Actuator of a robot and robot

Abstract

The application discloses a robot actuator and a robot, wherein the robot actuator comprises a shell and a reducer assembly. The reducer assembly comprises an inner ring gear, a first bearing, a planetary wheel assembly and a limiting piece. The inner ring gear is in limiting connection with the inner wall of the shell. The first bearing comprises relatively rotating first and second parts, the first part is in limiting connection with the inner wall of the inner ring gear, the first part is in limiting connection with the inner wall of the shell, and the second part is arranged in space with the inner ring gear. The planetary wheel assembly comprises a planetary wheel carrier and a planetary gear set, the planetary gear set is connected with the planetary wheel carrier and is rotatably connected with the inner ring gear; the planetary wheel carrier is connected with the second part. The limiting piece is in threaded connection with the planetary wheel carrier, the limiting piece is in limiting connection with the axial end surface of the second part, and the radial end surface of the limiting piece is in rotating connection with the shell. The robot actuator provided by the application is not prone to displacement of at least part of the reducer assembly in the shell under the action of impact load, and the actuator can stably work.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to robot actuators and robots. Background Technology

[0002] Robots are designed with limb components to enable a wide range of movements. When the limb components include leg components, they can enable walking in different scenarios and a variety of leg movements. The leg components usually include multiple actuators to enable flexible movements of different parts of the leg components, such as joints, thighs, and calves.

[0003] In related technologies, when a robot moves in different motion scenarios, if the limb components, such as the leg components, are subjected to large impact loads, at least one of the components in the actuator, such as the bearings and planetary gear carriers, will be displaced, causing the actuator to malfunction or produce abnormal noises, or even fail to work properly. Utility Model Content

[0004] In view of this, the present invention proposes an actuator for a robot and a robot, aiming to enable the actuator to maintain stable operation under impact loads.

[0005] The actuator of the robot according to the first aspect of this utility model includes: a housing; a reducer assembly including: an internal gear ring, which is limitedly connected to the inner wall of the housing; a first bearing including a first part and a second part that rotate relative to each other, the first part being limitedly connected to the inner wall of the housing or the inner wall of the internal gear ring, and the second part being spaced apart from the internal gear ring; a planetary gear assembly including a planetary gear carrier and a planetary gear set, the planetary gear set being connected to the planetary gear carrier and rotatably connected to the internal gear ring; the planetary gear carrier being connected to the second part; and a limiting member, which is threadedly engaged with the planetary gear carrier, the limiting member being limited by the axial end face of the second part, the radial end face of the limiting member being rotatably engaged relative to the housing, and at least a portion of the radial end face of the limiting member being sealingly engaged with the housing.

[0006] As can be seen from the above technical solution, the actuator of the robot proposed in the first aspect of this utility model limits the internal gear ring within the housing and limits the first part of the first bearing directly through the housing, or limits the first part through the internal gear ring limited by the housing. The planetary gear carrier is connected to the second part of the first bearing, and the limiting member and the planetary gear carrier are threadedly engaged to further compress the second part axially, making the position of the first bearing relative to the housing more stable. Under the action of axial impact load, the first bearing is not easy to shift. Under the action of axial impact load, the planetary gear carrier connected to the first bearing is also not easy to shift. This allows the planetary gear set connected to the planetary gear carrier to be more stable in axial position relative to the internal gear ring, enabling the planetary gear assembly to rotate stably and output force, and making the actuator work stably. The setting of the limiting member can also improve the protection performance of the actuator.

[0007] The robot according to the second aspect of this utility model includes: an actuator, wherein the actuator is the actuator of the robot described in the foregoing embodiments; and a limb assembly, wherein the limb assembly is provided with at least one of the actuators.

[0008] The robot proposed in the second aspect of this utility model, by setting the actuator of the aforementioned embodiment in the limb assembly, can withstand a large impact load during the movement of the limb assembly, and the actuator of the limb assembly still maintains stable operation under the impact load, the movement of the limb assembly can remain accurate, and each part of the limb assembly can move flexibly according to the preset action under the drive of the actuator.

[0009] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit the disclosure of the embodiments of this utility model. Attached Figure Description

[0010] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0011] Figure 1 This is a three-dimensional structural schematic diagram of the robot actuator proposed in some embodiments of this utility model;

[0012] Figure 2 This is an exploded view of the robot actuator proposed in some embodiments of this utility model;

[0013] Figure 3 This is a cross-sectional view of the actuator of the robot proposed in some embodiments of this utility model;

[0014] Figure 4This is a partial exploded view of the reducer assembly and housing proposed in some embodiments of this utility model;

[0015] Figure 5 This is a cross-sectional view of a reducer assembly according to some embodiments of the present invention in a longitudinal section, which passes through multiple first fasteners but not through the second bearing;

[0016] Figure 6 This is a cross-sectional view of a reducer assembly according to some embodiments of the present invention in another longitudinal section, which passes through the second bearing;

[0017] Figure 7 This is a longitudinal sectional view of the housing proposed in some embodiments of the present invention, wherein the outer shell and the end cap are separate parts;

[0018] Figure 8 This is a longitudinal sectional view of the outer casing according to other embodiments of the present invention;

[0019] Figure 9 This is a cross-sectional view of the actuator proposed in some embodiments of the present invention in the first transverse section, wherein the first transverse section passes through the planetary gear set;

[0020] Figure 10 This is a cross-sectional view of the actuator proposed in some embodiments of the present invention in the second transverse section, wherein the second transverse section passes through the housing, the internal gear ring, the first bearing, the planetary gear carrier, and the second bearing;

[0021] Figure 11 This is a cross-sectional view of the actuator proposed in some embodiments of the present invention in the third transverse section, wherein the third transverse section passes through the end cover, the first bearing, and the planetary gear carrier;

[0022] Figure 12 This is a schematic diagram of the structure of a robot proposed in some embodiments of this utility model.

