Actuator, joint module, mechanical arm and robot

Abstract

The utility model relates to the technical field of robots, and discloses an actuator, a joint module, a mechanical arm and a robot. Wherein the actuator mainly comprises a speed reducer, a baffle ring and a hollow transmission shaft, an output flange of the speed reducer is fixedly connected with an extension part of the baffle ring, and then the output flange is nested and fixed with a fixed end of the hollow transmission shaft through an assembly groove body on the baffle ring. The requirements for machining and assembling of parts are reduced, and the requirements for the production cost and the production yield are effectively met.

Description

Technical Field

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

[0002] In robotics, actuators are often used to provide driving force for the robot's various motion structures, enabling the robot to complete predetermined movements. The motor and reducer are the two main components of the actuator. The motor is used as the driving element to provide power, and the reducer's input is connected to the motor's rotor. The reducer acts as a power transmission mechanism to decelerate or increase the torque output of the motor. By connecting the robot's driven components to the reducer's output, the robot's movements are driven. The position of the actuator's output flange needs to be accurately collected, typically through data monitoring using an encoder disk. The encoder disk is divided into one directly connected to the motor rotor and one on the low-speed shaft fixedly connected to the planetary reducer's output flange.

[0003] In the prior art, since the low-speed shaft needs to rotate synchronously with the output flange, the two are usually fixed relatively together to achieve synchronous rotation. For example, in the published patent CN202311292733.2, one end of the low-speed shaft is set as a stopper that is interference-fitted with the output flange, wherein the low-speed shaft and the stopper are integrally formed. This integrally formed shaft requires a customized processing method, such as grinding after subtractive processing of thick plate, or integral casting and then grinding. Due to the axial extension structure of the stopper, for example, a large amount of subtractive work is required during the subtractive processing of the plate, which not only consumes a large amount of material and has high production costs but also takes a long time to process. Utility Model Content

[0004] The present application provides an actuator, a joint module, a robotic arm and a robot, which aim to solve the problem that the design of the hollow transmission shaft structure in the existing actuator cannot take into account the requirements of production cost and production yield.

[0005] In one embodiment, an actuator is provided, which mainly includes a reducer, a retaining ring and a hollow transmission shaft, wherein the reducer includes an output flange; wherein the retaining ring is provided with a roughly hollow annular assembly groove body, and an extension portion extending radially outward along the assembly groove body, and the output flange is fixedly connected to the extension portion; the hollow transmission shaft includes a fixed end, which is nested and fixed inside the assembly groove body.

[0006] In one embodiment, the assembly groove includes a retaining ring, which is arranged at an opening of the assembly groove on one side adjacent to the extension portion, and the retaining ring axially limits the hollow transmission shaft.

[0007] In one embodiment, the reducer further includes a planetary gear and a sun gear that are meshed with each other, the planetary gear is transmission-connected to the output flange, a first bearing is arranged between the sun gear and the output flange, the inner side surface of the inner ring of the first bearing abuts against the outer side surface of the sun gear, the outer side surface of the outer ring of the first bearing abuts against the inner side surface of the output flange, and the extension portion is connected to the outside of the side of the output flange facing away from the planetary gear.

[0008] In one embodiment, the retaining ring includes a support portion provided on the extension portion, the support portion protrudes toward the first bearing and is generally hollow and annular, the support portion is provided around the assembly groove and abuts against the outer axial end face of the outer ring of the first bearing.

[0009] In one solution, the extended portion is configured with a support portion, which is substantially in the shape of a hollow ring and abuts against the outer axial end surface of the first bearing outer ring.

[0010] In one solution, the outer ring of the first bearing at least partially overlaps with the support portion in axial projection, and the radial thickness of the support portion is substantially the same as the radial thickness of the outer ring of the first bearing.

[0011] In one embodiment, a first gap is provided between the extension portion and the end surface of the sun gear, a second gap is provided between the assembly groove and the radial inner side of the sun gear, and the first gap is communicated with the second gap.

