Robot joint actuator and robot

Abstract

The utility model provides a joint actuator of a robot and the robot, and relates to the field of robots. The actuator specifically comprises an actuator shell (1), a motor (2) and a controller (3). The motor (2) comprises a motor winding (23); the actuator shell (1) comprises a circumferential shell (11), and the circumferential shell (11) is provided with a cavity structure (111); and an outgoing line (231) of the motor winding (23) is connected to the controller (3) through the cavity structure (111). According to the joint actuator, the cavity structure is arranged in the actuator shell of the joint actuator, so that the cable can be fixed in the actuator shell, compared with the mode that the cable is fixed through a buckle structure, the occupied space is smaller, the structure is simpler, then the size of the joint actuator can be reduced, the structure of the joint actuator is simplified, and the cost is reduced. Therefore, the joint actuator can meet the requirements of humanoid robots, quadruped robots and other robots for high size requirements, high lightweight requirements and the like of the joint actuator.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and more particularly to a joint actuator for a robot and a robot. Background Technology

[0002] Robotic joints require integrated actuators to execute motion commands from the central control unit. Besides providing sufficient torque, humanoid robots place higher demands on the motion accuracy, size, and structural stability of these actuators. The motion accuracy of a humanoid robot depends on the accuracy of each actuator. Even with optimally precise mechanical parts, the control accuracy of each actuator relies on precise positional feedback from the encoder to achieve high-precision overall robot motion. Humanoid robot joints have limited space; however, traditional joint actuators are relatively long axially, making miniaturization difficult. In traditional joint actuators, the encoder is positioned along the axis of the actuator. While this allows the encoder cable to run through the hollow shaft, it results in a longer axial length for the actuator. Furthermore, humanoid robot joints have a high demand for lightweight design, but the complex mechanical structure of traditional joint actuators makes weight reduction challenging.

[0003] The structure of an improved conventional joint actuator is as follows: Figure 1 As shown, the actuator housing 1 is the main structural component of the entire joint actuator. The motor 2 of the joint actuator is housed inside the actuator housing 1. The motor 2 includes a motor rotor 21 and a motor stator 22, with the stator 22 directly fixed to the actuator housing 1. The reducer 4 of the joint actuator is also directly fixed to the actuator housing 1. In this improved conventional joint actuator, to reduce the length of the joint actuator along the axis, the encoder is positioned on the side offset from the axis of the joint actuator. The reducer 4 is connected to the encoder 5 on the output side of the joint actuator via a transmission belt 6. Therefore, in this improved conventional joint actuator, the encoder cable 56 extending from the encoder 5 on the output side of the joint actuator and the power cable extending from the motor 2 run along the side of the joint actuator. For ease of maintenance, a latching structure 7 is provided at the location where the cable passes through the side of the joint actuator, allowing it to be opened for maintenance. At the same time, the latching structure 7 fixes the cable to the side of the actuator housing 1.

[0004] The aforementioned improved traditional joint actuator, through its highly integrated design, reduces the length of components and improves the connection accuracy between motor 2 and reducer 4. However, the mechanical structure remains complex, and the diameter of the joint actuator is still too long. In order to meet the high requirements for joint actuator installation size and lightweighting of humanoid robots and quadruped robots, it is necessary to further reduce the size of the joint actuator and simplify its structure. Utility Model Content

[0005] This disclosure provides a robotic joint actuator and a robot.

[0006] According to a first aspect of this disclosure, a joint actuator for a robot is provided, the joint actuator including an actuator housing, a motor, and a controller; the motor includes motor windings; the joint actuator, wherein:

[0007] The actuator housing includes a circumferential housing, and the circumferential housing is provided with a cavity structure;

[0008] The lead wires of the motor windings are connected to the controller via the cavity structure.

[0009] Optionally, a lead plate is provided at one end of the motor winding, the lead plate gathers the lead wires, and the gathered lead wires are connected to the controller through the cavity structure.

