Bidirectional driving structure, bidirectional output actuator and robot

Abstract

The application relates to a bidirectional driving structure, a bidirectional output actuator and a robot, and is applied to the field of robots. The bidirectional driving structure comprises coaxially arranged stator assemblies and two rotor assemblies. The stator assembly comprises radially opposite inner and outer circumferential sides. The two rotor assemblies are coupled to the stator assembly. One of the rotor assemblies is arranged around the outer circumferential side of the stator assembly, and the other rotor assembly is arranged on the inner circumferential side of the stator assembly. The outputs of the two rotor assemblies are arranged in opposite directions. In the axial direction, the projections of the two rotor assemblies at least partially overlap, and the projection of the stator assembly in the axial direction overlaps the projections of the two rotor assemblies in the axial direction. According to the application, the two rotor assemblies are integrated on the inner and outer circumferential sides of the stator assembly through coaxial nesting arrangement, and at least partial overlap is ensured between the axial projections of the three, so that the axial space occupation is effectively reduced, and the space utilization is improved.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a bidirectional drive structure, a bidirectional output actuator, and a robot. Background Technology

[0002] As the core driving component of a robot system, the actuator is mainly used to realize functions such as joint movement and load control. With the development of robot technology, the requirements for actuators are increasing, especially in multi-degree-of-freedom, compact designs that need to drive multiple independent loads simultaneously. Traditional single-output actuators require multiple independent units, resulting in complex systems, large footprints, and high costs. Therefore, bidirectional actuators have emerged, which achieve dual-axis output through a single motor structure, simplifying the integration of robot systems.

[0003] In related technologies, bidirectional output motors typically implement two output shafts within a single motor, enabling the motor to drive two different loads simultaneously. Achieving this functionality requires two independent windings on the motor's rotor and two independent power interfaces on the stator. When the power is switched on, the two rotors inside the motor rotate simultaneously, thereby driving the two independent output shafts.

[0004] However, although existing bidirectional actuators have achieved dual-output functionality, the need to set up two independent windings on the rotor and equip the stator with an independent power interface has resulted in redundant parts, large overall size, and low space utilization. Utility Model Content

[0005] Therefore, it is necessary to provide a bidirectional drive structure, a bidirectional output actuator, and a robot to address the problems of redundant components, large overall size, and low space utilization in existing bidirectional actuators.

[0006] Firstly, this application provides a bidirectional driving structure, employing the following technical solution:

[0007] A bidirectional drive structure includes a coaxially arranged stator assembly and two rotor assemblies. The stator assembly includes radially opposite inner and outer peripheral sides. The two rotor assemblies are respectively coupled to the stator assembly. One rotor assembly is disposed around the outer peripheral side of the stator assembly, and the other rotor assembly is disposed on the inner peripheral side of the stator assembly. The outputs of the two rotor assemblies are arranged opposite to each other. In the axial direction, the projections of the two rotor assemblies at least partially overlap, and the axial projection of the stator assembly simultaneously overlaps with the axial projections of the two rotor assemblies.

[0008] In one embodiment, the stator assembly includes an iron core and windings, the iron core forming magnetic conductive paths on the inner and outer circumferential sides, and the windings wound around the iron core to generate excitation magnetic fields on the inner and / or outer circumferential sides when energized, so as to magnetically couple and drive the two rotor assemblies respectively.

[0009] In one embodiment, the rotor assembly includes a rotor frame, a rotor yoke, and a plurality of rotor magnets, the rotor magnets being circumferentially spaced on the rotor frame, the rotor frame being axially sleeved with the rotor yoke, and the rotor magnets abutting between the rotor frame and the stator assembly.

[0010] In one embodiment, the bidirectional drive structure further includes an electronic control board mounted on the stator assembly and used to control the rotation direction and speed of the rotor assembly.

[0011] In one embodiment, the rotor assembly further includes a signal magnet located at one end of the rotor assembly near the stator assembly and capable of coupling with the encoder magnetic field on the electronic control board for detecting the rotation direction and speed of the rotor assembly.