[0012] In one embodiment, the extension portion is provided with a plurality of second assembly holes, and the output flange is correspondingly provided with a plurality of first assembly holes. Each second assembly hole is aligned one by one with each first assembly hole and is fastened to each other with fasteners. The extension directions of the second assembly holes and the first assembly holes are parallel to the rotation axis direction of the hollow transmission shaft.

[0013] In one embodiment, the actuator further includes an encoding adapter disk, which is provided with a mounting cavity that is roughly hollow and annular. An assembly end is provided at one end of the hollow transmission shaft away from the fixed end. A bearing seat is constructed between the assembly end and the mounting cavity, and a second bearing is provided in the bearing seat.

[0014] In one embodiment, the hollow transmission shaft includes a main shaft body, which is located between an assembly end and a fixed end. The diameter of the assembly end is smaller than that of the main shaft body, and a limiting end surface of the second bearing is formed between the assembly end and the main shaft body.

[0015] In one embodiment, the actuator further comprises: a first encoding disc, a side of the assembly end away from the fixed end is provided with a mounting portion, and the first encoding disc is fixed on the mounting portion.

[0016] In one solution, the assembly groove body and the fixed end of the hollow transmission shaft are bonded and fixed, or the assembly groove body and the fixed end of the hollow transmission shaft are interference fit.

[0017] In one embodiment, a joint module is provided, comprising the actuator as described above.

[0018] In one embodiment, a robotic arm is provided, wherein at least one driven joint adopts the joint module as described above, or the actuator as described above.

[0019] In one embodiment, a robot is provided, wherein at least one driven joint adopts the joint module as described above, or the actuator as described above.

[0020] Beneficial effects of this application:

[0021] In an actuator, joint module, robotic arm and robot of the present application, the output flange of the reducer is fixedly connected to the extension of the retaining ring, and then the assembly groove on the retaining ring is nested and fixed with the fixed end of the hollow transmission shaft. The hollow transmission shaft synchronizes the rotation position of the output flange to one side of the drive circuit of the joint module without the need for output torque. The retaining ring and the hollow transmission shaft are prepared separately and assembled as one, so that the rotation position of the output flange can be accurately synchronized to the other side. The retaining ring and the hollow transmission shaft prepared separately can be prepared separately using traditional processing methods, and no longer need to adopt customized processing methods, which can effectively reduce processing costs while still ensuring the functional realization of the components. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0023] Figure 1 is a partial cross-sectional schematic diagram of an actuator in one embodiment of the present application;

[0024] Figure 2 is a partially exploded schematic diagram of an actuator in a cross-sectional state in one embodiment of the present application;

[0025] Figure 3 is a schematic cross-sectional view of an actuator in one embodiment of the present application;

[0026] Figure 4 is a partially exploded schematic diagram of an actuator in an embodiment of the present application when viewed from above;

[0027] Figure 5 is an exploded schematic diagram of an actuator in a cross-sectional state in one embodiment of the present application;

[0028] Figure 6 is a schematic cross-sectional view of an actuator in one embodiment of the present application;

[0029] Figure 7 yes Figure 6 Enlarged schematic diagram of the actuator at A;

[0030] Figure 8 1 is a schematic diagram of the three-dimensional structure of the hollow transmission shaft of the actuator in one embodiment of the present application;

[0031] Figure 9 1 is a schematic diagram of the three-dimensional structure of the middle retaining ring of the actuator in one embodiment of the present application;

[0032] Figure 10 yes Figure 9 A schematic cross-sectional view of a retaining ring;

[0033] Figure 11 This is a schematic diagram of the three-dimensional structure of the output flange in one embodiment of the present application;

[0034] Figure 12 This is a schematic diagram of the three-dimensional structure of a robot in one embodiment of the present application;

[0035] Figure 13 This is a schematic diagram of the three-dimensional structure of another robot in one embodiment of the present application;

[0036] Figure 14 This is a schematic diagram of the three-dimensional structure of another robot in one embodiment of the present application;

[0037] Figure 15 It is a three-dimensional structural diagram of a robotic arm structure in one embodiment of the present application.