[0010] Optionally, the joint actuator has an output side and a drive side, the output side being one side of the output end of the joint actuator, and the drive side being the other side of the joint actuator;

[0011] The lead-out plate is located on the output side of the joint actuator; the controller is located on the drive side of the joint actuator.

[0012] Optionally, the lead-out board is a three-phase lead-out board.

[0013] Optionally, the lead-out board is a printed circuit board.

[0014] Optionally, the actuator housing may further include a rear cover housing;

[0015] The circumferential housing is connected to the rear cover housing, and a portion of the structure connecting the circumferential housing and the rear cover housing is configured as an angled structure.

[0016] Optionally, the rear cover housing and the controller are located on the same side of the joint actuator in the axial direction.

[0017] Optionally, the actuator housing further includes a rear cover housing, the rear cover housing including a recess that matches the controller;

[0018] The motor also includes a motor rotor and a motor stator; the motor rotor has a recess that matches the recessed portion.

[0019] Optionally, the controller is embedded in a recess in the rear cover housing.

[0020] Optionally, the motor further includes a motor rotor and a motor stator;

[0021] The structural thickness of the local structure on the side of the motor rotor away from the circumferential housing is greater than the structural thickness of the local structure on the side of the motor rotor closer to the circumferential housing.

[0022] Optionally, the joint actuator further includes a reducer; the motor further includes a motor rotor and a motor stator;

[0023] A ring structure is provided between the rotor shaft of the motor rotor and the cage of the reducer.

[0024] Optionally, the joint actuator may further include a reducer;

[0025] A ring structure is provided between the cage of the reducer and the external gear ring of the reducer.

[0026] Optionally, the cyclic structure is a polyetheretherketone (PEEK) material structure.

[0027] Optionally, the controller includes a controller rear cover;

[0028] The controller rear cover includes a horizontal portion perpendicular to the circumferential housing and an inner recess, as well as a controller connection portion connecting the horizontal portion and the inner recess. The axial distance between the horizontal portion and the motor is greater than the axial distance between the inner recess and the motor.

[0029] The cable interface of the joint actuator is located in the controller connection part and the recessed part.

[0030] Optionally, the mounting surfaces of the circumferential housing are precision machined, while the non-mounting surfaces of the circumferential housing are rough machined.

[0031] According to a second aspect of this disclosure, a robot is provided, including at least one joint actuator of the robot described in the above-described technical solutions.

[0032] The robot joint actuator and robot disclosed herein, by setting a cavity structure in the actuator housing of the joint actuator, allow the cable of the joint actuator to be fixed inside the actuator housing. Compared with using a snap-fit ​​structure to fix the cable, it occupies less space and has a simpler structure, thereby reducing the size of the joint actuator, simplifying the structure of the joint actuator, and reducing the weight of the joint actuator, so that the joint actuator can meet the high requirements for joint actuator size and lightweight of humanoid robots, quadruped robots and other robots.

[0033] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0034] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:

[0035] Figure 1 This is a schematic diagram of the structure of a joint actuator in the prior art;

[0036] Figure 2 This is a cross-sectional view of a joint actuator in one embodiment of this disclosure;

[0037] Figure 3 This is a side view of a joint actuator in another embodiment of this disclosure;

[0038] Figure 4 This is a cross-sectional view of a joint actuator in another embodiment of this disclosure;

[0039] Figure 5 This is a bottom schematic diagram of a joint actuator in another embodiment of the present disclosure;

[0040] Figure 6 This is a schematic diagram of the bottom of a joint actuator in the prior art;

[0041] Figure 7 This is a cross-sectional view of a joint actuator in another embodiment of this disclosure.

