Robot multi-actuator integrated control device and robot

Abstract

The utility model relates to the technical field of robot control, in particular to a robot multi-actuator integrated control device and a robot. Comprising a plurality of actuators, and each actuator comprises a power output mechanism and an encoder rotor which are connected with each other; the integrated control driving module is formed by integrating the plurality of driving circuit boards, the input end of each driving circuit board is connected with the corresponding encoder rotor, and the output end of each driving circuit board is connected with the corresponding power output mechanism. The driving circuit boards of the power output mechanisms of the multiple actuators can be integrated to obtain the integrated control driving module, integrated control over the multiple actuators is achieved, the integration degree of the hand actuator control module is improved, and the size of the hand of the robot is reduced; the weight of the robot hand is reduced, the inertia of the robot hand in the moving process is reduced, and the control precision of the hand is improved; wiring of the hands of the robot is reduced, the safety is higher when the hands of the robot make contact with water, and the situation of electric leakage and short circuit is avoided.

Description

Technical Field

[0001] The present disclosure relates to the field of robot control technology, and in particular to a robot multi-actuator integrated control device and a robot. Background Art

[0002] Actuators are the most crucial component of a complete automated control system. They receive signals from the controller and apply control and drive to the controlled object, effectively executing the actual movement. The actuator's structure also affects the robot's overall size and flexibility. Therefore, with the development of the robotics industry, higher demands are being placed on the compactness of the actuator and its control system. This is particularly true for humanoid robots, where finger space is limited. Therefore, the finger joints of humanoid robots require more compact motors capable of high force output. Existing dexterous hands typically include multiple actuators, each consisting of a motor, an actuator output shaft, and an encoder, with the motor being the core component. A typical dexterous hand is controlled by 12 actuators, resulting in 12 degrees of freedom. The pinky, ring, and index fingers each have two degrees of freedom, the middle finger has one, the thumb has three, and the wrist has two. Since each degree of freedom is controlled by one actuator, a total of 12 actuators are required to control a single robotic hand.

[0003] In the prior art, multiple actuators for controlling a robot hand are usually arranged on each finger or palm, which may lead to the following problems: First, each actuator occupies a large amount of space in the hand, resulting in the robot hand being large, bloated and not aesthetically pleasing, causing the robot fingers to be less flexible and limited when gripping objects; Second, the heavy weight of the hand may cause the robot hand to have greater inertia during movement and insufficient control accuracy, which may lead to an unstable control system and difficulty in achieving the expected motion trajectory or position control; Third, the actuators are arranged separately on the palm or fingers, and the actuator control module needs to be connected to the actuators of the hand through cables, which will also increase the wiring of the robot hand and make the hand structure complex. If the cables are not arranged properly, space will be wasted, affecting the overall appearance of the robot. Even during movement, the robot hand may be easily torn off due to frequent pulling of the cables of the actuators, causing the robot to fail to work normally; In addition, due to the arrangement of cables, the hand is prone to the risk of leakage and short circuit when performing actions that come into contact with water. Summary of the Invention

[0004] The present disclosure provides a robot multi-actuator integrated control device and a robot.

[0005] According to one aspect of the present disclosure, a robot multi-actuator integrated control device is provided, comprising a plurality of actuators, each actuator including a power output mechanism and an encoder rotor connected to each other, the robot multi-actuator integrated control device further comprising:

[0006] An integrated control drive module is obtained by integrating multiple drive circuit boards, wherein the input end of each drive circuit board is connected to the corresponding encoder rotor, and the output end of each drive circuit board is connected to the corresponding power output mechanism.

[0007] Optionally, each of the power output mechanisms includes a motor and an actuator output shaft; wherein the actuator output shaft is arranged in the motor, or is arranged independently of the motor.

[0008] Optionally, the robot multi-actuator integrated control device further includes:

[0009] The first fixing member is used to fix the plurality of power output mechanisms.

[0010] Optionally, a plurality of grooves are provided on the first fixing member, and each groove is used to fix one of the power output mechanisms.

[0011] Optionally, each of the power output mechanisms includes a motor and an actuator output shaft; each of the grooves is provided with a first sub-groove for fixing the motor, and a second sub-groove for fixing the corresponding actuator output shaft.