[0012] Secondly, this application provides a bidirectional drive actuator, which adopts the following technical solution:

[0013] A bidirectional drive actuator includes the aforementioned bidirectional drive structure, two gearboxes, and a housing. The bidirectional drive structure generates driving force. The two gearboxes are respectively disposed at both axial ends of the bidirectional drive structure and are drively connected to the bidirectional drive structure to output driving force outward. The housing is used to accommodate the bidirectional drive structure and the gearboxes.

[0014] In one embodiment, the gearbox includes a limiting bearing, a reduction structure, and a planetary carrier. The reduction structure is driven to the bidirectional drive structure, and the planetary carrier is driven to the reduction structure and is rotatably mounted in the housing by means of the limiting bearing for outputting driving force outward.

[0015] In one embodiment, the reduction structure includes an internal gear ring, a planetary gear set, and a sun gear. The internal gear ring is fixed to the housing, the sun gear is connected to the bidirectional drive structure, and the planetary gear set meshes between the sun gear and the internal gear ring.

[0016] In one embodiment, the bidirectional output actuator further includes a connecting bearing and a positioning bearing. The planet carrier is connected to the planetary gear set. The planet carrier is rotatably connected to the sun gear via the connecting bearing. The outer ring of the planet carrier is rotatably mounted to the housing via the limiting bearing. The positioning bearing is located between the rotor assembly and the housing for rotatably mounting the rotor assembly of the bidirectional drive structure inside the housing.

[0017] Thirdly, this application provides a robot that adopts the following technical solution:

[0018] A robot includes the aforementioned bidirectional drive actuator, which serves as a joint of the robot.

[0019] The aforementioned bidirectional drive structure integrates two rotor assemblies into the inner and outer peripheries of the stator assembly through a coaxial nested layout, ensuring that there is at least partial overlap between the axial projections of the three components. This effectively reduces the axial space occupied and improves space utilization. Attached Figure Description

[0020] Figure 1 This is an assembly diagram of a bidirectional drive structure in one embodiment of this application.

[0021] Figure 2 This is a cross-sectional schematic diagram of a bidirectional drive actuator in one embodiment of this application.

[0022] Figure 3 This is an overall view of a bidirectional drive actuator in one embodiment of this application.

[0023] Attached image annotations:

[0024] 1. Bidirectional drive structure; 11. First rotor assembly; 111. First rotor frame; 112. First rotor yoke; 113. First rotor magnet; 114. First signal magnet; 12. Second rotor assembly; 121. Second rotor frame; 122. Second rotor yoke; 123. Second rotor magnet; 124. Second signal magnet; 13. Stator assembly; 131. Iron core; 132. Winding wire; 14. Electronic control board; 2. First gearbox; 21. First limit bearing; 221. First internal gear ring; 222. First planetary gear set; 223. First sun gear; 224. First planetary carrier; 224 1. First front planetary carrier; 2242. First rear planetary carrier; 225. First connecting bearing; 3. Second gearbox; 31. Second limit bearing; 321. Second internal gear ring; 322. Second planetary gear set; 323. Second sun gear; 324. Second planetary carrier; 3241. Second front planetary carrier; 3242. Second rear planetary carrier; 325. Second connecting bearing; 4. Housing; 41. First half-shell; 42. Second half-shell; 5. First positioning bearing; 6. Second positioning bearing; 71. First pin; 72. Second pin; 81. First screw; 82. Second screw; G1. Central shaft. Detailed Implementation

[0025] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0026] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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 application.

[0027] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0028] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0029] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0030] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0031] The following is in conjunction with the appendix Figure 1-3 The embodiments of this application will be described in further detail.

[0032] See Figure 1 , Figure 1The diagram shows an assembly schematic of a bidirectional drive structure in one embodiment of the present application. One embodiment of the present application provides a bidirectional drive structure 1, which includes at least a first rotor assembly 11, a stator assembly 13 and a second rotor assembly 12 assembled sequentially along the axial direction of the bidirectional drive structure 1. The first rotor assembly 11, the stator assembly 13 and the second rotor assembly 12 are coaxially arranged.