[0042] The reference numerals in the detailed embodiments are as follows:

[0043] Actuator housing 1; threaded hole 10; circumferential housing 11; rear cover housing 12; cavity structure 111; recessed portion 121; housing connection portion 122; motor 2; motor rotor 21; motor stator 22; motor winding 23; lead wire 231; lead plate 24; permanent magnet 25; drive-side encoder chip 26; controller 3; controller rear cover 31; horizontal portion 311; recessed portion 312; controller connection portion 313; drive plate 32; reducer 4; reducer output shaft disk 41; cage 401; external gear ring 402; joint actuator output-side encoder 5; joint actuator output-side encoder disk 51; joint actuator output-side encoder permanent magnet 52; joint actuator output-side encoder boss 53; joint actuator output-side encoder chip 54; joint actuator output-side encoder circuit board 55; encoder cable 56; transmission belt 6; snap-fit ​​structure 7; first ring structure 01; second ring structure 02. Detailed Implementation

[0044] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0045] All technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0046] In the description of the embodiments of this application, the term "at least one" refers to one or more, and "multiple" refers to two or more (including two).

[0047] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0048] With the rapid development of the robotics industry, robots are increasingly being used for human collaboration. To meet the various standards for human collaboration, higher requirements are being placed on collaborative robots in terms of precision, size, and safety. For a robot, the movement of each joint relies on motors, reducers, encoders, and actuators. Traditional large robots do not have high space requirements, so to save costs, they are basically assembled from many modules with different functions, resulting in low integration and a large, bulky size.

[0049] For robots that work collaboratively with humans, space requirements are extremely high. This disclosure integrates all functional modules to obtain a more integrated modular actuator, which is then installed at each joint to achieve the most compact spatial layout. This also facilitates production and maintenance and offers a cost advantage. It can be said that the integration, spatial layout, and cost of the joint actuator are the core competitiveness of a robot.

[0050] To address the aforementioned technical problems, this disclosure provides a joint actuator, such as... Figure 2 As shown, the joint actuator includes an actuator housing 1, a motor 2, and a controller 3.

[0051] The actuator housing 1 is the main structural component of the entire joint actuator, and it includes at least a circumferential housing 11, similar to a traditional joint actuator, such as... Figure 1 As shown, several threaded holes 10 are provided in the circumferential housing 11, which are used to achieve radial fixation of the joint actuator. The joint actuator is connected to the robot body by fixing screws in the threaded holes 10.

[0052] The motor 2 is placed inside the actuator housing 1. The motor 2 includes a motor rotor 21 and a motor stator 22, as well as a motor winding 23 consisting of multiple coils or coil groups mounted on the motor stator 22. The motor stator 22 is directly fixed to the actuator housing 1.

[0053] The controller 3 includes a drive board 32. The controller receives control signals and controls other components of the joint actuator, such as the motor 2, through the drive board.

[0054] Specifically, the cables extending from the motor 2, such as the lead wire 231 of the motor winding 23, are connected to the drive board 32, and the drive board 32 transmits signals to control the motor 2 through the cables.

[0055] The circumferential housing 11 of the actuator housing 1 is provided with a cavity structure 111. The cable extending from the motor 2, such as the lead wire 231 of the motor winding 23, is connected to the drive board 32 of the controller 3 through the cavity structure 111.

[0056] Since the cavity structure 111 is located in the circumferential housing 11, the cable extending from the motor 2 is connected to the drive plate 32 through the cavity structure 111 of the circumferential housing 11. Therefore, the cable extending from the motor 2 is essentially routed through the side of the joint actuator. This achieves cable aggregation, reduces the messy wiring inside the joint actuator, and also avoids the cable squeezing the position of other components inside the joint actuator.

[0057] In some embodiments, the cable extending from the motor 2 may also include the power cable for the motor 2; cables for other components of the joint actuator may also be connected to the drive plate 32 via the cavity structure 111.

[0058] In some embodiments, the cavity structure 111 may be configured as an openable cavity structure 111, so that personnel can open the cavity structure 111 to inspect and maintain the cables gathered in the cavity structure 111.