[0023] Explanation of reference numerals in the attached figures:

[0024] 1000, Robot;

[0025] 1001. Actuator;

[0026] 100. Housing; 111. First limiting groove; 112. Second limiting groove;

[0027] 120. Outer casing; 130. End cap; 131. Opening; 140. Second fastener;

[0028] 200. Gearbox assembly;

[0029] 210. Internal gear ring; 211. Mating part; 213. Third limiting groove;

[0030] 220. First bearing; 221. First part; 222. Second part;

[0031] 230. Planetary gear assembly;

[0032] 231. Planetary gear carrier;

[0033] 2311, Stop part; 2312, Output end; 2313, First mounting port; 2314, Second mounting port;

[0034] 232. Planetary gear set; 2321. Planetary gear;

[0035] 233, Planetary gear shaft; 2331, Mating joint; 234, First fastener;

[0036] 240. Limiting element; 241. Radial end face; 242. Limiting body; 2421. Sealing groove; 243. Sealing element;

[0037] 260. Sun gear assembly; 270. Second bearing;

[0038] 300. Motor assembly; 301. Stator assembly; 302. Rotor assembly; 310. Drive output unit; 320. Third fastener;

[0039] 2000, Limb component; 2001, Arm component; 2002, Leg component. Detailed Implementation

[0040] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. Other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are all within the protection scope of the present utility model.

[0041] Existing robots achieve preset target actions by incorporating multiple actuators into their limb components. When limb components, such as leg components, are subjected to large impact loads, at least one component within the actuator, such as bearings or planetary gear carriers, may shift, causing the actuator to malfunction, produce abnormal noises, or even fail to function properly.

[0042] In view of this, this application proposes an actuator 1001 for a robot 1000 and a robot 1000, which aims to enable the actuator 1001 to maintain stable operation under impact load, and to enable the limb assembly 2000 of the robot 1000 to maintain the stability of the actuator 1001 under external impact when performing different actions, so that the limb assembly 2000 can achieve the expected action.

[0043] Where there is no conflict, the following embodiments and features can be combined with each other.

[0044] Combination Figures 1 to 3 As shown, an embodiment of this application proposes an actuator 1001 for a robot 1000, comprising: a housing 100 and a reducer assembly 200.

[0045] Among them, combined Figure 2 , Figure 3 , Figure 4 and Figure 5 The reducer assembly 200 includes: an internal gear ring 210, a first bearing 220, a planetary gear assembly 230, and a limiting member 240. The internal gear ring 210 is limitedly connected to the inner wall of the housing 100. (Reference) Figure 3 and Figure 5 The first bearing 220 includes a first part 221 and a second part 222 that rotate relative to each other, and are combined Figure 3 and Figure 7 The first part 221 is connected to the inner wall of the internal gear ring 210 for limiting connection, see reference. Figure 8 The first part 221 is limited and connected to the inner wall of the housing 100, combined with Figure 3 , Figure 7 , Figure 8 The second part 222 is spaced apart from the internal gear ring 210.

[0046] refer to Figure 4 The planetary gear assembly 230 includes a planetary gear carrier 231 and a planetary gear set 232, the planetary gear set 232 being connected to the planetary gear carrier 231. (See reference...) Figure 3 and Figure 5 The planetary gear set 232 is rotatably connected to the internal gear ring 210; the planetary gear carrier 231 is connected to the second part 222. (Reference) Figure 3 , Figure 5 and Figure 6 The limiting member 240 is threadedly engaged with the planetary gear carrier 231, the limiting member 240 is limited by the axial end face of the second part 222, and the radial end face 241 of the limiting member 240 is rotatably engaged with the housing 100.

[0047] For example, refer to Figure 1 and Figure 3Radial refers to the radial direction radiating outward from the center of the transverse cross-section of the housing 100 and the internal gear ring 210, while axial refers to the axial direction of the housing 100 and the internal gear ring 210. For example, radial refers to the direction perpendicular to the axis of the planetary gear carrier 231, and axial refers to the direction of the axis of the planetary gear carrier 231. For example, radial refers to the direction in which the planetary gear 2321 in the planetary gear set 232 extends from its rotation center toward the point where the planetary gear 2321 meshes with the internal gear ring 210, and axial refers to the direction parallel to the rotation axis of the planetary gear 2321. The axial and radial expressions in these examples also apply to the subsequent descriptions of the components in the housing 100, the reducer assembly 200, and the motor assembly 300, and will not be repeated here.

