A robot, a robot effector and an effector frame

Abstract

A robot, a robot actuator, and an actuator frame are disclosed. The actuator frame includes a base frame, a fixed base, an outer shaft, and an inner shaft. The base frame has motor mounting plates on its left and right sides, each with a fixed workstation for storage. An inverted U-shaped groove is formed between the two motor mounting plates. The inner shaft faces the Y-axis and is mounted in the inverted U-shaped groove. The fixed base has a rotating hole. One end of the outer shaft is rotatably connected to the rotating hole around the X-axis. The other end of the outer shaft is rotatably fitted onto the inner shaft around the Y-axis. The left and right sidewalls of the inverted U-shaped groove have sidewall openings, and the inner shaft has a hollow structure inside. The sidewall openings expose the hollow structure, forming a wiring channel between them. This solution enables the robot actuator to move in multiple directions (front, back, left, right), and also allows the wires to be internally placed within the wiring channel of the inverted U-shaped groove, avoiding the problem of wires becoming tangled around the shaft during multi-angle movement of the actuator.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a robot, a robot actuator, and an actuator frame. Background Technology

[0002] The current robot actuators have complex structures, primarily using two motors at different heights to control movements in two different directions, employing a dual-axis superimposed structure. This structure has significant structural flaws in robots, stemming from the layered mechanical layout of the two axes: the X and Y axes require separate motors, guide rails, and transmission components, leading to increased vertical redundancy. Furthermore, the superposition of two sets of guiding mechanisms creates system rigidity redundancy, generating additional inertial loads. This design not only occupies a large amount of axial space but also limits the development of lightweight robots. On the other hand, robot actuators typically use drivers, which require wires to connect to batteries or circuit boards. Since robot actuators need to move at multiple angles, these wires may become entangled in the joints during movement, affecting the robot's normal operation. Moreover, the large number of wires occupies significant space, hindering lightweight robot design. Utility Model Content

[0003] The purpose of this utility model is to propose a robot actuator frame for installing a drive module, enabling the robot actuator to move in multiple directions (front, back, left, and right), and also to embed wires in the wiring channel of the inverted U-shaped groove.

[0004] This utility model also proposes a robot actuator, whose drive modules are respectively installed at the fixed workstations on the left and right sides of the base frame.

[0005] This utility model also proposes a robot having the aforementioned robot actuator.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] An actuator frame for a robot includes: a base frame, a fixed base, an outer shaft, and an inner shaft;

[0008] The base frame is provided with motor mounting plates at the left and right positions respectively, and the motor mounting plates are provided with fixed positions for placing objects; the base frame is provided with an inverted U-shaped groove between the two motor mounting plates; the inner shaft faces the Y-axis and is installed in the inverted U-shaped groove; the fixed seat is provided with a rotating hole; one end of the outer shaft is rotatably connected to the rotating hole around the X-axis; the other end of the outer shaft is rotatably sleeved on the inner shaft around the Y-axis.

[0009] The inverted U-shaped groove has side wall cutouts on its left and right sides, and the inner shaft has a hollow structure inside; the side wall cutouts expose the hollow structure, and a wiring channel is formed between the two.

[0010] Optimally, it may also include: a transpose;

[0011] The base frame is located between the fixed seat and the rotating seat; the rotating seat is provided with a seat hole, and the seat hole and the rotating hole are coaxially arranged.

[0012] The outer shaft includes: a sleeve, a first sub-shaft, and a second sub-shaft;

[0013] The sleeve faces the Y-axis direction; the sleeve is rotatably fitted onto the inner shaft; the first and second sub-shafts are located on the same straight line, with one end of each fixed to the sleeve; the other end of the first sub-shaft is rotatably connected to the rotating hole, and the other end of the second sub-shaft is rotatably connected to the seat hole.

[0014] Alternatively, the inverted U-shaped groove can be rotated about the Y-axis to abut against the rotating base, thereby restricting the forward rotation of the base frame.

[0015] Alternatively, the rotary table may be provided with a horizontal plate and a rotating mounting plate;

[0016] The rotating mounting plate is disposed on the horizontal plate; the rotating mounting plate is provided with the seat hole; the inverted U-shaped groove rotates around the Y-axis to abut against the horizontal plate, and the rotating mounting plate extends into the interior of the inverted U-shaped groove.