[0038] Reference numerals in the figures:

[0039] 1. Reducer; 11. Output flange; 111. First assembly hole; 12. Planetary gear; 13. Sun gear; 14. First bearing; 15. Planet carrier;

[0040] 2. retaining ring; 21. assembly groove; 211. retaining ring; 22. extension portion; 221. second assembly hole; 23. support portion;

[0041] 3. Hollow transmission shaft; 31. Fixed end; 32. Assembly end; 33. Main shaft body; 34. Limit end surface; 35. Mounting portion; 36. First encoder disk;

[0042] 4. First gap; 5. Second gap;

[0043] 6. Encoding adapter plate; 61. Mounting cavity; 62. Second encoding plate;

[0044] 7. Second bearing; 8. Motor; 81. Stator; 82. Rotor;

[0045] 91. Drive plate; 92. Upper housing; 93. Side housing; 94. Bottom housing; 95. Third bearing; 96. Fourth bearing;

[0046] 1000. Joint module. DETAILED DESCRIPTION

[0047] The specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application, but are not intended to limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application and not all embodiments. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0048] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention 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 should not be understood as a limitation to the present invention.

[0049] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this utility model, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0050] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0051] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0052] In the present invention, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0053] In this utility model, the concept of "generally" describes the main characteristics of an overall structure or shape. When describing the shape of an object, this means that the object primarily exhibits a specific shape, but may vary in non-functional details. These detailed differences do not affect the overall characteristics and can therefore be classified as "generally" a certain shape. For example, when describing a round object, the expression "generally round" means that the object's overall shape is round, but there are differences in certain non-functional details. Similarly, when describing a cube, the expression "generally cubic" means that the object's overall shape is cubic, but there are differences in certain non-functional details.

[0054] In one embodiment, see Figures 1 to 10 , provides an actuator, which mainly includes: a reducer 1, a retaining ring 2, and a hollow transmission shaft 3. The reducer 1 includes an output flange 11, wherein the retaining ring 2 is provided with a generally hollow annular assembly groove 21 and an extension portion 22 extending radially outward from the assembly groove 21, and the output flange 11 is fixedly connected to the extension portion 22; the hollow transmission shaft 3 includes a fixed end 31, which is nested and fixed inside the assembly groove 21.

[0055] By applying the design in the above embodiment, a unique connection mechanism is used to optimize the connection between the hollow transmission shaft 3 and the output flange 11 of the reducer 1. Specifically, the output flange 11 of the reducer 1 is fixedly connected to the extension 22 of the retaining ring 2, and the assembly groove 21 on the retaining ring 2 is nested and fixed with the fixed end 31 of the hollow transmission shaft 3. The hollow transmission shaft 3 synchronizes the rotational position of the output flange 11 to one side of the drive plate 91 of the joint module 1000 without the need for output torque. The retaining ring 2 and the hollow transmission shaft 3, which are prepared separately and assembled as one, can accurately synchronize the rotational position of the output flange 11 to the other side, thereby bringing a series of advantages. The retaining ring 2 and the hollow transmission shaft 3 prepared separately can be prepared separately using traditional processing methods, and no longer need to adopt customized processing methods, such as cutting and grinding thick plates. The use of such a new structure can effectively reduce processing costs while still ensuring the functional realization of the components.

[0056] In one embodiment, please refer to Figure 11 The output flange 11 and the planet carrier 15 are an integral structure. The output flange 11 is a disc-shaped component located at the output end of the planet carrier 15. The planet carrier 15 can be the final planet carrier of the reducer 1. The output flange 11 is provided with multiple sets of assembly holes on the flange-shaped disc component for transmission connection and assembly and fixation.