[0048] As can be seen from the above, the actuator 1001 of the robot 1000 proposed in this application limits the internal gear ring 210 within the housing 100 and limits the first part 221 of the first bearing 220 directly through the housing 100, or limits the first part 221 through the internal gear ring 210 limited by the housing 100. The planetary gear carrier 231 is connected to the second part 222 of the first bearing 220, and the limiting member 240 is threadedly engaged with the planetary gear carrier 231 to further press the second part 222 axially, so that the first bearing 220 is relative to the housing. The position of 100 is relatively stable. Under the action of axial impact load, the first bearing 220 is not easy to shift. Under the action of axial impact load, the planetary gear carrier 231 connected to the first bearing 220 is also not easy to shift. This allows the planetary gear set 232 connected to the planetary gear carrier 231 to be relatively stable in axial position relative to the internal gear ring 210. The planetary gear assembly 230 is not easy to interfere with the first bearing 220 and the internal gear ring 210, so that the planetary gear assembly 230 can rotate stably to output force, and the actuator 1001 can work stably.

[0049] From the inner to the outer radial side, the planetary gear carrier 231, the first bearing 220, and the housing 100 are in close contact in the radial direction, or the planetary gear carrier 231, the first bearing 220, the internal gear ring 210, and the housing 100 are in close contact in the radial direction, and the planetary gear carrier 231, the planetary gear set 232, the internal gear ring 210, and the housing 100 have a certain connection or contact from the inside to the outside in the radial direction. In this way, when the reducer assembly 200 is subjected to radial impact load, the above-mentioned components are not easily displaced in the radial direction, so that the actuator 1001 can withstand a certain radial impact load, which is beneficial for the actuator 1001 to work stably under the action of radial impact load.

[0050] Therefore, under a certain impact load, the actuator 1001 in this application embodiment is less likely to shift between the first bearing 220, the internal gear ring 210, and the planetary gear carrier 231, which is beneficial for the continuous and stable operation of the actuator 1001. In this embodiment, the second part 222 is spaced apart from the internal gear ring 210. When the second part 222 rotates relative to the first part 221, it does not interfere with the internal gear ring 210, nor does it interfere with the housing 100. The limiting member 240 limits the axial end face of the second part 222, and the radial end face 241 of the limiting member 240 rotates relative to the housing 100. When the housing 100 is fixed at the installation location (e.g., a specific location of the limb assembly 2000), the internal gear ring 210 is stably positioned relative to the housing 100, and the first part 221 is stably positioned relative to both the housing 100 and the internal gear ring 210. When the internal gear ring 210, the first part 221, and the housing 100 are all non-rotating components, the second part 222, the limiting member 240, and the planetary gear carrier 231 can rotate together relative to the aforementioned non-rotating components.

[0051] For example, the first bearing 220 is a crossed roller bearing, with the outer ring of the crossed roller bearing serving as the first part 221 and the inner ring of the crossed roller bearing serving as the second part 222. The inner and outer rings are connected by rolling elements. The structure of the crossed roller bearing will not be described in detail here.

[0052] The limiting fit between housing 100, internal gear ring 210, and first bearing 220 will be described below as an example.

[0053] In some embodiments, reference Figure 8 The housing 100 is provided with a first limiting groove 111 and a second limiting groove 112 at axial intervals. At least a portion of the internal gear ring 210 is limited in the first limiting groove 111, and at least a portion of the first part 221 is limited in the second limiting groove 112. Thus, through the limiting engagement of the first limiting groove 111 with the internal gear ring 210, the first limiting groove 111 is a groove body including multiple groove walls and groove openings, for example, the groove openings are opened on the side facing the center line of the housing 100, which can limit the internal gear ring 210 relative to the housing 100 in both the radial and axial directions; the second limiting groove 112 engages with the first part 221, the second limiting groove 112 is a groove body including multiple groove walls and groove openings, for example, the groove openings are opened on the side facing the center line of the housing 100, which can limit the first part 221 of the first bearing 220 relative to the housing 100 in both the axial and radial directions.

[0054] In other embodiments, combined with Figure 2 , Figure 3 , Figure 5 and Figure 7As shown, the housing 100 is provided with a first limiting groove 111, and at least a portion of the internal gear ring 210 is limited in the first limiting groove 111; the internal gear ring 210 is provided with a third limiting groove 213, and a first portion 221 is limited in the third limiting groove 213. Thus, through the limiting engagement of the first limiting groove 111 and the internal gear ring 210, the internal gear ring 210 is limited in both the radial and axial directions relative to the housing 100. Through the limiting engagement of the third limiting groove 213 and the first portion 221, the first portion 221 of the first bearing 220 is limited in both the axial and radial directions relative to the internal gear ring 210, thereby limiting the first bearing 220 in both the axial and radial directions relative to the housing 100. Therefore, by further providing a third limiting groove 213 in the internal gear ring 210 to limit the first bearing 220, the space occupied by the reducer assembly 200 in the axial direction can be saved, and the number of grooves required in the housing 100 can be reduced, resulting in higher mechanical strength of the housing 100.