[0017] Alternatively, the motor mounting plate can be rotated about the Y-axis to abut against the fixed seat, thereby restricting the base frame from rotating backward.

[0018] A robot actuator includes: a drive module and the aforementioned robot actuator frame;

[0019] The drive modules are respectively installed at the fixed positions on the left and right sides of the base frame.

[0020] Optimally, a driver receiving groove is formed between the motor mounting plate and the sidewall of the inverted U-shaped groove; the drive module is located in the driver receiving groove;

[0021] The drive module is mounted on the motor mounting plate at one end near the output end, and a storage gap is formed between the drive module at the end away from the output end and the outer wall of the inverted U-shaped groove.

[0022] Alternatively, the drive module may have a drive port in the storage gap, and the drive ports of the two drive modules may be connected by a wire passing through the wiring channel.

[0023] A robot having the aforementioned robot actuator.

[0024] Compared with the prior art, one of the above technical solutions has the following beneficial effects:

[0025] This solution provides a robot actuator frame for mounting drive modules, enabling the robot actuator to move in multiple directions (front, back, left, and right). It also allows wires to be embedded in the U-shaped cable routing channel, avoiding the problem of wires getting tangled on the shaft when the actuator moves at multiple angles. Attached Figure Description

[0026] Figure 1 This is a structural diagram of one embodiment of the execution mechanism framework;

[0027] Figure 2 This is a structural schematic diagram of one embodiment of a robot actuator;

[0028] Figure 3 yes Figure 2 Enlarged view of section A in the middle;

[0029] Figure 4 This is a schematic diagram of one embodiment of the robot actuator when the base frame rotates around the outer axis;

[0030] Figure 5 This is a schematic diagram of one embodiment of the robot actuator when the base frame rotates around the inner axis;

[0031] Figure 6 This is a structural schematic diagram of one embodiment of a robot actuator;

[0032] in:

[0033] Base frame 1, fixed seat 2, outer shaft 3, inner shaft 4, drive module 5; rotating seat 6;

[0034] 11. Inverted U-shaped groove; 12. Motor mounting plate; 13. Driver receiving slot; 14. Storage gap; 15. Side wall cutout; 16. Wiring channel; 17. Fixed station;

[0035] Rotary hole 21; sleeve 31, first sub-shaft 32, second sub-shaft 33; hollow structure 41;

[0036] Outer bevel gear 51, inner bevel gear 52, rotating motor 53; drive port 531;

[0037] Seat hole 61; horizontal plate 62; rotating mounting plate 63. Detailed Implementation

[0038] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0039] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," "outer," "inner side," "outer side," "inner end," "outer end," "axial," "radial," and "circumferential," etc., indicating the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, features defined with "first" and "second" may explicitly or implicitly include one or more of these features, used to distinguish descriptive features, without any order or emphasis. In the description of this utility model, unless otherwise stated, "multiple" means two or more.

[0040] like Figure 1-6 An actuator frame for a robot includes: a base frame 1, a fixed base 2, an outer shaft 3, and an inner shaft 4;

[0041] The base frame 1 is provided with motor mounting plates 12 at the left and right positions respectively. The motor mounting plates 12 are provided with fixed workstations 17 with storage functions. The base frame 1 is provided with an inverted U-shaped groove 11 between the two motor mounting plates 12. The inner shaft 4 faces the Y-axis and is installed in the inverted U-shaped groove 11. The fixed seat 2 is provided with a rotating hole 21. One end of the outer shaft 3 is rotatably connected to the rotating hole 21 around the X-axis. The other end of the outer shaft 3 is rotatably sleeved on the inner shaft 4 around the Y-axis.

[0042] The inverted U-shaped groove 11 has side wall cutouts 15 on its left and right side walls, and the inner shaft 4 has a hollow structure 41 inside; the side wall cutouts 15 expose the hollow structure 41, and a wiring channel 16 is formed between the two.

[0043] This solution provides a robot actuator frame for mounting drive modules, enabling the robot actuator to move in multiple directions (front, back, left, right). It also allows wires to be embedded in the wiring channel 16 of the inverted U-shaped groove 11, avoiding the problem of wires getting tangled on the shaft when the actuator moves at multiple angles.