[0033] The stator assembly 13 includes radially opposite inner and outer peripheral sides. A first rotor assembly 11 is disposed around the outer peripheral side of the stator assembly 13 and coupled to it. A second rotor assembly 12 is disposed on the inner peripheral side of the stator assembly 13 and is also coupled to it. Driven by the stator assembly 13, the first rotor assembly 11 and the second rotor assembly 12 can rotate around a central axis G1, which is oriented at a central axis G1. Figure 1 The axis shown by the dashed line is used for illustration. The extension direction of the central axis G1 is parallel to the axis of the bidirectional drive structure 1.

[0034] Specifically, the axial projections of the first rotor assembly 11 and the second rotor assembly 12 at least partially overlap, and the axial projection of the stator assembly 13 also overlaps with the axial projections of the first rotor assembly 11 and the second rotor assembly 12. Thus, through a coaxial nested layout, the two rotor assemblies are integrated into the inner and outer circumferences of the stator assembly 13 respectively, and it is ensured that there is at least partial overlap between the axial projections of the three, thereby effectively reducing the axial space occupied and improving the overall space utilization of the bidirectional drive structure 1.

[0035] Combination Figure 2 As shown, Figure 2 A cross-sectional schematic diagram of a bidirectional drive actuator according to an embodiment of this application is shown. In some embodiments, the stator assembly 13 specifically includes an iron core 131 and a winding 132. The iron core 131 is used to form a magnetic conductive path between the inner and outer peripheral sides. The winding 132 is wound around the iron core 131 and is used to generate an excitation magnetic field on the inner and / or outer peripheral sides when energized, so as to magnetically couple and drive the first rotor assembly 11 and / or the second rotor assembly 12 respectively.

[0036] In this embodiment, along the axial direction of the bidirectional drive structure 1, the first rotor assembly 11 and the second rotor assembly 12 are respectively assembled to the stator assembly 13 from opposite sides. The first rotor assembly 11 and the second rotor assembly 12 have identical structural components, the difference being that the radial dimension of the first rotor assembly 11 is larger than that of the second rotor assembly 12, and the first rotor assembly 11 is disposed around the outer periphery of the stator assembly 13, while the second rotor assembly 12 is disposed on the inner periphery of the stator assembly 13, thereby achieving a nested assembly with the stator assembly 13.

[0037] Specifically, the first rotor assembly 11 includes a first rotor frame 111, a first rotor yoke 112, and a plurality of first rotor magnets 113. The inner diameter of the first rotor frame 111 is larger than the outer diameter of the iron core 131, and the first rotor magnets 113 are magnetic sheets with a cuboid sheet structure. The first rotor frame 111 has a plurality of first mounting slots (not shown) evenly distributed along its circumference, and the first rotor magnets 113 can be inserted into the first mounting slots one by one to complete the connection with the first rotor frame 111.

[0038] In this embodiment, the first rotor magnet 113 of the first rotor assembly 11 is located on the side closer to the stator assembly 13, i.e., the first rotor magnet 113 is installed on the inner side of the first rotor frame 111. The first rotor yoke 112 is sleeved on the periphery of the first rotor frame 111 and connected to the outer ring of the first rotor frame 111, thereby providing a certain supporting force for the first rotor magnet 113 during the rotation of the first rotor assembly 11, so that the first rotor magnet 113 is always located between the first rotor frame 111 and the stator assembly 13, thereby improving structural stability.

[0039] The second rotor assembly 12 includes a second rotor frame 121, a second rotor yoke 122, and a plurality of second rotor magnets 123. The outer diameter of the second rotor frame 121 is smaller than the inner diameter of the iron core 131. The second rotor magnets 123 are magnetic sheets with a cuboid sheet structure. A plurality of second mounting slots (not shown) are evenly distributed along the circumference of the second rotor frame 121. The second rotor magnets 123 can be inserted into the second mounting slots one by one to complete the connection with the second rotor frame 121.