[0059] Specifically, the housing corresponding to the cavity structure 111 can be set as a housing that is installed on the circumferential housing 11 by screws, and the housing corresponding to the cavity structure 111 can be removed by removing the screws, so that the operator can operate the cable in the cavity structure 111.

[0060] Compared to Figure 1 The conventional joint actuator shown has an openable snap-fit ​​structure 7, meaning that the cable extending from the motor 2 can be routed along the side of the joint actuator and connected to the drive plate 32 via the snap-fit ​​structure 7 to achieve the conventional snap-fit ​​method of gathering and fixing the cable extending from the motor 2 to the side of the actuator housing 1. The cavity structure 111 of the joint actuator provided in this embodiment occupies a space that is approximately equal to the space occupied by the cable, reducing the space occupied by the snap-fit ​​structure, reducing the radial length of the joint actuator, and thus reducing the size of the joint actuator.

[0061] At the same time, since no snap-fit ​​structure is required, the mechanical structure of the joint actuator is simplified, and the weight of the joint actuator is also reduced.

[0062] Therefore, compared with traditional joint actuators, the joint actuators provided in this disclosure can meet the requirements of humanoid robots, quadruped robots and other robots for high size and lightweight joint actuators.

[0063] In some implementations, such as Figure 2 As shown, a lead plate 24 can be provided at one end of the motor winding 23. The lead plate 24 is used to collect the lead wires 231. The lead wires 231 collected by the lead plate 24 are connected to the drive plate 32 of the controller 3 via the cavity structure 111.

[0064] Specifically, multiple leads 231 of the motor winding 23 are connected to the lead plate 24, and the lead plate 24 gathers the multiple leads 231 and connects them to the drive plate 32 of the controller 3 via the cavity structure 111.

[0065] By setting a lead-out plate, the direction of the lead-out wires can be changed based on the convergence of the lead-out wires. Compared to not using a lead-out plate and directly bending the lead-out wires to connect to the drive board through the cavity structure, the length of the motor winding end can be reduced while avoiding the impact of bending on the lead-out wires. This reduces the axial length of the joint actuator and thus the size of the joint actuator.

[0066] In some implementations, the lead-out plate 24 and the controller 3 may be located on different sides of the joint actuator in the axial direction.

[0067] Specifically, the joint actuator can be divided into an output side and a drive side in the axial direction, based on the position of motor 2.

[0068] The output side is one side of the joint actuator output end, and the drive side is the other side of the joint actuator; the lead-out plate 24 can be located on the output side of the joint actuator; the controller 3 can be located on the drive side of the joint actuator.

[0069] Since the drive side also needs to accommodate the motor rotor 21 and the controller 3, it requires more components than the output side, and the usable space is relatively small. By setting the lead-out plate 24 on the output side, the cavity structure 111 can be fully utilized, reducing the space occupied on the drive side and making the mechanical structure arrangement of the joint actuator more reasonable.

[0070] In some implementations, lead-out board 24 may be a three-phase lead-out board.

[0071] In some implementations, the motor winding 23 needs to be supplied with three-phase alternating current to generate a rotating magnetic field. A three-phase lead plate is used to gather the power lines used to supply three-phase alternating current to the motor winding 23 and extend them through the cavity structure to the drive side of the joint actuator to connect to the controller 3.

[0072] If the lead-out plate 24 can be a three-phase lead-out plate, the temperature wires of the motor 2 can also be collected through the lead-out plate 24 and extended through the cavity structure to the drive side of the joint actuator to connect to the controller 3.

[0073] In some implementations, the lead-out board 24 may be a PCB (Printed Circuit Board).

[0074] As a widely used circuit board, PCB has the advantage of high density, which is conducive to the high integration of joint actuators. It also has the advantage of high reliability, which can extend the service life of joint actuators. It can realize standardized, large-scale and automated production, thereby ensuring the consistency of product quality of mass-produced joint actuators.

[0075] In some implementations, such as Figure 2 As shown, the actuator housing 1 also includes a rear cover housing 12. The rear cover housing 12 is connected to the circumferential housing 11 to encapsulate the joint actuator.

