 are respectively located on the upper and lower sides of the partition 121, the upper shell 11 surrounds the periphery of the first-stage planetary reduction mechanism 30, and the lower shell 12 surrounds the periphery of the second-stage planetary reduction mechanism 40, and the first-stage planetary carrier 34 is pivotally connected to the inner edge of the partition 121 through a bearing; the first-stage planetary reduction mechanism 30 and the second-stage planetary reduction mechanism 40 are separated by the partition 121 to facilitate their separate assembly, and at the same time, the bearing between the partition 121 and the first-stage planetary carrier 34 is used to provide radial support to the first-stage planetary carrier 34, so that the first-stage planetary carrier 34 can rotate smoothly.

[0033] The motor 20 is a frameless torque motor, which includes a rotor 21 located inside the upper shell 11, a stator 22 located inside the rotor 21 and matching the rotor 21, a primary inner gear ring 31 fixed to the inner edge of the stator 22, and the rotor 21 and the primary sun gear 32 are synchronously connected together through a connecting bracket 23 located above the stator 22, the connecting bracket 23 is pivotally connected to the primary inner gear ring 31 through a bearing, and the lower end of the primary inner gear ring 31 is fixedly connected to the upper side of the partition 121 by bolts. In this way, not only can the above-mentioned Hall element 52 be installed by using the partition 121, but also the primary inner gear ring 31 fixed to the stator 22 is connected to the partition 121, and the partition 121 is used as the installation base of the motor 20, so that the structure of the entire actuator is more compact.

[0034] The upper shell 11 includes a side wall 113 and a top wall 112 located at the top of the side wall 113. The top wall 112 of the upper shell 11 is located above the connecting bracket 23. A high-speed end detection unit is arranged between the top wall 112 of the upper shell 11 and the connecting bracket 23. The high-speed end detection unit includes a high-speed end magnetic ring 61 fixed on the connecting bracket 23, and a high-speed end Hall element 62 fixed on the top wall 112 of the upper shell 11. The high-speed end Hall element 62 cooperates with the high-speed end magnetic ring 61 to detect the rotation speed of the high-speed end magnetic ring 61 to obtain the angular velocity of the connecting bracket 23. Thus, by detecting the angular velocity of the connecting bracket 23, the rotation speed of the rotor 21 of the motor 20 is obtained, thereby further improving the control accuracy of the actuator.

[0035] A PCB board 71 is also provided above the top of the upper shell 11, and the Hall element 52 and the high-speed Hall element 62 are both signal-connected to the PCB board 71, that is, the electrical components used to power and communicate with the Hall element 52 and the high-speed Hall element 62 are all integrated into the PCB board 71, further making the internal structure of the actuator more compact. An upper cover 70 fixed to the upper shell 11 is also provided above the top wall 112 of the upper shell 11, and an installation chamber is formed between the upper cover 70 and the top wall 112. The PCB board 71 is located in the installation chamber. A wire groove 111 is provided on the side wall 113 of the upper shell 11, and the lower end of the wire groove 111 extends to the bottom end of the side wall 113 of the upper shell 11, and the upper end extends to the upper surface of the top wall 112 of the upper shell 11, so that the upper end of the wire groove 111 is connected to the installation chamber, and the lower end of the wire groove 111 extends to above the partition 121. The PCB board 71 is connected to the Hall element 52 through a wire. Specifically, one end of the wire is connected to the PCB board 71, and the other end passes downward through the wire groove 111 and the preset threading hole on the mounting seat 123 in turn to be connected to the Hall element 52. By providing the wire groove 111 on the side wall 113 of the upper shell 11 , the wires connecting the PCB board 71 and the Hall element 52 are protected, thereby improving the stability of the low-speed end detection.

[0036] The housing 10 further includes an annular base 13, which is located below the lower housing 12. The secondary inner gear ring 41 is clamped between the lower housing 12 and the annular base 13. The lower housing 12, the secondary inner gear ring 41, and the annular base 13 are fixed together by connecting bolts that cross the three. In this way, the secondary inner gear ring 41 is used as a part of the actuator housing 10, which simplifies the structure of the actuator, and at the same time, the outer diameter of the secondary inner gear ring 41 is increased as much as possible, thereby improving the transmission ratio of the secondary planetary reduction mechanism 40.

[0037] The robot joint of the utility model includes the above-mentioned actuator, and other structures of the robot joint are the same as those in the prior art, which will not be described in detail here.

[0038] Although only certain components and embodiments of the present application have been illustrated and described, many modifications and changes may be conceived by those skilled in the art without actually departing from the scope and spirit of the claims, such as changes in the size, dimensions, structure, shape and proportion of the various elements, mounting arrangements, material usage, color, orientation, etc.