[0040] In this embodiment, the second rotor magnet 123 of the second rotor assembly 12 is located on the side close to the stator assembly 13, that is, the second rotor magnet 123 is installed on the outside of the second rotor frame 121. The second rotor yoke 122 is located inside the second rotor frame 121 and connected to the inner ring of the second rotor frame 121. It is also used to provide a certain supporting force for the second rotor magnet 123 during the rotation of the second rotor assembly 12, so that the second rotor magnet 123 is always located between the second rotor frame 121 and the stator assembly 13, thereby improving the structural stability.

[0041] Continue reading Figure 1 and Figure 2As shown, in some embodiments, the bidirectional drive structure 1 further includes an electronic control board 14 mounted on the stator assembly 13. In this embodiment, the electronic control board 14 is fixed to the inner side of the stator assembly 13 by screws. The electronic control board 14 includes, but is not limited to, a motor drive board fixed to the inner side of the iron core 131. The electronic control board 14 is the core electronic module for controlling the operation of the motor, responsible for converting power energy into precisely controlled current / voltage signals to drive the motor to achieve the required motion. In this application, it is used to regulate the rotation direction and speed of the first rotor assembly 11 and the second rotor assembly 12. Under the drive of the electronic control board 14, the first rotor assembly 11 and the second rotor assembly 12 can rotate in the same direction or in opposite directions; the first rotor assembly 11 and the second rotor assembly 12 can rotate at the same speed or rotate at different speeds.

[0042] Furthermore, the first rotor assembly 11 also includes a first signal magnet 114 mounted on the end of the first rotor frame 111, and the second rotor assembly 12 also includes a second signal magnet 124 mounted on the end of the second rotor frame 121. The first signal magnet 114 and the second signal magnet 124 are both located at the end of the rotor assembly near the stator assembly 13, and can be coupled to the encoder magnetic field on the electronic control board 14 respectively, so as to detect the position and speed of the first rotor assembly 11 and / or the second rotor assembly 12.

[0043] Specifically, neither the first signal magnet 114 nor the second signal magnet 124 is in direct contact with the control board 14. They can be fixed to the ends of the first rotor frame 111 and the second rotor frame 121 by adhesive bonding, with a certain gap maintained between them and the control board 14. When the rotor assembly rotates, the signal magnets fixed to the ends of the rotor assembly can continuously and stably transmit the magnetic field to one side of the control board 14 through the gap. The encoder arranged on the control board 14 is in a stationary state. When it senses the alternating magnetic field generated by the signal magnets, it will generate corresponding pulse electrical signals at different pins. The electrical signals emitted from different pins can identify the rotational speed and direction of the rotor assembly at that time.

[0044] Combination Figure 2 and Figure 3 As shown, Figure 3 An overall view of a bidirectional drive actuator according to one embodiment of this application is shown. In some embodiments, this application also provides a bidirectional output actuator, which includes at least a housing 4, two gearboxes, and a bidirectional drive structure 1 as described in any of the above embodiments. The bidirectional drive structure 1 is used to generate driving force, and the two gearboxes are respectively disposed at both axial ends of the bidirectional drive structure 1 and are drively connected to it for outputting driving force outward. Both the gearboxes and the bidirectional drive structure 1 are disposed within the housing 4 to constitute the bidirectional output actuator.

[0045] In some embodiments, the bidirectional output actuator further includes a positioning bearing disposed between the rotor assembly and the housing 4. In this embodiment, corresponding to the first rotor assembly 11 and the second rotor assembly 12 described above, two positioning bearings are also provided, named the first positioning bearing 5 and the second positioning bearing 6, respectively. The first positioning bearing 5 is disposed between the first rotor assembly 11 and the housing 4, and the second positioning bearing 6 is disposed between the second rotor assembly 12 and the housing 4, thereby rotatably mounting the first rotor assembly 11 and the second rotor assembly 12 of the bidirectional drive structure 1 onto the housing 4.