[0012] Optionally, the robot multi-actuator integrated control device further includes:

[0013] The second fixing member, the first fixing member and the second fixing member are connected to each other to form a plurality of accommodating spaces for fixing the power output mechanism.

[0014] Optionally, the second fixing member is provided with a plurality of through holes corresponding one-to-one to the grooves.

[0015] Optionally, each of the power output mechanisms includes a motor and an actuator output shaft; each of the through holes includes a first through hole adapted to the motor, and a second through hole adapted to the actuator output shaft.

[0016] Optionally, each encoder rotor is connected to the corresponding output shaft of the motor or the actuator.

[0017] Optionally, each of the driving circuit boards includes:

[0018] A motor control and communication module and a power supply module, each of the motor control and communication modules is connected to the corresponding power supply module, and each of the motor control and communication modules is connected to the corresponding power output mechanism.

[0019] Optionally, each of the motor control and communication modules includes:

[0020] Motor control processor, network communication processor, physical layer chip, download connector, signal acquisition unit, driver chip.

[0021] Optionally, each of the power output mechanisms further includes:

[0022] Multiple transmission mechanisms, multiple motors and multiple actuator output shafts are connected through corresponding transmission mechanisms, and the motors drive the actuator output shafts to rotate through the corresponding transmission mechanisms.

[0023] According to another aspect of the present disclosure, a robot is provided, comprising the robot multi-actuator integrated control device according to any one of the above technical solutions.

[0024] In response to the technical problems of the prior art in which the actuators of a robot hand are distributed on the palm or fingers of the robot, each actuator occupies a large amount of space in the hand, resulting in a large, bloated, and unsightly robot hand. The robot fingers are not flexible enough, the heavy weight of the hand causes large inertia during movement of the robot hand, insufficient control precision, and complex wiring of the robot hand. The present disclosure provides a robot multi-actuator integrated control device and robot, which integrates multiple actuators for controlling the robot on a single module, improves the integration of the robot hand actuators, and facilitates overall installation on the robot's forearm structure or other parts of the robot. It is suitable for humanoid robot hands and other robot applications with limited space and requiring large torque output. It avoids the need for multiple actuators to be distributed on each finger of the robot, reduces the size of the robot hand, and thus improves the flexibility and aesthetics of the robot fingers. At the same time, it also reduces the weight of the robot hand, reduces the inertia during movement of the robot hand, and improves the control precision of the hand. In addition, it reduces the wiring of the robot hand, reduces the difficulty of cable layout, optimizes the hand space, has a simpler structure, reduces cost, and has higher control stability, while also avoiding the risk of leakage and short circuit.

[0025] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings are provided to facilitate a better understanding of the present invention and do not constitute a limitation of the present disclosure.

[0027] Figure 1 is an exploded structural diagram of a robot multi-actuator integrated control device in an embodiment of the present disclosure;

[0028] Figure 2 is a top view of a robot multi-actuator integrated control device in an embodiment of the present disclosure;

[0029] Figure 3 is a cross-sectional view of a robot multi-actuator integrated control device in an embodiment of the present disclosure;

[0030] Figure 4 is a circuit structure diagram of the integrated control drive module in an embodiment of the present disclosure;

[0031] Figure 5 2 is a circuit diagram of the motor control and communication module in an embodiment of the present disclosure.

[0032] The accompanying drawings in the specific implementation manner are as follows:

[0033] Power output mechanism 1; motor 101; actuator output shaft 102; transmission mechanism 103; encoder rotor 2; integrated control drive module 3; motor control and communication module 301; motor control processor 301a; network communication processor 301b; physical layer chip 301c; download connector 301d; signal acquisition unit 301e; driver chip 301f; power module 302; first fixing member 4; groove 401; first sub-groove 401a; second sub-groove 401b; second fixing member 5; through hole 501; first through hole 501a; second through hole 501b. DETAILED DESCRIPTION

[0034] The following description of exemplary embodiments of the present disclosure is made in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding. These details should be considered as merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0035] All technical terms used in this document have the same meanings as those commonly understood by technicians in the technical field of this application; the terms used in this document are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0036] In the description of the embodiments of the present application, the term "at least one" refers to one or more, and "a plurality of" refers to two or more (including two).