[0076] like Figure 3 As shown, a portion of the structure connecting the circumferential housing 11 and the rear cover housing 12 is configured as an angled structure. That is, there is an angled structure 112 on the circumferential housing 11, which is connected to the rear cover housing 12.

[0077] An angled structure is a structure in which one of the surfaces forms an angle with the other surface. Specifically, it can be a 45-degree angle.

[0078] By setting angled structures, joint actuators can be configured into special structures for specific parts of the robot. For example... Figure 3 As shown, the joint actuator and the mirror joint actuator form a "V" structure when mirrored with the "dashed line" axis of symmetry. The two are connected by the oblique structure 112 to achieve the contact surface connection, which can be used in special parts of the robot.

[0079] In some embodiments, the rear cover housing 12 and the controller 3 are located on the same side of the joint actuator in the axial direction.

[0080] As described above, the joint actuator can be divided into an output side and a drive side axially, based on the position of motor 2. The output side is one side of the joint actuator's output end, and the drive side is the other side of the joint actuator; the rear cover housing 12 and the controller 3 are both located on the drive side of the joint actuator.

[0081] like Figure 3 As shown, the rear cover housing 12 and the controller 3 are both located on the drive side of the joint actuator, which ensures that after the joint actuator and the mirror joint actuator form a "V" structure, the controller 3 of the joint actuator and the mirror joint actuator are opposite each other, which facilitates the simultaneous control of the joint actuator and the mirror joint actuator.

[0082] In some implementations, the circumferential housing 11 can be machined with different precision to reduce the machining cost and time of the joint actuator.

[0083] like Figure 3 As shown, the mounting mating surface 113 of the circumferential housing 11 is precision machined, while the non-mounting mating surface of the circumferential housing is rough machined.

[0084] In some implementations, such as Figure 4 As shown, the rear cover housing 12 also includes a recess 121 that matches the controller 3. The motor rotor 21 has a recess that matches the recess 121.

[0085] Specifically, such as Figure 4 As shown, the rear cover housing 12 includes a housing connecting portion 122 connected to the circumferential housing 11 and a recessed portion 121. The housing connecting portion 122 covers the outer rotor 212 of the motor rotor 21, and the recessed portion 121 covers the inner rotor 211 of the motor rotor 21. The inner rotor 211 and the outer rotor 212 of the motor rotor 21 are at a certain inclination angle, leaving space for the recessed portion 121 to move upward. By moving the recessed portion 121 upward, a height difference is formed between the housing connecting portion 122 and the recessed portion 121, thereby forming a certain space for other components of the joint actuator to be embedded.

[0086] In some embodiments, the controller 3 is embedded in the recess 121 of the back cover housing 12.

[0087] Since the controller 3 has a structure that is "high" in the middle and "low" on both sides, the shapes of the "low" rear cover housing 12 housing connection part 122 and the "high" recessed part 121 are matched. Therefore, the controller 3 can be embedded in the recessed part of the rear cover housing 12, so that the bottom of the controller 3 can be "flush" with the connection part 121.

[0088] By embedding the controller 3 into the recess 121 of the rear cover housing 12, the axial length of the joint actuator can be further reduced, thereby reducing the size of the joint actuator.

[0089] In some embodiments, the structural thickness of a local structure on the side of the motor rotor 21 away from the circumferential housing 11 is greater than the structural thickness of a local structure on the side of the motor rotor 21 closer to the circumferential housing 11.

[0090] The side of the motor rotor 21 away from the circumferential housing 11 is the inner side 211, and the side of the motor rotor 21 closer to the circumferential housing 11 is the outer side 212. In other words, the inner side 211 is thicker and the outer side 212 is thinner. Through the design of "thick inner side and thin outer side", the rotational inertia of the motor rotor can be reduced while ensuring the mechanical strength of the motor rotor.