[0044] Specifically, the inner shaft 4 is mounted on the base frame 1; one end of the outer shaft 3 is mounted on the rotating hole 21, mainly guiding the base frame 1 to rotate relative to the rotating hole 21 around the X-axis; the other end of the outer shaft 3 is connected to the inner shaft 4, and the outer shaft 3 is sleeved on the inner shaft 4, allowing the outer shaft 3 to rotate relative to the inner shaft 4 around the Y-axis; the drive module 5 is replaced by a known robot actuator, mainly used to drive a certain actuator of the robot to perform activities, realizing multi-directional movements in the forward, backward, left, and right directions; the drive module 5 is mounted on the fixed station 17 of the base frame 1, located to the left and right of the inner shaft 4; the fixed station 17 has a placement function and can be used to fix the drive module 5; thus, the base frame 1 can be used to fix two drive modules 5 on both sides of the inverted U-shaped groove 11 respectively; and there are wires between the two drive modules 5 for electrical conduction and / or data transmission, so there may be a large number of wires on both sides of the inverted U-shaped groove 11; therefore, to facilitate wiring between the drive modules 5 and to prevent The base frame 1 interferes with the wires during operation. This solution cleverly utilizes the hollow structure 41 inside the inner shaft 4. The left and right side walls of the inverted U-shaped groove 11 are provided with side wall cutouts 15, which expose the hollow structure 41 inside the inner shaft 4. The hollow structure 41 is essentially hollowed out on the outside, and a wiring channel 16 is formed between the side wall cutouts 15 and the hollow structure 41. The wiring channel 16 can be used to arrange wires and other linear structures. Since the drive module 5 and the inverted U-shaped groove 11 of the base frame 1 rotate synchronously around the inner shaft 4 or around the outer shaft 3, the relative position of the wiring channel 16 and the drive module 5 remains unchanged during rotation. The multi-angle movement of the base frame 1 does not affect the wires between the wiring channels 16. Thus, this solution enables the robot's actuator to move in multiple directions (front, back, left, right), and can also embed the wires in the wiring channel 16 of the inverted U-shaped groove 11, avoiding the problem of wires getting tangled and wrapped around the shaft when the actuator moves at multiple angles.

[0045] Meanwhile, an inverted U-shaped groove 11 is provided between the two motor mounting plates 12; the drive module 5 is set in the driver receiving groove 13 and fixed to the motor mounting plate 12; the main body of the drive module 5 will be close to the middle of the base frame 1, which can concentrate the center of gravity of the actuator on the inner shaft 4 on the one hand, and greatly reduce the distance span between the left and right positions of the actuator on the other hand, making the overall structure of the actuator more compact.

[0046] Optimally, it also includes: a transposer 6;

[0047] The base frame 1 is located between the fixed base 2 and the rotating base 6; the rotating base 6 is provided with a seat hole 61, and the seat hole 61 is coaxially arranged with the rotating hole 21.

[0048] The outer shaft 3 includes: a sleeve 31, a first sub-shaft 32, and a second sub-shaft 33;

[0049] The sleeve 31 faces the Y-axis direction; the sleeve 31 is rotatably fitted onto the inner shaft 4; the first sub-shaft 32 and the second sub-shaft 33 are located on the same straight line, and one end of both is fixed to the sleeve 31; the other end of the first sub-shaft 32 is rotatably connected to the rotating hole 21, and the other end of the second sub-shaft 33 is rotatably connected to the seat hole 61.

[0050] This solution preferably uses a rotating base 6 to further improve the balance of the dual drive module 5 in the X and Y axis directions. Specifically, the rotating hole 21 of the fixed base 2 and the seat hole 61 of the rotating base 6 are located on the same straight line. The first sub-shaft 32 and the second sub-shaft 33 are aligned in a straight line, and each is symmetrically connected to the sleeve 31 at one end. The other end of the first sub-shaft 32 is rotatably connected to the rotating hole 21, and the other end of the second sub-shaft 33 is rotatably connected to the seat hole 61. In this way, the center of gravity of the outer shaft 3 is concentrated in the sleeve 31, and the base frame 1 rotates more smoothly around the X and Y axes.