[0037] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0038] In view of the technical problems that the actuators of the robot hand in the prior art are distributed on the palm or fingers of the robot, and each actuator occupies a large amount of space in the hand, resulting in the robot hand being large, bloated and not aesthetically pleasing, and the robot fingers being not flexible enough; the large inertia of the robot hand during movement due to the large weight of the hand, and insufficient control accuracy, may cause the control system to be unstable and difficult to achieve the expected motion trajectory or position control; and the existing structure has complex wiring and high difficulty in arranging cables. If the cables cannot be arranged reasonably, it will not only cause space waste and affect the overall appearance of the robot, but even during the movement of the robot hand, the cables of the actuators may be frequently pulled, which may easily cause the cables of the hand to be broken, resulting in the robot being unable to work normally, etc., the present disclosure provides a robot multi-actuator integrated control device, such as Figure 1 As shown, it includes multiple actuators, each actuator includes a power output mechanism 1 and an encoder rotor 2 connected to each other, and the robot multi-actuator integrated control device also includes:

[0039] An integrated control drive module 3 is obtained by integrating multiple drive circuit boards, wherein the input end of each drive circuit board is connected to the corresponding encoder rotor 2 , and the output end of each drive circuit board is connected to the corresponding power output mechanism 1 .

[0040] Specifically, the input end (Input) of the driver circuit board refers to a terminal that can receive external signals. In the driver circuit board, the input end is generally used to receive control signals, which can be instructions from a microcontroller, sensor or other external device. Common input signals include power signals (such as VDD, GND), control signals (such as DIR, BRAKE, PWM, etc.), which are used to control the rotation direction, braking and speed of the motor. In this embodiment, the input end of the driver circuit board is connected to the encoder rotor 2, which is used to collect the rotation angle signal of the power output mechanism 1.

[0041] The output terminals of a driver circuit board are terminals that can output signals to the outside world. In a driver circuit board, these terminals are typically used to provide drive signals to a motor or other load device. Common output signals include OUT1 and OUT2, which are connected to the two ends of a motor load to drive the motor.

[0042] The present disclosure provides a more integrated solution for the control system of multi-actuators of robots, wherein multi-actuators include two or more actuators. Taking the dexterous hand of a humanoid robot as an example, the dexterous hand of a robot usually includes 12 actuators. Figure 1 As shown, each actuator includes a corresponding power output mechanism 1. The driver circuit boards of the power output mechanisms 1 of multiple actuators can be integrated into the same integrated control drive module 3. The encoder rotor 2 rotates under the power output mechanism 1. The corresponding driver circuit board on the integrated control drive module 3 collects the rotation angle of the encoder rotor 2, and then controls the rotation of the actuator's power output mechanism 1 based on the collected rotation angle, achieving integrated control of multiple actuators. The integrated control drive module 3 in this embodiment can integrate multiple driver circuit boards on the same printed circuit board, or it can be multiple independent driver circuit boards connected together. The present disclosure aims to integrate multiple driver circuit boards in the same space to form an integrated control drive module, rather than distributing them across various parts of the robot, thereby improving the integration of robot actuators. Taking a dexterous robot hand containing 12 actuators as an example, six actuators can be integrated together to form a minimum integrated unit, which can be composed of two minimum integrated units. By integrating the driver circuit boards and power output mechanisms of multiple actuators, it is convenient to install the entire unit on the robot's forearm structure or other parts of the robot, avoiding the distribution of multiple actuators across the robot's fingers and improving the integration of the robot hand.

[0043] The present invention improves the integration of the hand actuator and reduces the volume of the robot hand, thereby improving the flexibility and aesthetics of the robot fingers; at the same time, it also reduces the weight of the robot hand, reduces the inertia of the robot hand during movement, and improves the control accuracy of the hand, so that the robot hand can more accurately complete the expected motion trajectory or position control; in addition, it also reduces the routing of the robot hand, reduces the difficulty of cable arrangement, optimizes the hand space, has a simpler structure, and lowers the cost, and the robot hand is safer when performing water-contact actions, avoiding leakage and short circuit situations.

[0044] It's important to note that the multi-actuator integrated control device for robots disclosed herein is applicable not only to humanoid robot hands but also to other robotic applications where space is limited and high torque output is required, such as integrated control of multiple toe joint actuators in robotic feet. By integrating multiple actuators with the controller, assembly of multi-actuator modules is simplified, installation is simplified, and cables are smaller, optimizing routing.