[0057] In one embodiment, see Figures 1 to 10 The assembly groove 21 includes a retaining ring 211, which is arranged at an opening on one side of the assembly groove 21 adjacent to the extension portion 22. The retaining ring 211 axially limits the hollow transmission shaft 3. (See Figure 5 as well as Figure 8 (As shown in the figure), the inner side of the assembly groove body 21 constitutes an annular radial wall, which is mainly used to increase the bonding degree between the assembly groove body 21 and the fixed end 31. It is not only the basis for the connection between the retaining ring 2 and the hollow transmission shaft 3, but also a key structure to ensure stable cooperation between the two.

[0058] The assembly groove body 21 may be cylindrical, and the corresponding fixed end 31 may be configured to be cylindrical, so that the hollow transmission shaft 3 can be accurately installed by coaxially matching the two.

[0059] The retaining ring 211 is located on the inner side of the assembly groove 21 and at the opening on the side close to the output end of the reducer 1. The retaining ring 211 is set to limit the rotation axis direction of the hollow transmission shaft 3, providing an accurate installation reference to ensure its correct positioning inside the reducer 1.

[0060] In addition, the presence of the retaining ring 211 can also protect the hollow transmission shaft 3 from external impact or vibration to a certain extent, further enhancing the stability and reliability of the system.

[0061] This clever design not only ensures a reliable connection between the hollow transmission shaft 3 and the retaining ring 2, but also provides the necessary limiting support for the hollow transmission shaft 3. It not only reduces unnecessary friction and wear between the hollow transmission shaft 3 and other components, thus extending the service life of the robotic arm or robot, but also simplifies the assembly process, reduces assembly difficulty, and improves production efficiency. At the same time, this design is also convenient for later maintenance work.

[0062] The retaining ring 211 is formed by subtractive processing. The side away from the reducer 1 is flat, and the radial dimension of the side facing the inside of the reducer 1 gradually decreases in the direction away from the inside of the reducer 1. Specifically, it can be arranged in an arc-shaped structure. This can provide structural strength at the position of the retaining ring 211, while taking into account reducing the actual volume of the material, which helps to reduce weight.

[0063] The fixed end 31 of the hollow transmission shaft 3 is provided with a chamfer to facilitate insertion into the inner side of the assembly groove 21 for assisting assembly. At the same time, the matching setting of the hollow transmission shaft 3 and the assembly groove 21 forms an effective sealing effect, preventing external foreign matter or impurities such as dust and moisture from entering the interior of the actuator.

[0064] In one embodiment, see Figures 1 to 6 The reducer 1 also includes a planetary gear 12 and a sun gear 13 that are meshed with each other. The planetary gear 12 is transmission-connected to the output flange 11. A first bearing 14 is provided between the sun gear 13 and the output flange 11. The inner side surface of the inner ring of the first bearing 14 abuts against the outer side surface of the sun gear 13, and the outer side surface of the outer ring of the first bearing 14 abuts against the inner side surface of the output flange 11. The extension portion 22 is connected to the outside of the side of the output flange 11 away from the planetary gear 12.

[0065] The hollow transmission shaft 3 is arranged through the reducer 1, that is, the hollow transmission shaft 3 is located in the central area of ​​the sun gear 13, the output flange 11 is located on the radial outside of the sun gear 13, and the extension part 22 is connected to the output flange 11, covering the axial end face of the first bearing 14 away from the reducer 1, and cooperating with the setting of the hollow transmission shaft and the assembly groove 21, so that the retaining ring 2 forms a seal between the output flange 11, the sun gear 13 and the hollow transmission shaft 3, that is, the retaining ring 2 not only fixes the hollow transmission shaft 3, but also forms a seal between the output flange 11, the sun gear 13 and the hollow transmission shaft 3, which can effectively prevent external impurities such as dust and moisture from entering the interior of the actuator, protect internal components from pollution, and extend the service life of the system.

[0066] The first bearing 14 is provided to support the structure of the output flange 11 and the sun gear 13. The two rotate relative to each other at a certain speed. The bearing can reduce the friction between the two and improve the transmission efficiency and service life.