[0055] There are various embodiments for limiting at least a portion of the internal gear ring 210 to the first limiting groove 111. For example, the outer peripheral wall of the internal gear ring 210 may be embedded in the first limiting groove 111, thereby ensuring a stable fit between the internal gear ring 210 and the first limiting groove 111 throughout its entire circumference. This results in a large contact area, significantly improving the stability of the fit between the internal gear ring 210 and the first limiting groove 111. For example, combining... Figure 4 , Figure 5 , Figure 9 and Figure 10 Alternatively, the internal gear ring 210 can protrude towards the housing 100 to form a mating portion 211. The mating portion 211 engages with the first limiting groove 111. By providing the mating portion 211, the internal gear ring 210 and the housing 100 can be limited only when the mating portion 211 is connected to the first limiting groove 111. After the mating portion 211 is limited by the first limiting groove 111, the internal gear ring 210 will not rotate circumferentially relative to the housing 100. For example, the outer peripheral wall of the internal gear ring 210 abuts against a portion of the groove wall of the first limiting groove 111, and the first limiting groove 111 further limits the mating portion 211. This not only increases the contact area and stabilizes the contact between the internal gear ring 210 and the housing 100, but also ensures that the internal gear ring 210 remains stable relative to the housing 100 in the circumferential direction. In some embodiments, in order to further enhance the connection stability between the internal gear ring 210 and the housing 100, the internal gear ring 210 can be stabilized relative to the housing 100 after installation by means of welding, fasteners connecting the first limiting groove 111 and the internal gear ring 210 radially.

[0056] In an embodiment where the internal gear ring 210 has a mating part 211, for example, there can be one mating part 211, which is matched with a first limiting groove 111. For example, the internal gear ring 210 has multiple mating parts 211, and the housing 100 has multiple first limiting grooves 111. The multiple mating parts 211 are matched with the multiple first limiting grooves 111 in a one-to-one correspondence. That is, there are multiple mating parts 211, such as two, three, four, etc., and multiple first limiting grooves 111, with one mating part 211 matching one first limiting groove 111. Each mating part 211 has a first limiting groove 111 that matches it. Thus, after each mating part 211 is limited to its corresponding first limiting groove 111, the installation and positioning of the internal gear ring 210 and the housing 100 are achieved. To ensure a more uniform positioning and connection between the internal gear ring 210 and the housing 100, multiple mating portions 211 are evenly distributed at equal angles relative to the centerline of the internal gear ring 210. Correspondingly, multiple first limiting grooves 111 provided on the housing 100 are evenly distributed at equal angles relative to the centerline of the housing 100, with each mating portion 211 corresponding to one of the first limiting grooves 111. In a specific embodiment, two mating portions 211 are symmetrically provided on the outer wall of the internal gear ring 210, meaning the two mating portions 211 are arranged at a 180-degree angle relative to the centerline of the internal gear ring 210. This facilitates the machining of the internal gear ring 210 and also helps the internal gear ring 210 and the housing 100 to form a stable positioning fit.

[0057] The limiting fit between the planetary gear carrier 231 and the first bearing 220 is described below as an example.

[0058] In some embodiments, such as Figure 3 , Figure 4 , Figure 5 , Figure 6As shown, the planetary gear carrier 231 is provided with a stop portion 2311. The stop portion 2311 and the limiting member 240 are axially spaced apart. The stop portion 2311 and the limiting member 240 are respectively limited to the two axial end faces of the second part 222 of the first bearing 220. Since the limiting member 240 can be adjusted relative to the planetary gear carrier 231 by threaded engagement with the planetary gear carrier 231, the distance between the stop portion 2311 and the limiting member 240 can also be adjusted. The position of the limiting member 240 can also be adjusted by rotating it relative to the planetary gear carrier 231, so that the limiting member 240 can be further pressed against the first bearing 220. The second part 222 of the first bearing 220 faces the axial end face of the limiting member 240, which further ensures that the axial end face of the second part 222 of the first bearing 220 facing the stop portion 2311 is in close contact with the stop portion 2311. Therefore, the first part 221 of the first bearing 220 can be limited by the second limiting groove 112 or the third limiting groove 213 of the aforementioned embodiment; while the second part 222 of the first bearing 220 can be limited by the stop portion 2311 and the limiting member 240, so that the first bearing 220 will not move when subjected to a large axial impact load. Exemplarily, the first bearing 220 is radially sleeved on the outer periphery of the planetary gear carrier 231, and the second part 222 is interference-fitted or in contact with a portion of the outer periphery of the planetary gear carrier 231, so that the first bearing 220 can remain stable relative to the planetary gear carrier 231 and the housing 100 when subjected to radial impact load. In a specific embodiment, refer to... Figure 4 , Figure 5 and Figure 6 The stop portion 2311 is integrally provided with the planetary gear carrier 231. The stop portion 2311 is a flange that surrounds the planetary gear carrier 231. The flange and the limiting member 240 limit the second part 222 of the first bearing 220. That is, the flange abuts against one axial end face of the second part 222 of the first bearing 220, and the limiting member 240 abuts against the other axial end face of the second part 222 of the first bearing 220.

[0059] In some embodiments, such as Figure 3 , Figure 5 and Figure 6 As shown, one end of the planetary gear carrier 231 extends from the housing 100 in a direction away from the planetary gear set 232 to form an output end 2312, and the output end 2312 passes through the limiting member 240. The output end 2312 extending out of the housing 100 is convenient to connect with the actuator, such as the thigh unit, the lower leg unit, the upper arm unit, or the forearm unit.

[0060] The following describes, by way of example, the structural form of the limiting member 240 and the form of cooperation between the limiting member 240 and the housing 100.

[0061] In related technologies, when the robot 1000 operates in harsh environments such as waterside, sandpit, and mud pit, the poor protection performance of the actuator 1001 of the robot 1000 allows contaminants to enter the actuator 1001, causing contamination, wear of parts, and insufficient safety of the actuator 1001 in use.