[0051] Alternatively, the inverted U-shaped groove 11 can be rotated around the Y-axis to abut against the rotating seat 6, thereby restricting the base frame 1 from rotating forward.

[0052] This solution cleverly utilizes the position of the rotating base 6 to position the base frame 1 when it rotates forward around the Y-axis, preventing excessive rotation of the robot's actuator frame and resulting in instability. Specifically, the inner shaft 4 is installed in the inverted U-shaped groove 11. Since the base frame 1 is located between the fixed base 2 and the rotating base 6, when the base frame 1 rotates forward relative to the Y-axis, the inverted U-shaped groove 11 of the base frame 1 will abut against the rotating base 6 at the end of the rotation, thereby restricting the base frame 1 from continuing to rotate. Thus, the rotating base 6 not only improves the smoothness of the X-axis rotation but also positions the Y-axis, thereby improving the stability of the X-axis and Y-axis rotation.

[0053] Alternatively, the rotary base 6 may be provided with a horizontal plate 62 and a rotating mounting plate 63;

[0054] The rotating mounting plate 63 is disposed on the horizontal plate 62; the rotating mounting plate 63 is provided with the seat hole 61; the inverted U-shaped groove 11 rotates around the Y-axis to abut against the horizontal plate 62, and the rotating mounting plate 63 extends into the interior of the inverted U-shaped groove 11.

[0055] Since the seat hole 61 of the rotary base 6 needs to be aligned with the rotating hole 21 of the fixed base 2, it is necessary to maintain the height of the inner shaft 4 and the outer shaft 3 while maximizing the forward rotation range of the base frame 1. Therefore, this design dictates the shape of the rotary base 6, specifically by including a horizontal plate 62 and a rotating mounting plate 63, with the rotating mounting plate 63 used to connect the outer shaft 3. Figure 5With the horizontal plate 62 positioned above it, when the base frame 1 drives the inverted U-shaped groove 11 to rotate and flip forward around the Y-axis, the inverted U-shaped groove 11 rotates to abut against the horizontal plate 62. The inverted U-shaped groove 11 can contact the horizontal plate 62 at any position. Furthermore, the interior of the inverted U-shaped groove 11 rotates to fit within the rotating mounting plate 63, which is equivalent to the rotating mounting plate 63 extending into the interior of the inverted U-shaped groove 11. Compared to other embodiments, with the rotating mounting plate 63 extending into the interior of the inverted U-shaped groove 11, the angle at which the base frame 1 flips forward is greater, further increasing the range of motion of the base frame 1 without changing the positions of the inner shaft 4 and the outer shaft 3. Furthermore, since the inverted U-shaped groove 11 rotates around the Y-axis to abut against the horizontal plate 62, the horizontal plate 62 can support the base frame 1 upwards, thereby reducing the load on the upper body when it is leaning forward.

[0056] Alternatively, the motor mounting plate 12 can be rotated around the Y-axis to abut against the fixed seat 2, thereby restricting the base frame 1 from rotating backward.

[0057] This solution cleverly utilizes the position of the fixed seat 2 to position the base frame 1 when it rotates backward around the Y-axis, thus preventing the upper part of the robot's actuator frame from rotating excessively and becoming unstable. When the motor mounting plate 12 flips relative to the rear along the Y-axis with the base frame 1, the motor mounting plate 12 will abut against the fixed seat 2 at the end of the rotation, thereby restricting the base frame 1 from continuing to rotate through the fixed seat 2 and improving the activity stability of the rotation around the Y-axis.

[0058] A robot actuator includes: a drive module 5 and an actuator frame for a robot according to any of the above embodiments;

[0059] The drive module 5 is installed at the fixed workstation 17 at the left and right positions of the base frame 1.

[0060] The robot's actuator frame serves as the connection between the upper and lower body. The base frame 1 allows the upper body to move in multiple directions relative to the lower body, including forward, backward, left, and right. Simultaneously, this design includes two drive modules 5, which can be coupled and coordinated for control, distributing the force on the actuator in the left-right direction. This allows the overall structure to withstand a larger load, providing a larger lever arm at the stress points and enabling it to bear a greater torque. Furthermore, the actuator can be pre-assembled independently before being connected to the upper and lower body of the robot, offering advantages such as simplified structure, quick assembly, reliability, and high production efficiency.