[0067] In one embodiment, see Figures 1 to 7 The extension portion 22 is configured with a support portion 23, which is generally hollow and annular and abuts against the outer axial end face of the outer ring of the first bearing 14. The support portion 23 is configured to abut against the first bearing 14, limiting the first bearing 14 from the axial end face of the reducer 1. This allows for assembly of the first bearing 14 and provides additional support for the first bearing 14, ensuring stability during high-speed rotation and reducing vibration and noise.

[0068] Since the outer ring of the first bearing 14 is tightly against the output flange 11, its rotation speed follows the output flange 11, and the support part 23 is located on the retaining ring 2, and the retaining ring 2 is fixedly connected to the output flange 11 through the extension part 22, that is, the rotation speed of the support part 23 also follows the output flange 11, thus keeping the outer ring of the first bearing 14 and the support part 23 relatively stationary, and their assembly relationship can be that the support part 23 is against the outer ring of the first bearing 14.

[0069] In the above arrangement, the support portion 23 can abut the outer ring of the first bearing 14, thereby increasing the degree of engagement between the outer ring of the first bearing 14, the output flange 11, and the retaining ring 2. The relative positions of the three remain unchanged, thereby preventing wear of the outer ring of the first bearing 14 and the retaining ring 2, and thus ensuring the service life of the outer ring of the first bearing 14. At the same time, there is no relative movement between the outer ring of the first bearing 14 and the retaining ring 2, thereby effectively reducing vibration and noise. In addition, the abutment arrangement also forms a seal between the outer ring of the first bearing 14 and the support portion 23, thereby effectively sealing the interior of the bearing, the sun gear 13, and the hollow transmission shaft 3, effectively preventing external impurities such as dust and moisture from entering the interior of the actuator.

[0070] In one embodiment, see Figures 1 to 7 The outer ring of the first bearing 14 and the support portion 23 at least partially overlap in axial projection, and the radial thickness of the support portion 23 is approximately the same as the radial thickness of the outer ring of the first bearing 14. This arrangement provides a certain span for the seal position, which can achieve a better sealing effect. At the same time, the radial thickness of the support portion 23 is approximately the same as the radial thickness of the outer ring of the first bearing 14, providing good support for the outer ring of the first bearing 14 and preventing damage to its end face.

[0071] The inner ring diameter of the support portion 23 is greater than or equal to the inner diameter of the outer ring of the first bearing 14 , which can prevent the support portion 23 from abutting against the roller or the inner ring of the first bearing 14 to cause interference or wear.

[0072] In one embodiment, see Figure 7The bearing position of the output flange 11 is provided with a chamfer to facilitate the installation of the outer ring of the first bearing 14. The corresponding support part 23 is provided with a chamfer. The chamfer of the support part 23 is roughly parallel to the chamfer of the bearing position of the output flange 11, and the clearance is matched to avoid interference.

[0073] In one embodiment, see Figure 7 A first gap 4 is provided between the extension portion 22 and the end surface of the sun gear 13 , a second gap 5 is provided between the assembly groove 21 and the radial inner side of the sun gear 13 , and the first gap 4 is connected to the second gap 5 .

[0074] The first gap 4 is a radially extending gap that ensures a certain distance between the extension 22 and the end face of the sun gear 13, while also separating the inner ring of the first bearing 14 from the extension 22. Because the inner ring of the first bearing 14 is in close contact with the sun gear 13, while the extension 22 is fixed to the output flange 11, the presence of the first gap 4 prevents direct contact between the inner ring of the first bearing 14 and the extension 22, thus avoiding interference caused by vibration or thermal expansion.

[0075] The second gap 5 is located between the outer side of the assembly trough 21 and the radial inner side of the sun gear 13. This gap extends axially and ensures a certain distance between the outer side of the assembly trough 21 and the radial inner side of the sun gear 13. Because the assembly trough 21 is fixed to the retaining ring 2 and the sun gear 13 rotates at high speed, the presence of the second gap 5 prevents direct contact between the assembly trough 21 and the sun gear 13, thus avoiding motion interference caused by different rotational speeds. The second gap 5 also compensates for thermal expansion caused by temperature changes, ensuring that friction or jamming does not occur between the assembly trough 21 and the sun gear 13 under different operating conditions.