[0062] In view of this, combined with Figure 3 , Figure 5 , Figure 6 As shown, a protective structure is designed in some embodiments. For example, at least a portion of the radial end face 241 of the limiting member 240 is sealed to the housing 100. Since the limiting member 240 rotates with the output end 2312 of the planetary gear carrier 231, while the housing 100 does not rotate, a certain clearance is required between the two. By designing the limiting member 240 to be sealed to the housing 100, it is necessary to ensure that the limiting member 240 and the housing 100 can not only rotate relative to each other, but also reduce the entry of external pollutants such as dust, mud, and sewage into the housing 100 to a certain extent, thereby improving the protection and safety of the actuator 1001.

[0063] The sealing engagement of at least a portion of the radial end face 241 of the limiting member 240 with the housing 100 can be implemented in various ways. In some exemplary embodiments, combined with... Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, the limiting member 240 includes a limiting body 242 and a sealing member 243. The outer peripheral surface of the limiting body 242 is provided with a sealing groove 2421 (see reference). Figure 4The sealing groove 2421 mates with the sealing element 243, and the sealing element 243 contacts and engages with the housing 100. The inner circumferential surface of the limiting body 242 is threadedly engaged with the planetary gear carrier 231. After the sealing element 243 is connected to the sealing groove 2421, the shape of the outer circumferential surface of the limiting body 242 changes, and the sealing element 243 contacts and engages with the housing 100. This significantly reduces the gap between the limiting body 242 and the housing 100, making it difficult for dust, mud, sewage, and other pollutants to enter the internal parts of the housing 100 from between the housing 100 and the limiting element 242, thus improving the protective performance of the actuator 1001. The sealing element 243 contacts the housing 100 and can rotate with the limiting body 242, meaning that the output end 2312 of the planetary gear carrier 231 can rotate relative to the housing 100 and output torque. In other embodiments, the outer peripheral surface of the limiting member 240 is provided with a plurality of first ribs spaced apart along the axial direction, and the side of the housing 100 opposite to the limiting member 240 is provided with a plurality of second ribs spaced apart along the axial direction. After the limiting member 240 is connected to the planetary gear carrier 231, the first ribs and the second ribs are arranged alternately in the axial direction, thereby forming a bent channel between the limiting member 240, the first ribs, the housing 100 and the second ribs. This not only facilitates the limiting member 240 to rotate with the planetary gear carrier 231 and reduces friction, but also achieves a better protective effect.

[0064] In an exemplary embodiment, for the embodiment in which a sealing element 243 is provided in the sealing groove 2421 of the aforementioned limiting body 242, the sealing element 243 is an elastomer, and / or, the sealing element 243 is an annular element. The elastomer enables the sealing element 243 to form an elastic fit when in contact with the housing 100. Under the action of the contact friction force generated between the limiting element 240 and the housing 100 when they rotate relative to the housing 100, the elastomer is not easily damaged; the elastomer can recover its original structure under slight compression, resulting in good sealing performance. The use of an annular element for the sealing element 243 allows for effective sealing of the entire circumference gap between the limiting element 240 and the housing 100, improving the protective effect. Exemplarily, the elastomer can be a rubber component, a silicone component, a thermoplastic elastomer, or other similar component. When the sealing element 243 is in contact with the housing 100, in the event of a momentary power failure, the static friction force generated between the sealing element 243 and the housing 100 can also limit the rotation of the output end 2312 relative to the housing 100 to a certain extent, playing a certain self-locking role.

[0065] In some embodiments, reference Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 7As shown, the housing 100 includes an outer shell 120 and an end cap 130. The outer shell 120 is cylindrical, and the end cap 130 is detachably connected to one axial end of the outer shell 120. The end cap 130 has an opening 131, through which the output end 2312 of the planetary gear assembly 230 extends outward. The limiting member 240 is sealed to the inner circumferential surface of the end cap 130. The detachable connection between the end cap 130 and the outer shell 120 facilitates the assembly of various components of the reducer assembly 200 within the housing 100, and also facilitates maintenance. After the internal components are assembled, the end cap 130 can be installed on the outer shell 120 to further axially press the internal components of the reducer assembly 200, such as the first bearing 220 and the internal gear ring 210, thereby improving the adaptability of the assembly of various components. During the assembly of the end cap 130 onto the outer shell 120, the mating surfaces of the limiting member 240 and the end cap 130 can also be effectively adjusted. In a specific embodiment, refer to... Figure 2 and Figure 7 The outer casing 120 is provided with the first limiting groove 111 of the aforementioned embodiment, and the end cap 130 forms a groove wall of the first limiting groove 111 after being installed on the outer casing 120. The end cap 130 can axially press the internal gear ring 210 and the first portion 221 of the first bearing 220; or, refer to Figure 8 The outer casing 120 is provided with a first limiting groove 111 and a second limiting groove 112 as described in the aforementioned embodiment. After being installed on the outer casing 120, the end cap 130 forms a groove wall of the second limiting groove 112. The end cap 130 is capable of axially pressing against the first portion 221 of the first bearing 220. Exemplarily, there are various embodiments in which the end cap 130 is detachably connected to the outer casing 120, such as... Figure 1 , Figure 2 , Figure 4 , Figure 11The end cap 130 and the housing 120 are connected by a second fastener 140; and / or, the end cap 130 and the housing 120 can be connected by a snap-fit ​​and a slot, and / or, the end cap 130 and the housing 120 can be connected by a snap-fit ​​and a slot. In an exemplary embodiment, to further enhance the limiting of the reducer assembly 200 at one axial end away from the limiting member 240, the housing 100 also includes a limiting cover, which is axially spaced from the end cap 130 in the housing 120. The limiting cover is disposed on the other axial end of the internal gear ring 210 and is limitedly connected to the housing 120, so that the two axial ends of the reducer assembly 200 are stably limited by the end cap 130 and the limiting cover, respectively. In order to enable the input end of the reducer assembly 200 to connect with the motor assembly 300, in the embodiment with the limiting cover, the limiting cover can have an opening to allow the input end of the reducer assembly 200 to connect with the motor assembly 300. In other embodiments, the limiting cover may be omitted, and the overall limiting of the reducer assembly 200 may be achieved through the transmission connection between the reducer assembly 200 and the motor assembly 300, and the limiting connection between the housing 100 and the reducer assembly 200.