[0045] As an optional embodiment, each power output mechanism 1 includes a motor 101 and an actuator output shaft 102 ; wherein the actuator output shaft 102 is arranged in the motor 101 , or is arranged independently of the motor 101 .

[0046] like Figure 1 As shown in , taking a robot dexterous hand containing 12 actuators as an example, the 12 actuators are integrated into two minimum integrated units, as shown in Figure 2 As shown, each minimum integrated unit includes six motors 1a, 1b, 1c, 1d, 1e, and 1f, and six actuator output shafts 2a, 2b, 2c, 2d, 2e, and 2f. The actuator output shaft 102 in this embodiment can be set independently of the motor 101, and the two rotate around different rotation axes; the actuator output shaft 102 can also be set in the housing of the motor 101, and the two rotate around the same rotation axis.

[0047] As an optional implementation, Figure 1 As shown, the robot multi-actuator integrated control device also includes:

[0048] The first fixing member 4 is used to fix the multiple power output mechanisms 1 .

[0049] Specifically, in this embodiment, the power output mechanisms 1 of all the actuators of the robot hand are fixed together by the first fixing member 4, and the 12 actuators of the hand are integrated into two smallest integrated units. Compared with installing each actuator on each finger separately, installing the two integrated units on the forearm structure is simpler and simplifies the structure of the robot hand.

[0050] As an optional implementation, Figure 1 As shown, the first fixing member 4 is provided with a plurality of grooves 401 , and each groove 401 is used to fix a power output mechanism 1 .

[0051] Specifically, in this embodiment, the power take-off mechanism 1 is secured by a plurality of grooves 401. The shape and size of the grooves 401 are adapted to the power take-off mechanism 1, eliminating the need for screws or other components for securing. This reduces assembly time, improves assembly efficiency, and occupies less space. It should be noted that securing the power take-off mechanism 1 via grooves is only one embodiment; other methods such as screws, clips, and welding may also be used.

[0052] As an optional implementation, Figure 1 As shown, each power output mechanism 1 includes a motor 101 and an actuator output shaft 102 ; each groove 401 is provided with a first sub-groove 401 a for fixing the motor 101 , and a second sub-groove 401 b for fixing the corresponding actuator output shaft 102 .

[0053] Specifically, if Figure 3 As shown, the shape and size of the first sub-groove 401a are adapted to the motor 101, and the motor 101 is engaged in the first sub-groove 401a. The shape and size of the second sub-groove 401b are adapted to the actuator output shaft 102, and the actuator output shaft 102 is engaged in the second sub-groove 401b.

[0054] As an optional implementation, Figure 1 As shown, the robot multi-actuator integrated control device also includes:

[0055] The second fixing member 5 , the first fixing member 4 and the second fixing member 5 are connected to each other to form a plurality of accommodating spaces for fixing the power output mechanism 1 .

[0056] Specifically, the second fixing member 5 is disposed on the side of the first fixing member 4 where the groove 401 is provided. The second fixing member 5 acts as a cover for the first fixing member 4. The second fixing member 5 is used to press the multiple motors 101 and the multiple actuator output shafts 102 into the corresponding grooves 401 of the first fixing member 4. The first fixing member 4 and the second fixing member 5 cooperate to form a plurality of accommodating spaces for accommodating the power output mechanism 1, resulting in a more compact structure and reduced space occupation.

[0057] As an optional implementation, Figure 1 As shown, each power output mechanism 1 includes a motor 101 and an actuator output shaft 102; the second fixing member 5 is provided with a plurality of through holes 501 corresponding one-to-one to the grooves 401, and each through hole 501 includes a first through hole 501a adapted to the motor 101, and a second through hole 501b adapted to the actuator output shaft 102.

[0058] Specifically, during operation of the actuator, the motor 101 drives the actuator output shaft 102 to rotate, and a space for the power supply motor 101 and the actuator output shaft 102 to rotate is formed above the through hole 501 .

[0059] As an optional implementation, Figure 1 As shown, each encoder rotor 2 is connected to a corresponding motor 101 or actuator output shaft 102. The corresponding drive circuit board on the integrated control drive module 3 collects the rotation angle signal of the encoder rotor 2 and controls and drives the motor 101 to rotate according to the rotation angle signal.