[0076] The first gap 4 and the second gap 5 are connected to form a continuous gap space. The connected gap design ensures the stability and reliability of the entire reducer 1 under different operating conditions. Even under extreme conditions, it can effectively avoid motion interference between components with different speeds.

[0077] In addition, the communicating gap can accommodate lubricating oil, thereby ensuring lubrication between the first bearing 14 and the hollow transmission shaft 3, reducing wear and extending the service life of the system.

[0078] In one embodiment, see Figures 1 to 7 The extension portion 22 is provided with a plurality of second assembly holes 221, and the output flange 11 is correspondingly provided with a plurality of first assembly holes 111. Each second assembly hole 221 is aligned with each first assembly hole 111 and is fastened together with fasteners. The extension directions of the second assembly holes 221 and the first assembly holes 111 are parallel to the rotation axis direction of the hollow transmission shaft 3.

[0079] The extension direction of the second assembly hole 221 and the first assembly hole 111 are both parallel to the rotation axis direction of the hollow transmission shaft 3. This design ensures that the assembly holes will not be affected by lateral forces during the assembly process, thereby improving the accuracy and stability of the assembly. The second assembly hole 221 corresponds one-to-one with the first assembly hole 111, ensuring accurate alignment during the assembly process, simplifying the assembly steps, and improving assembly efficiency. The evenly distributed assembly holes and parallel extension direction design reduce vibration and noise after assembly, thereby improving the overall reliability of the system. The parallel assembly hole design can also compensate for thermal expansion caused by temperature changes, ensuring that the connection parts will not loosen or deform under different working conditions.

[0080] The multiple first assembly holes 111 are evenly distributed around the axis of the hollow transmission shaft 3, and the multiple second assembly holes 221 are evenly distributed around the axis of the hollow transmission shaft 3. This not only ensures the uniformity and stability of the connection, but also facilitates assembly and improves the overall performance and reliability of the actuator.

[0081] The second assembly hole 221 is a through hole, meaning it completely penetrates the extension 22, allowing a bolt or other fastener to pass through. Specifically, it is a countersunk hole that serves to position the nut end of the screw. The first assembly hole 111 is internally threaded, and the output flange 11 is securely connected to the extension 22 via threaded fasteners. This connection, using threaded fasteners (such as bolts and nuts), ensures a secure and reliable connection.

[0082] In one embodiment, see Figures 1 to 7 The actuator also includes an encoding adapter disk 6, which is provided with a mounting cavity 61 that is roughly hollow and annular. An assembly end 32 is provided at one end of the hollow transmission shaft 3 away from the fixed end 31. A bearing position is constructed between the assembly end 32 and the mounting cavity 61, and a second bearing 7 is provided in the bearing position.

[0083] The hollow annular mounting cavity 61 is connected to the assembly end 32 of the hollow transmission shaft 3 via the second bearing 7, which acts as a support. This arrangement is more compact and facilitates the acquisition of the speed of the output end of the motor 8 and the speed of the output flange 11.

[0084] A second encoding disk 62 is provided on the encoding adapter disk 6, and a first encoding disk 36 is provided in the assembly end 32. The first encoding disk 36 and the second encoding disk 62 are both set toward the drive plate 91. The encoding adapter disk 6 is fixedly connected to the output shaft of the rotor 82 of the motor 8. The second encoding disk 62 is used to cooperate with the drive plate 91 to record the rotational speed of the rotor 82, and the first encoding disk 36 is used to cooperate with the drive plate 91 to record the rotational speed of the hollow transmission shaft 3, that is, the rotational speed of the output flange 11.