[0039] The above-mentioned implementation mode is only a preferred implementation mode of the embodiment of the utility model, and cannot be used to limit the scope of protection of the embodiment of the utility model. Any non-substantial changes and replacements made by technical personnel in this field on the basis of the embodiment of the utility model shall fall within the scope of protection required by the embodiment of the utility model.

Claims

1. An actuator, characterized in that It includes a housing, a motor, a first-stage planetary reduction mechanism, a second-stage planetary reduction mechanism, and a low-speed end detection unit; The primary planetary reduction mechanism comprises a primary inner gear ring fixedly matched with the housing, a primary sun gear connected to the output end of the motor, a primary planet carrier, and a primary planetary gear pivotally connected to the primary planet carrier and meshed between the primary sun gear and the primary inner gear ring; the secondary planetary reduction mechanism comprises a secondary inner gear ring fixedly matched with the housing, a secondary sun gear connected to the primary planet carrier, a secondary planet carrier, and a secondary planetary gear pivotally connected to the secondary planet carrier and meshed between the secondary sun gear and the secondary inner gear ring; A first mounting surface is arranged on the secondary planetary carrier, and a second mounting surface opposite to the first mounting surface is arranged on the shell. Both the first mounting surface and the second mounting surface are perpendicular to the axial direction of the actuator. The low-speed end detection unit includes a magnetic ring fixed on the first mounting surface, and a Hall element mounted on the second mounting surface and matching the magnetic ring.

2. The actuator according to claim 1, characterized in that A partition is provided on the shell, extending radially along the actuator and located above the secondary planetary carrier. A through groove is provided on the partition, and a mounting seat fixedly matched with the partition is embedded in the through groove. The upper end surface of the secondary planetary carrier forms a first mounting surface for mounting the magnetic ring, and the lower surface of the mounting seat forms a second mounting surface for mounting the Hall element. The upper surface of the mounting seat is flush with or lower than the upper side surface of the partition, and the bottom edge of the Hall element is flush with or higher than the lower side surface of the partition.

3. The actuator according to claim 2, characterized in that A downwardly recessed installation recess is arranged on the upper end surface of the secondary planet carrier, the bottom surface of the installation recess forms a first installation surface, and the magnetic ring is embedded in the installation recess.

4. The actuator according to claim 2, characterized in that: The shell includes an upper shell and a lower shell fixedly connected to the upper shell. The partition extends from the top of the lower shell toward the radial inner side of the actuator so that the first-stage planetary reduction mechanism and the second-stage planetary reduction mechanism are respectively placed on the upper and lower sides of the partition. The upper shell surrounds the periphery of the motor and the first-stage planetary reduction mechanism, and the lower shell surrounds the periphery of the second-stage planetary reduction mechanism. The first-stage planetary carrier is pivotally connected to the inner edge of the partition through a bearing.

5. The actuator according to claim 4, characterized in that: The motor includes a rotor located inside the upper shell, a stator located inside the rotor and matching the rotor, a first-stage inner gear ring fixed to the inner edge of the stator, and the rotor and the first-stage sun gear are synchronously connected together through a connecting bracket located above the stator. The connecting bracket is pivotally connected to the first-stage inner gear ring through a bearing, and the lower end of the first-stage inner gear ring is fixed to the upper side of the partition by bolts.

6. The actuator according to claim 5, characterized in that The top wall of the upper shell is located above the connecting bracket. A high-speed end detection unit is arranged between the top wall of the upper shell and the connecting bracket. The high-speed end detection unit includes a high-speed end magnetic ring fixed on the connecting bracket and a high-speed end Hall element fixed on the top wall of the upper shell.

7. The actuator according to claim 6, characterized in that A PCB board is arranged on the top of the upper shell, and the Hall element and the high-speed end Hall element are both connected to the PCB board signal.

8. The actuator according to claim 7, characterized in that An upper cover fixed to the upper shell is arranged above the top wall of the upper shell, and an installation chamber is formed between the upper cover and the top wall of the upper shell. The PCB board is located in the installation chamber. A wire groove is arranged on the side wall of the upper shell, and the lower end of the wire groove extends to the bottom end of the side wall of the upper shell, and the upper end extends to the upper surface of the top wall of the upper shell and is connected to the installation chamber. The PCB board is connected to the Hall element through a wire, one end of the wire is connected to the PCB board, and the other end of the wire passes through the wire groove and the threading hole on the mounting seat from top to bottom in sequence and is connected to the Hall element.

9. The actuator according to claim 4, characterized in that: The shell includes an annular base, which is located below the lower shell. The secondary inner gear ring is clamped between the lower shell and the annular base. The lower shell, the secondary inner gear ring and the annular base are fixed together by connecting bolts that cross the three.

10. A robot joint, characterized in that An actuator comprising any one of claims 1 to 9.

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