[0091] In some implementations, such as Figure 5 As shown, the controller 3 includes a controller back cover 31; the controller back cover 31 includes a horizontal part 311 perpendicular to the circumferential housing 11 and an inner recess 312, and a controller connection part 313 connecting the horizontal part 311 and the inner recess 312. The axial distance between the horizontal part 311 and the motor 2 is greater than the axial distance between the inner recess and the motor 2.

[0092] The actuator back cover 31 of a traditional joint actuator Figure 6 As shown, the actuator rear cover 31 protrudes from the rear cover housing 12, and the cable interface of the joint actuator is located at the actuator rear cover 31 and the connection between the actuator rear cover 31 and the rear cover housing 12.

[0093] The actuator rear cover 31 of the joint actuator provided in this embodiment is as follows: Figure 5 As shown, because the controller 3 is embedded in the recess 121 of the back cover housing 12, the actuator back cover 31 cannot protrude significantly from the back cover housing 12. If the cable interface of the joint actuator is set in the horizontal part 311 of the actuator back cover 31, it will cause difficulty in plugging and unplugging the cable.

[0094] By designing a partially hollowed-out structure at the bottom of the joint actuator, that is, by excavating a recessed portion 312 with a height difference from the horizontal portion 311 in the actuator rear cover 31, the cable interface of the joint actuator is placed in the connecting portion 313 and the recessed portion 312. On the one hand, this avoids the impact of cable plugging and unplugging on the axial length of the joint actuator, and on the other hand, it facilitates cable plugging and unplugging.

[0095] In some implementations, the joint actuator also includes a reducer 4.

[0096] Similar to traditional joint actuators, such as Figure 1 As shown, the reducer 4 of the joint actuator provided in this embodiment is also directly fixed on the actuator housing 1. The reducer output shaft disk 41 is connected to the joint actuator output side encoder disk 51 of the joint actuator output side encoder 5 via the transmission belt 6. The joint actuator output side encoder disk 51 and the joint actuator output side encoder permanent magnet 52 are connected via the joint actuator output side encoder boss 53. The joint actuator output side encoder 5 also includes a joint actuator output side encoder chip 54 and a joint actuator output side encoder circuit board 55, and extends an encoder cable 56.

[0097] In some implementations, the encoder cable can also be connected to the controller 3 via the cavity structure 111.

[0098] In some embodiments, the motor 2 may be a permanent magnet motor, which includes a permanent magnet 25, and the joint actuator may also include a drive-side encoder chip 26, and the reducer 4 of the joint actuator may be a planetary reducer.

[0099] The highly integrated design of the joint actuator improves the connection accuracy between motor 2 and reducer 4.

[0100] In some implementations, such as Figure 7 As shown, a first annular structure 01 is provided between the rotor shaft 210 of the motor rotor 21 and the cage 401 of the reducer 4 to replace the bearing structure.

[0101] In some implementations, such as Figure 7 As shown, a second annular structure 02 is provided between the cage 401 of the reducer 4 and the outer gear ring 402 of the reducer 4 to replace the bearing structure.

[0102] Compared to metal bearing structures, the ring structure made of special materials can be designed to be thinner while maintaining the same strength. This can further reduce the axial length of the joint actuator, thereby reducing the size of the joint actuator.

[0103] In some embodiments, the cyclic structure is a polyetheretherketone (PEEK) material structure.

[0104] Peek (polyether ether ketone) is a special polymer material. It is a special engineering plastic with excellent properties such as high temperature resistance, self-lubrication, easy processing and high mechanical strength. It has good antistatic and electrical insulation properties. Compared with metal bearing structures, it has less impact on the internal circuit and magnetic field of the joint actuator, which can improve the performance of the joint actuator.

[0105] This disclosure also provides a robot including at least one articulated actuator of the robot described in the above embodiments. Because the robot's articulated actuator has a cavity structure in its actuator housing, the actuator cable can be fixed inside the actuator housing. Compared to using a snap-fit ​​structure to fix the cable, this technical solution occupies less space and has a simpler structure, thereby reducing the size of the articulated actuator and simplifying its structure. Due to the reduced size of the robot's articulated actuator and the simplified structure, the robot's volume and weight can also be reduced.