[0085] See also Figures 1 to 11The actuator is a roughly cylindrical structure, comprising a motor 8, a reducer 1, an upper shell 92, a side shell 93, and a bottom shell 94. The side shell 93 is used to cover the motor 8 and the reducer 1. The side of the side shell 93 away from the motor 8 is fixedly connected to the drive plate 91. The motor 8 is an outer rotor motor, comprising an inner stator 81 and an outer rotor 82. The rotor connector is connected to the side shell 93 via a third bearing 95. The bottom shell 94 is connected to the outer ring of the output flange 11 via a fourth bearing 96. The upper shell 92 is fixed to the side shell 93 via a fixing member and covers the drive plate 91. The fourth bearing 96 can be a cross roller bearing.

[0086] In one embodiment, see Figures 1 to 6 The hollow transmission shaft 3 includes a main shaft body 33, which is located between the assembly end 32 and the fixed end 31. The diameter of the assembly end 32 is smaller than the diameter of the main shaft body 33, and a limiting end surface 34 of the second bearing 7 is formed between the assembly end 32 and the main shaft body 33.

[0087] A bearing seat is constructed between the assembly end 32 and the mounting cavity 61 of the encoder adapter disk 6. That is, a bearing seat is provided within the mounting cavity 61 for mounting the second bearing 7. The second bearing 7 is disposed within the bearing seat, with its inner ring abutting the assembly end 32 of the hollow transmission shaft 3 and its outer ring abutting the mounting cavity 61 of the encoder adapter disk 6. This serves to reduce friction between the hollow transmission shaft 3 and the encoder adapter disk 6, ensuring smooth transmission of rotational motion and improving the monitoring efficiency and accuracy of the actuator.

[0088] The segmented structural design on the hollow transmission shaft 3 enables the limit end face 34 and the second bearing 7 to be directly processed during machining, thereby ensuring a stable connection between the hollow transmission shaft 3 and the encoding adapter disk 6, significantly avoiding friction between the hollow transmission shaft 3 and the encoding adapter disk 6, improving the speed monitoring accuracy of the actuator, and extending its service life.

[0089] In one embodiment, see Figures 1 to 6 The first code disc 36 is provided with a mounting portion 35 on a side of the assembly end 32 away from the fixed end 31. The first code disc 36 is fixed to the mounting portion 35. The installation of the mounting portion 35 can fix the first code disc 36 to ensure that the rotation speed of the first code disc 36 is consistent with the rotation speed of the hollow transmission shaft 3, providing high-precision speed feedback and ensuring accurate monitoring of the output flange 11.

[0090] The first encoding disc 36 is fixed on the mounting portion 35 . The mounting portion 35 is a cavity adapted for the first encoding disc 36 . The first encoding disc 36 is embedded and fixed in the mounting portion 35 .

[0091] In one embodiment, the assembly groove body 21 and the fixed end 31 of the hollow transmission shaft 3 are fixed by bonding. The bonding fixation method is that the assembly groove body 21 and the fixed end 31 of the hollow transmission shaft 3 are fixed by an adhesive. The bonding fixation method is simple to operate and easy to implement. The adhesive cost is low, suitable for mass production, and can maintain the stability and reliability of the connection.

[0092] In one embodiment, an interference fit is formed between the assembly groove 21 and the fixed end 31 of the hollow transmission shaft 3. The interference fit ensures a tight and stable connection between the assembly groove 21 and the fixed end 31 of the hollow transmission shaft 3, thereby ensuring the transmission accuracy of the hollow transmission shaft 3. In addition, this assembly method is more convenient and facilitates production.

[0093] In one embodiment, a joint module 1000 is provided, comprising an actuator as described in any of the above embodiments. The specific structure of the actuator ensures efficient power transmission and precise motion control.

[0094] In one embodiment, see Figure 15 A robotic arm is provided, wherein at least one driven joint utilizes the joint module 1000 described in any of the aforementioned embodiments, or the actuator described in any of the aforementioned embodiments. A robotic arm typically includes multiple driven joints, and the use of the aforementioned actuators ensures the multi-degree-of-freedom motion capability of the robotic arm.