[0066] The following describes, by way of example, the structural form of the planetary gear assembly 230, the interaction between the planetary gear assembly 230 and the sun gear assembly 260, and the interaction between the sun gear assembly 260 and the motor assembly 300.

[0067] In some embodiments, such as Figure 3 , Figure 5 , Figure 6 , Figure 9 , Figure 10 As shown, the planetary gear assembly 230 also includes multiple planetary gear shafts 233, such as... Figure 9 As shown, the planetary gear set 232 includes multiple planetary gears 2321, each planetary gear 2321 being connected to a planetary gear shaft 233. (Refer to...) Figure 3 and Figure 5 The planetary gear shaft 233 and the planetary gear carrier 231 are detachably connected by a first fastener 234. Multiple planetary gears 2321 can be fixed at their respective positions relative to the planetary gear carrier 231 by their planetary gear shafts 233. The planetary gear carrier 231 and the planetary gear shafts 233 are connected by the first fastener 234, facilitating assembly, disassembly, and replacement of parts. All planetary gears 2321 can mesh with the internal gear ring 210. Therefore, under external impact loads, the planetary gear carrier 231 and the planetary gear shaft 233 are less likely to shift, and the planetary gear set 232 rotates relative to the internal gear ring 210, driving the planetary gear carrier 231 to output torque.

[0068] In the above embodiments, the connection between the first fastener 234 and the planetary gear shaft 233 and the planetary gear carrier 231 can take various forms. For example, combining... Figure 5 and Figure 6 The planetary gear carrier 231 has a first mounting port 2313 extending axially, and the planetary gear shaft 233 has a mating port 2331 extending axially. A first fastener 234 passes through the first mounting port 2313 and connects to the mating port 2331. The axially extending first mounting port 2313 and mating port 2331 allow the first fastener 234 to connect the planetary gear carrier 231 and the planetary gear shaft 233 in the axial direction, facilitating the assembly of the first fastener 234. This also ensures that when the actuator 1001 is subjected to an axial impact load, the planetary gear carrier... The connection between planetary gear carrier 231 and planetary gear shaft 233 is not easily broken; and / or, the planetary gear carrier 231 has a second mounting port 2314 in the axial direction, the planetary gear shaft 233 passes through the second mounting port 2314, and the first fastener 234 connects the planetary gear carrier 231 and the planetary gear shaft 233. The second mounting port 2314, which extends along the axial direction, can increase the contact area between the planetary gear carrier 231 and the planetary gear shaft 233 when the planetary gear shaft 233 passes through the second mounting port 2314, and also makes the planetary gear assembly 230 more compact, saving axial arrangement space. By using the first fastener 234 to connect the planetary gear carrier 231 and the planetary gear shaft 233, the processing difficulty of setting the planetary gear carrier 231 and the planetary gear shaft 233 as an integral structure can also be reduced.

[0069] In some embodiments, reference Figure 2 and Figure 3 The actuator 1001 of robot 1000 also includes a motor assembly 300, combined with Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 9 and Figure 10 As shown, the reducer assembly 200 also includes a sun gear assembly 260, which meshes with the planetary gear set 232. The drive output section 310 of the motor assembly 300 is connected to the sun gear assembly 260. Thus, the motor assembly 300 provides power, and the sun gear assembly 260, as the input end of the reducer assembly 200, transmits the power from the drive output section 310 to the planetary gear assembly 230, thereby enabling the output end 2312 of the planetary gear assembly 230 to further drive the actuator to rotate. For example, refer to... Figure 3 The motor assembly 300 includes a stator assembly 301 and a rotor assembly 302. When energized, the motor assembly 300 enables relative rotation between the rotor assembly 302 and the stator assembly 301, and can drive the output unit 310 (see reference). Figure 2The rotational driving force is output outward to realize the rotation of the sun gear assembly 260 connected to the drive output unit 310. Exemplarily, the rotor assembly 302 and stator assembly 301 are also provided with related components capable of generating electromagnetic induction, such as coil windings, permanent magnets, electromagnetic coils, or magnets. Thus, when the motor assembly 300 is energized, the stator assembly 301 and its electromagnetic induction components generate an alternating electromagnetic field. The rotor assembly 302 and its electromagnetic induction components are driven by the induced alternating electromagnetic field and can rotate relative to the stator assembly 301. The specific implementation of electromagnetic induction rotation between the rotor assembly 302 and the stator assembly 301 can be flexibly set as needed.