[0060] The motor 101 and actuator output shaft 102 are embedded in the first fixing member 4. The first fixing member 4 is used in conjunction with the second fixing member 5 to completely press-fit the motor 101, actuator output shaft 102 and other components into the first fixing member 4. An encoder rotor 2 is installed at the corresponding position of each motor 101 or actuator output shaft 102. The encoder rotor 2 rotates synchronously with the rotation of the motor 101 or actuator output shaft 102 and is used to measure the motor rotor position.

[0061] As an optional implementation, Figure 4 As shown, each driver circuit board includes:

[0062] The motor control and communication module 301 and the power supply module 302 are connected to the corresponding power supply module 302 , and each motor control and communication module 301 is connected to the corresponding power output mechanism 1 .

[0063] Specifically, each motor control and communication module 301 is connected to the three-phase line of the corresponding motor 101 to drive and control the operation of the motor 101. Multiple motor control and communication modules 301 are connected to each other through a switch. Each motor 101 is controlled by a corresponding motor control and communication module 301, and each motor control and communication module 301 is powered by a power supply module 302. This distributed control method can achieve decoupled control of multiple actuators, reducing the complexity of multi-actuator control. In this embodiment, Ethernet communication can be used between multiple actuators, which can increase the communication rate.

[0064] As an optional implementation, Figure 5 As shown, the motor control and communication module 301 includes:

[0065] Motor control processor 301a, network communication processor 301b, physical layer chip 301c, download connector 301d, signal acquisition unit 301e, and driver chip 301f.

[0066] like Figure 5As shown, in this embodiment, a 5V DC power supply is used to power the download connector 301d; a 3.3V DC power supply is used to power the network communication processor 301b and the motor control processor 301a. The download connector 301d is powered via serial communication to enable communication with the network communication processor 301b and the motor control processor 301a, as well as program download and maintenance. Bidirectional data transmission is achieved between the network communication processor 301b and the motor control processor 301a via CAN / serial communication. Based on bus control information and peripheral signals transmitted from the network communication processor 301b, the motor controller processor 301a generates specific drive signals to the driver chip 301f (gate drive IC and power devices), which then act on the motor's three-phase lines to control the motor 101. The physical layer chip (PHY chip, serving as an external signal interface) 301c is used to parse and convert Ethernet information, enabling bidirectional data transmission between the network communication processor 301b and the switch.

[0067] As an optional implementation, Figure 1 As shown, the power output mechanism 1 of each actuator also includes:

[0068] Multiple transmission mechanisms 103 , multiple motors 101 and multiple actuator output shafts 102 are connected through corresponding transmission mechanisms 103 , and the motors 101 drive the actuator output shafts 102 to rotate through corresponding transmission mechanisms 103 .

[0069] Specifically, the transmission mechanism 103 can be a transmission belt or a transmission gear. Figure 1 As shown, the multi-actuator integrated control system in this embodiment includes six motors 101 and six actuator output shafts 102. Each motor 101 and each actuator output shaft 102 are arranged in pairs, and each motor 101 and its corresponding actuator output shaft 102 are connected via a transmission mechanism 103. The rotation of the motor 101 drives the transmission mechanism 103, which in turn drives the actuator output shaft 102. The transmission mechanism 103 converts the high-speed, low-torque output characteristics of the motor 101 into the low-speed, high-torque characteristics of the actuator output shaft. This also achieves a separate design for the motor 101 and actuator output shaft 102, facilitating a more compact structure and optimizing space layout. The encoder rotor 2 can be connected to the motor 101 or the actuator output shaft 102, rotating under the drive of the motor 101 or the actuator output shaft 102, achieving synchronous rotation with the motor and used to measure the motor's rotor position.

[0070] As an optional implementation, the motor 101 in the above embodiment can adopt a high-speed flat brushless motor. Since the high-speed flat brushless motor is small in size and has a large output torque, the overall volume of the multi-actuator integrated control device is reduced. The use of a high-speed flat brushless motor can improve the power density of the multi-actuator integrated control system and reduce its volume.