[0106] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0107] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A joint actuator for a robot, comprising an actuator housing (1), a motor (2), and a controller (3); the motor (2) comprising motor windings (23); the joint actuator, characterized in that: The actuator housing (1) includes a circumferential housing (11), and the circumferential housing (11) is provided with a cavity structure (111); The lead wire (231) of the motor winding (23) is connected to the controller (3) via the cavity structure (111).

2. The joint actuator according to claim 1, characterized in that: One end of the motor winding (23) is provided with a lead plate (24), the lead plate (24) gathers the lead wires (231), and the gathered lead wires (231) are connected to the controller (3) through the cavity structure (111).

3. The joint actuator according to claim 2, characterized in that, The joint actuator has an output side and a drive side. The output side is one side of the output end of the joint actuator, and the drive side is the other side of the joint actuator. The lead-out plate (24) is located on the output side of the joint actuator; the controller (3) is located on the drive side of the joint actuator.

4. The joint actuator according to claim 2, characterized in that, The lead-out plate (24) is a three-phase lead-out plate.

5. The joint actuator according to claim 2, wherein, The lead-out board (24) is a printed circuit board.

6. The joint actuator according to claim 1, characterized in that, The actuator housing (1) also includes a rear cover housing (12); The circumferential housing (11) is connected to the rear cover housing (12), and a portion of the structure connecting the circumferential housing (11) and the rear cover housing (12) is configured as an angled structure.

7. The joint actuator according to claim 6, characterized in that, The rear cover housing (12) and the controller (3) are located on the same side of the joint actuator in the axial direction.

8. The joint actuator according to claim 1, characterized in that, The actuator housing (1) further includes a rear cover housing (12), which includes a recess (121) that matches the controller (3); The motor (2) also includes a motor rotor (21) and a motor stator (22); the motor rotor (21) has a recess that matches the recess (121).

9. The joint actuator according to claim 8, characterized in that, The controller (3) is embedded in the recess (121) of the rear cover housing (12).

10. The joint actuator according to claim 1, characterized in that, The motor (2) also includes a motor rotor (21) and a motor stator (22); The structural thickness of the local structure on the side of the motor rotor (21) away from the circumferential housing (11) is greater than the structural thickness of the local structure on the side of the motor rotor (21) closer to the circumferential housing (11).

11. The joint actuator according to claim 1, characterized in that, The joint actuator also includes a reducer (4); the motor (2) also includes a motor rotor (21) and a motor stator (22); An annular structure is provided between the rotor shaft (210) of the motor rotor (21) and the cage (401) of the reducer (4).

12. The joint actuator according to claim 1, characterized in that, The joint actuator also includes a reducer (4); A ring structure is provided between the retainer (401) of the reducer (4) and the external gear ring (402) of the reducer (4).

13. The joint actuator according to claim 11 or 12, characterized in that, The ring structure is a polyetheretherketone (PEEK) material structure.

14. The joint actuator according to claim 1, characterized in that, The controller (3) includes a controller back cover (31); The controller back cover (31) includes a horizontal portion (311) perpendicular to the circumferential housing (11) and a recessed portion (312), and a controller connection portion (313) connecting the horizontal portion (311) and the recessed portion (312). The axial distance between the horizontal portion (311) and the motor (2) is greater than the axial distance between the recessed portion and the motor (2). The cable interface of the joint actuator is located in the controller connection part (313) and the recess (312).

15. The joint actuator according to claim 1, characterized in that, The mounting surfaces of the circumferential housing (11) are precision machined, and the non-mounting surfaces of the circumferential housing (11) are rough machined.

16. A robot, characterized in that, It includes at least one joint actuator of the robot as described in any one of claims 1-15.

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