[0070] In order to facilitate the assembly of the motor assembly 300 relative to the housing 100 and to enable the motor assembly 300 to stably drive the reducer assembly 200 after installation, in an exemplary embodiment, reference is made to... Figure 3 The motor assembly 300 and the reducer assembly 200 are respectively disposed within the housing 100 along the axial direction, for reference. Figure 2 and Figure 3 The motor assembly 300 is detachably connected to the housing 100. Therefore, the reducer assembly 200 can be installed inside the housing 100, and then the motor assembly 300 can be installed. After the motor assembly 300 is installed to the housing 100, the input end of the reducer assembly 200, i.e., the sun gear assembly 260, is also connected to the drive output section 310 of the motor assembly 300. For example, refer to... Figure 1 , Figure 2 , Figure 3The housing 100 and the motor assembly 300 are connected by a third fastener 320. In a specific embodiment, the third fastener 320 extends radially and connects the housing 100 and the motor assembly 300. It can be understood that before the motor assembly 300 is installed in the housing 100, the reducer assembly 200 and the motor assembly 300 can be assembled and tested separately. During installation, they can be assembled into the housing 100 in sequence, and maintenance and replacement can be convenient after installation. In other embodiments, the housing 100 is not limited to the integral structure described above. The housing 100 can be in a modular form; for example, it can be divided into a first housing for the motor assembly 300 and a second housing for the reducer assembly 200. This allows the motor assembly 300 and the first housing to form one module, while the reducer assembly 200 and the second housing form another module. The two modules can be assembled and tested separately. When needed, the drive output 310 of the motor assembly 300 is connected to the sun gear assembly 260, and the first and second housings are connected by fasteners such as bolts and screws, enabling the motor assembly 300 to continuously and stably provide the required power to the reducer assembly 200. In an exemplary embodiment, the rotor assembly 302 of the motor assembly 300 also includes a hollow adapter shaft. This hollow adapter shaft serves as the drive output 310, and the sun gear shaft of the sun gear assembly 260 passes through the adapter shaft to connect the drive output 310 to the sun gear assembly 260. To prevent the sun gear shaft from spinning freely relative to the adapter shaft, a positioning part is provided between the adapter shaft and the sun gear shaft, or the sun gear shaft is designed as a non-rotationally symmetrical structure, which can achieve stable connection and power transmission when it is matched with the adapter shaft.

[0071] In a specific embodiment, the planetary gear assembly 230 includes a primary planetary gear assembly and a secondary planetary gear assembly. The number of planetary gears 2321 in the planetary gear sets 232 of the primary and secondary planetary gear assemblies can be different or the same. The sun gear assembly 260 includes a primary sun gear assembly and a secondary sun gear assembly. The primary sun gear assembly is meshed with each of the planetary gears 2321 of the primary planetary gear assembly. Each of the planetary gears 2321 of the primary planetary gear assembly meshes with the internal gear ring 210 and rotates relative to the internal gear ring 210. The primary sun gear assembly is also connected to the drive output unit 310. The primary planetary carrier of the primary planetary gear assembly is connected to the secondary sun gear assembly. The secondary sun gear assembly is meshed with each of the planetary gears 2321 of the secondary planetary gear assembly. Each of the planetary gears 2321 of the secondary planetary gear assembly meshes with the internal gear ring 210 and rotates relative to the internal gear ring 210. The secondary sun gear assembly is rotatably engaged with the secondary planetary carrier of the secondary planetary gear assembly. For example, the secondary sun gear assembly and the secondary planetary carrier are rotatably engaged through a second bearing 270. In other embodiments, only one set of planetary gear assembly 230 and only one set of sun gear assembly 260 are provided.

[0072] In some embodiments, to improve the rotational stability of the planetary gear assembly 230 relative to the sun gear assembly 260, reference is made. Figure 6 , Figure 9 and Figure 10 The reducer assembly 200 also includes a second bearing 270, and the planet carrier 231 of the second-stage planetary gear assembly is rotatably connected to the second-stage sun gear assembly via the second bearing 270.

[0073] The robot 1000 in the embodiments of this application will now be described.

[0074] refer to Figure 12 The embodiments of this application propose a robot 1000, including: an actuator 1001 and a limb assembly 2000.

[0075] The actuator 1001 is the actuator 1001 of the robot 1000 in any of the aforementioned embodiments; the limb assembly 2000 is provided with at least one actuator 1001.

[0076] As can be seen from the above, the robot 1000 proposed in this application, by setting the actuator 1001 of the aforementioned embodiment in the limb assembly 2000, can withstand a large impact load during movement, and the actuator 1001 of the limb assembly 2000 still maintains stable operation under impact load. The movement of the limb assembly 2000 can remain accurate, and each part of the limb assembly 2000 can move flexibly according to preset actions under the drive of the actuator 1001. For the aforementioned embodiment of the actuator 1001 with the sealing member 243 in the limiting member 240, when the limb assembly 2000 performs actions or moves in different environments, the internal reducer assembly 200 of the actuator 1001 is not easily contaminated by dust, sand, and sewage. The actuator 1001 has good protection and high operational safety.

[0077] For example, the limb assembly 2000 includes an arm assembly 2001, which includes a plurality of arms connected between two arms via an actuator 1001, enabling the arm assembly 2001 to perform more precise movements.