[0061] Optimally, a driver receiving groove 13 is formed between the motor mounting plate 12 and the side wall of the inverted U-shaped groove 11; the drive module 5 is located in the driver receiving groove 13;

[0062] The drive module 5 is mounted on the motor mounting plate 12 at one end near the output end, and a storage gap 14 is formed between the drive module 5 at the end away from the output end and the outer wall of the inverted U-shaped groove 11.

[0063] An inverted U-shaped groove 11 is provided between the two motor mounting plates 12, and a driver receiving groove 13 is formed between the side wall of the inverted U-shaped groove 11 and the motor mounting plate 12. The drive module 5 is set in the driver receiving groove 13 and fixed to the motor mounting plate 12. The output end of the drive module 5 can extend horizontally out of the driver receiving groove 13. Therefore, the main body of the drive module 5 will be close to the middle of the base frame 1. On the one hand, the center of gravity of the actuator can be concentrated on the inner shaft 4. On the other hand, the distance span between the left and right positions of the actuator can be greatly reduced, making the overall structure of the actuator more compact.

[0064] Alternatively, the drive module 5 may be provided with a drive port 531 in the storage gap 14, and the drive ports 531 of the two drive modules 5 may be connected by a wire, which passes through the wiring channel 16.

[0065] The fixed end of the drive module 5 is fixed to the motor mounting plate 12 at its end near the output end. The driver receiving groove 13 can accommodate the main body of the drive module 5, preventing the fixed end of the drive module 5 from being exposed on the outer surface of the actuator, thus protecting the core structure of the drive module 5. However, the size of the driver receiving groove 13 cannot be too large or too small. If it is too large, the overall structure will not be compact enough, resulting in increased material costs. If it is too small, the electrical connection of the drive module 5 will be limited. Therefore, this embodiment further optimizes the driver receiving groove 13. A storage gap 14 is formed between the fixed end of the drive module 5 away from the output end and the outer wall of the inverted U-shaped groove 11. The storage gap 14 can accommodate the drive port 531 at the end of the drive module 5, such as the drive port 531 used for power supply, data transmission, etc. The storage gap 14 separates the drive port 531 and the inverted U-shaped groove 11, so the movement of the base frame 1 will not interfere with the drive module 5.

[0066] A robot having the aforementioned robot actuator.

[0067] The drive module 5 is a known mechanism for driving the robot to rotate around the X, Y, and Z axes. It can be a motor, a combination of a motor and a reducer, or a combination of a motor and a reducer, as long as it enables the base frame 1 to rotate around the X and Y axes.

[0068] The robot actuator in this solution can be any actuator of the robot, such as the hand, leg, waist, head, hip, or other known actuators that may be involved in robots, and it has a wide range of applications. The waist is used as an example.

[0069] like Figure 2-6 The waist actuator includes: a base frame 1, a fixed seat 2, an outer shaft 3, an inner shaft 4, and a drive module 5;

[0070] A pair of drive modules 5 are mounted on the base frame 1 and located at the left and right positions of the inner shaft 4. The drive module 5 includes an outer bevel gear 51, an inner bevel gear 52, and a rotary motor 53. The outer bevel gear 51 is mounted on the fixed base 2, and the axis of the outer bevel gear 51 of the two drive modules 5 is located on the X-axis. The rotary motor 53 is mounted on the base frame 1, the inner bevel gear 52 meshes with the outer bevel gear 51, and the output end of the rotary motor 53 is connected to the inner bevel gear 52 to drive the inner bevel gear 52 to rotate clockwise or counterclockwise. The rotary motors 53 of the two drive modules 5 are communicatively connected.

[0071] When the inner bevel gears 52 of the two drive modules 5 rotate in the same direction, the base frame 1 rotates around the inner shaft 4;

[0072] When the inner bevel gears 52 of the two drive modules 5 rotate in opposite directions, the base frame 1 rotates around the outer shaft 3.