[0046] In this embodiment of the application, for ease of description, the two gearboxes are respectively named the first gearbox 2 and the second gearbox 3. The first gearbox 2 is driven and installed at the output end of the first rotor assembly 11 in the bidirectional drive structure 1, and the second gearbox 3 is driven and installed at the output end of the second rotor assembly 12 in the bidirectional drive structure 1.

[0047] For details, please refer to [link / reference]. Figure 2 As shown, the first gearbox 2 includes a first limiting bearing 21 and a first reduction structure. The first reduction structure is connected to the first rotor assembly 11 and is rotatably mounted in the housing 4 by means of the first limiting bearing 21. The first reduction structure includes a first internal gear ring 221, a first planetary gear set 222, and a first sun gear 223. The outer ring of the first internal gear ring 221 is fixed to the inner wall of the housing 4. The first sun gear 223 passes through the central axis G1 and is fixed at the center position of the first rotor frame 111. The first planetary gear set 222 meshes between the first sun gear 223 and the first internal gear ring 221.

[0048] The first sun gear 223 and the first rotor frame 111 are configured with an interference fit to ensure relative fixation between them. The end of the first sun gear 223 away from the first rotor frame 111 has teeth for meshing with the first planetary gear set 222, thus achieving a transmission connection with the first rotor assembly 11. In this embodiment, the output shaft of the first rotor assembly 11 and the sun gear of the first gearbox 2 are integrated into the first sun gear 223, further reducing the overall size of the actuator.

[0049] In some embodiments, the first deceleration structure further includes a first planetary carrier 224 and a first connecting bearing 225. The first planetary carrier 224 is connected to the first planetary gear set 222 described above. The inner ring of the first planetary carrier 224 can be rotatably connected to the first sun gear 223 via the first connecting bearing 225. The outer ring of the first planetary carrier 224 can be rotatably mounted on the inner wall of the housing 4 via the first limiting bearing 21. The first planetary carrier 224 is used to output driving force outward.

[0050] Specifically, the first planetary carrier 224 includes a first front planetary carrier 2241 and a first rear planetary carrier 2242 arranged sequentially along the axial direction. The first front planetary carrier 2241 and the first rear planetary carrier 2242 are respectively located at both ends of the first planetary gear set 222 in the axial direction and are connected to each other by means of a first pin 71 for driving external loads.

[0051] Continue reading Figure 2 As shown, the second gearbox 3 includes a second limiting bearing 31 and a second reduction structure. The second reduction structure is connected to the second rotor assembly 12 and is rotatably mounted in the housing 4 via the second limiting bearing 31. The second reduction structure includes a second internal gear ring 321, a second planetary gear set 322, and a second sun gear 323. The outer ring of the second internal gear ring 321 is fixed to the inner wall of the housing 4. The second sun gear 323 passes through the central axis G1 and is fixed to the second rotor frame 121. The second planetary gear set 322 meshes between the second sun gear 323 and the second internal gear ring 321.

[0052] The second sun gear 323 is configured with an interference fit with the second rotor frame 121. The end of the second sun gear 323 away from the second rotor frame 121 has teeth for meshing with the second planetary gear set 322, thus achieving a transmission connection with the second rotor assembly 12. In this embodiment, integrating the output shaft of the second rotor assembly 12 and the sun gear of the second gearbox 3 into the second sun gear 323 further reduces the overall size of the actuator.

[0053] In some embodiments, the second reduction structure further includes a second planetary carrier 324 and a second connecting bearing 325. The second planetary carrier 324 is connected to the second planetary gear set 322 described above. The inner ring of the second planetary carrier 324 can be rotatably connected to the second sun gear 323 via the second connecting bearing 325. The outer ring of the second planetary carrier 324 can be rotatably mounted on the inner wall of the housing 4 via the second limiting bearing 31. The second planetary carrier 324 is used to output driving force outward.