[0071] The present disclosure also provides a robot, including the robot multi-actuator integrated control device according to any one of the above embodiments. Figure 1 The illustrated integrated control drive module 3 integrates the driver circuit boards of the power output mechanisms 1 of multiple actuators onto the same integrated control drive module 3. Driven by the power output mechanism 1, the encoder rotor 2 rotates. The corresponding driver circuit board on the integrated control drive module 3 acquires the rotation angle of the encoder rotor 2, thereby controlling the rotation of the actuator's power output mechanism 1 based on the acquired rotation angle, achieving integrated control of multiple actuators. Integrating multiple actuators improves the integration of the hand actuators and reduces the size of the robot hand, thereby enhancing the flexibility and aesthetics of the robot's fingers. This also reduces the weight of the robot hand, reduces the inertia during movement, and improves the control accuracy of the hand, allowing the robot hand to more accurately complete the desired motion trajectory or position control. Furthermore, this eliminates wiring in the robot hand, easing cable routing and optimizing hand space. This results in a simpler structure and lower costs. Furthermore, the robot hand is safer when performing water-contact actions, avoiding leakage and short circuits.

[0072] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved. This is not limited herein.

[0073] The above specific embodiments do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the scope of protection of this disclosure.

Claims

1. A robot multi-actuator integrated control device, comprising a plurality of actuators, each of the actuators comprising a power output mechanism (1) and an encoder rotor (2) connected to each other, characterized in that: The robot multi-actuator integrated control device also includes: An integrated control drive module (3) is obtained by integrating a plurality of drive circuit boards, wherein the input end of each drive circuit board is connected to the corresponding encoder rotor (2), and the output end of each drive circuit board is connected to the corresponding power output mechanism (1).

2. The robot multi-actuator integrated control device according to claim 1, characterized in that: Each of the power output mechanisms comprises a motor (101) and an actuator output shaft (102); wherein the actuator output shaft (102) is arranged in the motor (101) or is arranged independently of the motor (101).

3. The robot multi-actuator integrated control device according to claim 1, characterized in that: The robot multi-actuator integrated control device also includes: The first fixing member (4) is used for fixing the plurality of power output mechanisms (1).

4. The robot multi-actuator integrated control device according to claim 3, characterized in that: The first fixing member (4) is provided with a plurality of grooves (401), and each groove (401) is used to fix one of the power output mechanisms (1).

5. The robot multi-actuator integrated control device according to claim 4, characterized in that: Each of the power output mechanisms (1) comprises a motor (101) and an actuator output shaft (102); each of the grooves (401) is provided with a first sub-groove (401a) for fixing the motor (101), and a second sub-groove (401b) for fixing the corresponding actuator output shaft (102).

6. The robot multi-actuator integrated control device according to any one of claims 3 to 5, characterized in that: The robot multi-actuator integrated control device also includes: A second fixing member (5), the first fixing member (4) and the second fixing member (5) are connected to each other to form a plurality of accommodating spaces for fixing the power output mechanism (1).

7. The robot multi-actuator integrated control device according to claim 6, characterized in that: The second fixing member (5) is provided with a plurality of through holes (501) corresponding one-to-one to the grooves (401).

8. The robot multi-actuator integrated control device according to claim 7, characterized in that: Each of the power output mechanisms (1) includes a motor (101) and an actuator output shaft (102); each of the through holes (501) includes a first through hole (501a) adapted to the motor (101) and a second through hole (501b) adapted to the actuator output shaft (102).

9. The robot multi-actuator integrated control device according to claim 2, characterized in that: Each encoder rotor (2) is connected to the corresponding motor (101) or the actuator output shaft (102).

10. The robot multi-actuator integrated control device according to claim 1, characterized in that: Each of the driving circuit boards comprises: A motor control and communication module (301) and a power supply module (302), each of the motor control and communication modules (301) is connected to a corresponding power supply module (302), and each of the motor control and communication modules (301) is connected to a corresponding power output mechanism (1).

11. The robot multi-actuator integrated control device according to claim 10, characterized in that: Each of the motor control and communication modules (301) comprises: Motor control processor (301a), network communication processor (301b), physical layer chip (301c), download connector (301d), signal acquisition unit (301e), and driver chip (301f).

12. The robot multi-actuator integrated control device according to any one of claims 1 to 5, characterized in that: Each of the power output mechanisms (1) further comprises: A plurality of transmission mechanisms (103), a plurality of motors (101) and a plurality of actuator output shafts (102) are connected via corresponding transmission mechanisms (103), and the motors (101) drive the actuator output shafts (102) to rotate via corresponding transmission mechanisms (103).

13. A robot, characterized in that: A robot multi-actuator integrated control device comprising the device described in any one of claims 1 to 12.

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