[0073] When the rotating motors 53 of the two drive modules 5 drive the inner bevel gears 52 to rotate in the same direction, the inner bevel gears 52 of the two drive modules 5 have a tendency to rotate in the same direction, for example, they move upward or downward at the same time towards the outer bevel gears 51. Therefore, the inner bevel gears 52 can drive the rotating motors 53 to rotate around the inner shaft 4 (Y-axis). The rotating motors 53 are fixed on the base frame 1, so the base frame 1 will rotate around the inner shaft 4 (Y-axis), realizing the forward or backward flipping of the actuator.

[0074] When the rotating motors 53 of the two drive modules 5 drive the inner bevel gears 52 to rotate in opposite directions, the inner bevel gears 52 of the two drive modules 5 have a tendency to move in opposite directions. For example, one inner bevel gear 52 moves upward toward the outer bevel gear 51, and the other inner bevel gear 52 moves downward toward the outer bevel gear 51. Since the axes of the two outer bevel gears 51 are located on the X-axis, the two inner bevel gears 52 are equivalent to rotating around the X-axis. One inner bevel gear 52 can drive the rotating motor 53 to move upward around the outer shaft 3 (X-axis), and the other inner bevel gear 52 can drive the rotating motor 53 to move downward around the outer shaft 3 (X-axis). The rotating motor 53 is fixed on the base frame 1, so the base frame 1 will rotate around the outer shaft 3 (X-axis), realizing the left or right flipping of the actuator.

[0075] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A robot actuator frame, characterized in that, include: Base frame, fixed seat, outer shaft and inner shaft; The base frame is provided with motor mounting plates at the left and right positions respectively, and the motor mounting plates are provided with fixed positions for placing objects; the base frame is provided with an inverted U-shaped groove between the two motor mounting plates; the inner shaft faces the Y-axis and is installed in the inverted U-shaped groove; the fixed seat is provided with a rotating hole; one end of the outer shaft is rotatably connected to the rotating hole around the X-axis; the other end of the outer shaft is rotatably sleeved on the inner shaft around the Y-axis. The inverted U-shaped groove has side wall cutouts on its left and right sides, and the inner shaft has a hollow structure inside; the side wall cutouts expose the hollow structure, and a wiring channel is formed between the two.

2. The actuator frame of a robot according to claim 1, characterized in that, Also includes: Reseat; The base frame is located between the fixed seat and the rotating seat; the rotating seat is provided with a seat hole, and the seat hole and the rotating hole are coaxially arranged. The outer shaft includes: a sleeve, a first sub-shaft, and a second sub-shaft; The sleeve faces the Y-axis direction; the sleeve is rotatably fitted onto the inner shaft; the first and second sub-shafts are located on the same straight line, with one end of each fixed to the sleeve; the other end of the first sub-shaft is rotatably connected to the rotating hole, and the other end of the second sub-shaft is rotatably connected to the seat hole.

3. The actuator frame of a robot according to claim 2, characterized in that, The inverted U-shaped groove rotates around the Y-axis until it abuts against the rotating seat, restricting the base frame from rotating forward.

4. The actuator frame of a robot according to claim 3, characterized in that, The rotary table is equipped with a horizontal plate and a rotating mounting plate; The rotating mounting plate is disposed on the horizontal plate; the rotating mounting plate is provided with the seat hole; the inverted U-shaped groove rotates around the Y-axis to abut against the horizontal plate, and the rotating mounting plate extends into the interior of the inverted U-shaped groove.

5. The actuator frame of a robot according to any one of claims 1-4, characterized in that, The motor mounting plate rotates around the Y-axis until it abuts against the fixed seat, restricting the base frame from rotating backward.

6. A robot actuator, characterized in that, include: The drive module and the actuator frame of a robot according to any one of claims 1-5; The drive modules are respectively installed at the fixed positions on the left and right sides of the base frame.

7. A robot actuator according to claim 6, characterized in that, A driver receiving groove is formed between the motor mounting plate and the side wall of the inverted U-shaped groove; the driver module is located in the driver receiving groove; The drive module is mounted on the motor mounting plate at one end near the output end, and a storage gap is formed between the drive module at the end away from the output end and the outer wall of the inverted U-shaped groove.

8. A robot actuator according to claim 7, characterized in that, The drive module has a drive port in the storage gap, and the drive ports of the two drive modules are connected by a wire, which passes through the wiring channel.

9. A robot, characterized in that, A robot actuator as described in claim 6 is provided.

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