[0054] Specifically, the second planetary carrier 324 includes a second front planetary carrier 3241 and a second rear planetary carrier 3242 arranged sequentially along the axial direction. The second front planetary carrier 3241 and the second rear planetary carrier 3242 are respectively located at both ends of the second planetary gear set 322 in the axial direction and are interconnected by means of a second pin 72 for driving external loads.

[0055] Combination Figure 2 and Figure 3As shown, in some embodiments, for ease of assembly, the housing 4 is constructed as a split structure. The housing 4 includes a first half-shell 41 for accommodating the first rotor assembly 11, the first gearbox 2 and part of the stator assembly 13, and a second half-shell 42 for accommodating the second rotor assembly 12, the second gearbox 3 and the remaining stator assembly 13. The first half-shell 41 and the second half-shell 42 are detachably assembled along the direction of the central axis by means of screws.

[0056] In this embodiment, both the first half-shell 41 and the second half-shell 42 are manufactured by injection molding. During actual assembly, the injection-molded first half-shell 41 contains the aforementioned first internal gear ring 221 and first limiting bearing 21. (See reference...) Figure 2 As shown, the first front planetary carrier 2241, the first connecting bearing 225, and the first pin 71 are assembled into a first assembly from bottom to top. Then, the first planetary gear set 222 is installed from top to bottom, ensuring precise alignment between the first planetary gear set 222 and the first pin 71. Next, the first rear planetary carrier 2242 is placed on top of the first pin 71, and the first front planetary carrier 2241 and the first rear planetary carrier 2242 are locked together using the first screw 81. Finally, the first rotor assembly 11 is assembled from top to bottom onto the first positioning bearing 5 to form a second assembly. The second assembly is then inserted into the first assembly, ensuring that the first sun gear 223 meshes with the first planetary gear set 222 and is inserted into the first connecting bearing 225, ensuring that the outer wall of the first positioning bearing 5 mates with the first half-shell 41.

[0057] During operation, the first rotor assembly 11 directly drives the first sun gear 223 to rotate. The rotating first sun gear 223 meshes with the first planetary gear set 222 and drives the first front planetary carrier 2241 to rotate along the fixed first internal gear ring 221 through the first pin 71, thereby driving the external load.

[0058] Similarly, the second internal gear ring 321 and the second limit bearing 31 are embedded in the injection-molded second half-shell 42. (See also...) Figure 2As shown, the second front planetary carrier 3241, the second connecting bearing 325, and the second pin 72 are first assembled into a third assembly from top to bottom. Then, the second planetary gear set 322 is installed from bottom to top, ensuring precise alignment between the second planetary gear set 322 and the second pin 72. Next, the second rear planetary carrier 3242 is placed on top of the second pin 72, and the second rear planetary carrier 3241 and the second front planetary carrier 3242 are locked together using the second screw 82. Finally, the stator assembly 13 is fixed to the second half-shell 42 to restrict the relative position between the stator assembly 13 and the second half-shell 42. In some other embodiments, the stator assembly 13 can also be fixed to the second half-shell 42 using a bracket, as long as the installation of each component is possible. Finally, the second rotor assembly 12 is assembled from bottom to top onto the second positioning bearing 6 to form the fourth assembly, and the fourth assembly is inserted into the second assembly, so that the second sun gear 323 meshes with the second planetary gear set 211 and is inserted into the second connecting bearing 325 to ensure that the outer wall of the second positioning bearing 6 fits with the second half-shell 42.

[0059] It is understood that the above installation sequence and method are only one possible implementation method exemplified in this application. In some other embodiments, the housing 4 may not be constructed by injection molding. The first half-shell 41 and / or the second half-shell 42 may be constructed as a split structure that can be assembled by bolts. The installation of the first internal gear ring 221 and the second internal gear ring 321 can also be achieved without being affected by the installation gap. This will not be elaborated here.

[0060] During operation, the second rotor assembly 12 directly drives the second sun gear 323 to rotate. The rotating second sun gear 323 meshes with the second planetary gear set 322 and drives the second front planetary carrier 3241 to rotate along the fixed second internal gear ring 321 via the second pin 72, thereby driving the external load.