[0078] For example, the limb assembly 2000 includes a leg assembly 2002, which includes a first leg and a second leg. The first leg and the second leg are connected by an actuator 1001, which is capable of driving the second leg to perform actions. And / or, the output terminal 2312 of the actuator 1001 is connected to the first leg, and the housing 100 of the actuator 1001 is connected to the body of the robot 1000, thereby enabling the actuator 1001 to drive the first leg to perform actions.

[0079] In this utility model, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," and "third" may explicitly or implicitly include one or more of the stated features.

[0080] In the description of this application, "multiple" means two or more, unless otherwise expressly and specifically defined.

[0081] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this utility model, and these modifications or substitutions should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. An actuator for a robot, characterized in that, include: case; The reducer assembly includes: An internal gear ring is connected to the inner wall of the housing for limiting positioning; The first bearing includes a first part and a second part that rotate relative to each other. The first part is limitedly connected to the inner wall of the housing or the inner wall of the internal gear ring, and the second part is spaced apart from the internal gear ring. A planetary gear assembly includes a planetary gear carrier and a planetary gear set, the planetary gear set being connected to the planetary gear carrier and rotatably connected to the internal gear ring; the planetary gear carrier is connected to the second part; A limiting member is threadedly engaged with the planetary gear carrier, the limiting member limits the axial end face of the second part, the radial end face of the limiting member is rotatably engaged with the housing, and at least a portion of the radial end face of the limiting member is in a sealing engagement with the housing.

2. The actuator for the robot as described in claim 1, characterized in that, The housing is axially spaced with a first limiting groove and a second limiting groove, at least a portion of the internal gear ring is limited within the first limiting groove, and at least a portion of the first portion is limited within the second limiting groove; or... The housing is provided with a first limiting groove, and at least a portion of the internal gear ring is limited within the first limiting groove; the internal gear ring is provided with a third limiting groove, and the first portion is limited within the third limiting groove.

3. The actuator for the robot as described in claim 2, characterized in that, The internal gear ring protrudes towards the housing to form a mating part, and the mating part is limited and engaged with the first limiting groove.

4. The actuator for the robot as described in claim 3, characterized in that, The internal gear ring is provided with a plurality of mating parts, and the housing is provided with a plurality of first limiting grooves, with the plurality of mating parts corresponding to and engaging with the plurality of first limiting grooves one by one.

5. The actuator for the robot as described in claim 1, characterized in that, The planetary gear carrier is provided with a stop portion, which is axially spaced from the limiting member. The stop portion and the limiting member are respectively limited to the two axial end faces of the second part.

6. The actuator for the robot as claimed in claim 1, characterized in that, One end of the planetary gear carrier extends from the housing in a direction away from the planetary gear set to form an output end, and the output end passes through the limiting member.

7. The actuator for the robot as described in claim 1, characterized in that, The outer peripheral surface of the limiting member is provided with a plurality of first ribs spaced apart along the axial direction, and the side of the housing opposite to the limiting member is provided with a plurality of second ribs spaced apart along the axial direction. The first ribs and the second ribs are arranged alternately and at intervals along the axial direction.

8. The actuator for the robot as claimed in claim 1, characterized in that, The limiting component includes a limiting body and a sealing component. The outer peripheral surface of the limiting body is provided with a sealing groove, which cooperates with the sealing component. The sealing component contacts and cooperates with the housing. The inner peripheral surface of the limiting body is threadedly engaged with the planetary gear carrier.

9. The actuator for the robot as described in claim 8, characterized in that, The seal is an elastomer, and / or the seal is an annular element.

10. The actuator of the robot as described in any one of claims 1, 7 to 9, characterized in that, The housing includes an outer shell and an end cap. The outer shell is cylindrical, and the end cap is detachably connected to one axial end of the outer shell. The end cap has an opening, and the output end of the planetary gear assembly extends outward from the opening. The limiting member is in sealing engagement with the inner circumferential surface of the end cap.

11. The actuator for the robot as claimed in claim 1, characterized in that, The planetary gear assembly also includes multiple planetary gear shafts, the planetary gear set includes multiple planetary gears, one of the planetary gears is connected to one of the planetary gear shafts, and the planetary gear shaft is detachably connected to the planetary gear carrier via a first fastener.

12. The actuator for the robot as claimed in claim 11, characterized in that, The planetary gear carrier has a first mounting port extending axially, and the planetary gear shaft has a mating port extending axially; the first fastener passes through the first mounting port and connects to the mating port; and / or, The planetary gear carrier has a second mounting port along its axial direction. The planetary gear shaft passes through the second mounting port, and the first fastener connects the planetary gear carrier and the planetary gear shaft.

13. The actuator for the robot as claimed in claim 1, characterized in that, The robot's actuator also includes a motor assembly, and the reducer assembly also includes a sun gear assembly, which meshes with the planetary gear set. The drive output of the motor assembly is connected to the sun gear assembly.

14. The actuator for the robot as claimed in claim 13, characterized in that, The motor assembly and the reducer assembly are respectively disposed within the housing along the axial direction, and the motor assembly is detachably connected to the housing.

15. A robot, characterized in that, include: An actuator, wherein the actuator is an actuator of the robot as described in any one of claims 1 to 14; A limb assembly, wherein the limb assembly is provided with at least one of the actuators.

Images