[0095] In one embodiment, see Figures 12 to 14 , provides a robot, wherein at least one driven joint adopts the joint module 1000 in any of the above embodiments, or the actuator in any of the above embodiments.

[0096] The types of robots can be bipedal robots, point-legged robots, quadrupedal robots, four-wheeled legged robots, etc., which can meet the needs of driving joints to achieve stable walking, balance control, adaptability to complex terrain, efficient movement, load capacity and high adaptability to multi-terrain environments.

[0097] The above are merely optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application. Although the embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. Those skilled in the art may make changes, modifications, replacements, and variations to the above embodiments within the scope of the present invention.

Claims

1. An actuator, characterized in that: include: A reducer, a retaining ring and a hollow transmission shaft, wherein the reducer includes an output flange; The retaining ring is provided with a substantially hollow annular assembly groove body and an extension portion extending radially outward along the assembly groove body, and the output flange is fixedly connected to the extension portion; The hollow transmission shaft includes a fixed end, and the fixed end is nested and fixed inside the assembly slot.

2. The actuator according to claim 1, characterized in that The assembly groove body includes a retaining ring, which is arranged at an opening of the assembly groove body adjacent to the extension portion, and the retaining ring axially limits the hollow transmission shaft.

3. The actuator according to claim 2, characterized in that The reducer also includes a planetary gear and a sun gear that are meshed with each other. The planetary gear is drivingly connected to the output flange. A first bearing is arranged between the sun gear and the output flange. The inner side surface of the inner ring of the first bearing abuts against the outer side surface of the sun gear. The outer side surface of the outer ring of the first bearing abuts against the inner side surface of the output flange. The extension portion is fastened to the outside of the side of the output flange facing away from the planetary gear.

4. The actuator according to claim 3, characterized in that The extension portion is configured with a support portion, which is substantially in the shape of a hollow ring and abuts against an outer axial end surface of the first bearing outer ring.

5. The actuator according to claim 4, characterized in that The outer ring of the first bearing at least partially overlaps with the support portion in axial projection, and the radial thickness of the support portion is substantially the same as the radial thickness of the outer ring of the first bearing.

6. The actuator according to claim 3, characterized in that A first gap is provided between the extension portion and the end surface of the sun gear, a second gap is provided between the assembly groove and the radial inner side of the sun gear, and the first gap is communicated with the second gap.

7. The actuator according to claim 1, wherein: The extension portion is provided with a plurality of second assembly holes, and the output flange is correspondingly provided with a plurality of first assembly holes. The second assembly holes are aligned one by one with the first assembly holes and are fastened together with fasteners. The extension directions of the second assembly holes and the first assembly holes are both parallel to the rotation axis direction of the hollow transmission shaft.

8. The actuator according to claim 1, wherein: Also includes: The coding adapter disk is provided with a roughly hollow annular installation cavity, the end of the hollow transmission shaft away from the fixed end is provided with an assembly end, a bearing position is constructed between the assembly end and the installation cavity, and a second bearing is provided in the bearing position.

9. The actuator according to claim 8, characterized in that The hollow transmission shaft includes a main shaft body, which is located between the assembly end and the fixed end. The diameter of the assembly end is smaller than that of the main shaft body, and forms a limiting end surface of the second bearing with the main shaft body.

10. The actuator according to claim 8, wherein Also includes: The first encoding disc has a mounting portion provided on a side of the assembly end away from the fixed end, and the first encoding disc is fixed on the mounting portion.

11. The actuator according to any one of claims 1 to 6, characterized in that The assembly groove and the fixed end of the hollow transmission shaft are fixed by bonding, or, The assembly groove body and the fixed end of the hollow transmission shaft are interference fit.

12. A joint module, characterized in that: Comprising an actuator as claimed in any one of claims 1 to 11.

13. A robotic arm, characterized in that: At least one driven joint adopts the joint module according to claim 12 or the actuator according to any one of claims 1 to 11.

14. A robot, characterized in that: At least one driven joint adopts the joint module according to claim 12 or the actuator according to any one of claims 1 to 11.

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