[0061] In some embodiments, this application also provides a robot, which includes at least a body (not shown), legs (not shown), and a bidirectional output actuator as shown in any of the above embodiments, wherein the bidirectional output actuator is used to connect the legs to the body to act as a connecting joint between the body and the legs, so that the legs can be pivotally connected to the body and drive the robot to perform corresponding actions.

[0062] In this application embodiment, the robot includes, but is not limited to, bipedal robots, wheeled robots, or other multi-legged robots. Multi-legged robots include quadrupedal robots, and wheeled robots can be cleaning robots or other service robots.

[0063] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0064] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A bidirectional drive structure, characterized in that, The bidirectional drive structure includes coaxially arranged components: The stator assembly includes radially opposed inner and outer peripheral sides; and, Two rotor assemblies are respectively coupled to the stator assembly; one rotor assembly is disposed around the outer periphery of the stator assembly, and the other rotor assembly is disposed on the inner periphery of the stator assembly; The outputs of the two rotor assemblies are arranged opposite to each other. In the axial direction, the projections of the two rotor assemblies at least partially overlap, and the projection of the stator assembly in the axial direction also overlaps with the projections of the two rotor assemblies in the axial direction.

2. The bidirectional driving structure according to claim 1, characterized in that, The stator assembly includes an iron core and windings. The iron core forms magnetic conductive paths on the inner and outer circumferential sides. The windings are wound around the iron core to generate an excitation magnetic field on the inner and / or outer circumferential sides when energized, so as to magnetically couple and drive the two rotor assemblies respectively.

3. The bidirectional drive structure according to claim 1, characterized in that, The rotor assembly includes a rotor frame, a rotor yoke, and a plurality of rotor magnets. The rotor magnets are installed at circumferential intervals on the rotor frame. The rotor frame is axially sleeved with the rotor yoke, and the rotor magnets abut against the rotor frame and the stator assembly.

4. The bidirectional drive structure according to any one of claims 1-3, characterized in that, The bidirectional drive structure also includes an electronic control board, which is mounted on the stator assembly and used to control the rotation direction and speed of the rotor assembly.

5. The bidirectional driving structure according to claim 4, characterized in that, The rotor assembly also includes a signal magnet located at one end of the rotor assembly near the stator assembly and capable of coupling with the encoder magnetic field on the electronic control board to detect the rotation direction and speed of the rotor assembly.

6. A bidirectional output actuator, characterized in that, The bidirectional output actuator includes at least: The bidirectional drive structure as described in any one of claims 1-5 is used to generate driving force; Two gearboxes are respectively located at both axial ends of the bidirectional drive structure and are drively connected to the bidirectional drive structure for outputting driving force outward; and, A housing for accommodating the bidirectional drive structure and the gearbox.

7. The bidirectional output actuator according to claim 6, characterized in that, The gearbox includes a limiting bearing, a reduction structure, and a planetary carrier. The reduction structure is driven by the bidirectional drive structure, and the planetary carrier is driven by the reduction structure. It is rotatably mounted in the housing by means of the limiting bearing to output driving force outward.

8. The bidirectional output actuator according to claim 7, characterized in that, The reduction structure includes an internal gear ring, a planetary gear set, and a sun gear. The internal gear ring is fixed to the housing, the sun gear is connected to the bidirectional drive structure, and the planetary gear set meshes between the sun gear and the internal gear ring.

9. The bidirectional output actuator according to claim 8, characterized in that, The bidirectional output actuator further includes a connecting bearing and a positioning bearing. The planetary carrier is connected to the planetary gear set. The inner ring of the planetary carrier is rotatably connected to the sun gear via the connecting bearing. The outer ring of the planetary carrier is rotatably mounted to the housing via the limiting bearing. The positioning bearing is located between the rotor assembly and the housing and is used to rotatably mount the rotor assembly of the bidirectional drive structure inside the housing.

10. A robot, characterized in that, The robot includes a bidirectional output actuator as described in any one of claims 6-9, the bidirectional output actuator serving as a joint of the robot.

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