Dual rotor drive structure, actuator and robot

Abstract

The application relates to a double-rotor driving structure, an actuator and a robot, and is applied to the field of robots. The double-rotor driving structure comprises a stator assembly and a double-rotor assembly. The stator assembly has radially opposite inner and outer circumferential sides. The double-rotor assembly comprises a rotor frame, an inner rotor unit and an outer rotor unit which are mounted on the rotor frame. The inner rotor unit is arranged on the inner circumferential side of the stator assembly, and the outer rotor unit is arranged around the outer circumferential side of the stator assembly. The inner rotor unit, the outer rotor unit and the rotor frame are coaxially arranged and coupled to the stator assembly. The coaxial nested layout is formed by sharing the stator assembly. Since the inner and outer rotor units independently correspond to the inner and outer circumferential sides of the stator assembly, the driving structure can quickly respond to torque changes, has excellent acceleration and deceleration performance, and can provide higher instantaneous power output, so as to be suitable for occasions requiring rapid climbing or emergency acceleration.

Description

Technical Field

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

[0002] An actuator is a device that converts electrical energy into mechanical energy. As a core driving component in a robot system, it uses an energized coil to generate a rotating magnetic field that acts on the rotor, thereby forming a magnetoelectric torque to achieve functions such as joint movement and load control.

[0003] Traditional electric motors typically have only one stator and one rotor, whether they are DC motors, synchronous motors, or asynchronous motors, and only one mechanical port. However, with the development of technology and the diversification of application scenarios, dual-motor structures have begun to appear on the market.

[0004] The most common dual-motor design currently available is to simply combine two motors together to form a motor with two mechanical shafts. The two motors are driven independently, enabling independent energy transfer between the two mechanical shafts. This type of motor is large in size and occupies a lot of space, has a complex overall structure, and is relatively expensive to produce. Utility Model Content

[0005] Therefore, it is necessary to provide a dual-rotor drive structure, actuator, and robot to address the problems of large size and space occupation, complex structure, and high production cost of dual motors.

[0006] In a first aspect, this application provides a dual-rotor drive structure, which adopts the following technical solution:

[0007] A dual-rotor drive structure includes a stator assembly and a dual-rotor assembly. The stator assembly has radially opposite inner and outer peripheral sides. The dual-rotor assembly includes a rotor frame and an inner rotor unit and an outer rotor unit mounted on the rotor frame. The inner rotor unit is located on the inner peripheral side of the stator assembly, and the outer rotor unit is arranged around the outer peripheral side of the stator assembly. The inner rotor unit, the outer rotor unit, and the rotor frame are coaxially arranged and coupled to the stator assembly.

[0008] In one embodiment, the stator assembly includes a stator core and windings. The stator core forms a magnetic conductive path on the outer peripheral side and the outer peripheral side. The windings are wound around the core to generate an excitation magnetic field on the inner peripheral side and / or the outer peripheral side when energized, so as to magnetically drive the dual rotor assembly.

[0009] In one embodiment, the rotor frame includes an inner rotor support portion coaxially arranged with the stator assembly. The inner rotor unit includes an inner rotor yoke and a plurality of inner rotor magnets. The inner rotor magnets are circumferentially spaced on the inner rotor support portion. The inner rotor yoke is sleeved on the inner side of the inner rotor support portion to abut the inner rotor magnets between the inner rotor support portion and the stator assembly.

[0010] In one embodiment, the rotor frame includes an outer rotor support portion coaxially arranged with the stator assembly. The outer rotor unit includes an outer rotor yoke and a plurality of outer rotor magnets. The outer rotor magnets are circumferentially spaced on the outer rotor support portion. The outer rotor yoke is sleeved around the outer rotor support portion to abut the outer rotor magnets between the outer rotor support portion and the stator assembly.

[0011] Secondly, this application provides an actuator, which adopts the following technical solution:

[0012] An actuator includes the aforementioned dual-rotor drive structure, reduction structure, and housing, wherein the reduction structure is drively connected to the output end of the dual-rotor drive structure; and the housing is used to accommodate the dual-rotor drive structure and the reduction structure.

[0013] 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 dual-rotor drive structure, and the planetary gear set meshes between the sun gear and the internal gear ring.

[0014] In one embodiment, the reduction structure further includes a planet carrier and a connecting bearing, the planet carrier being connected to the planetary gear set, and the inner ring of the planet carrier being rotatably connected to the sun gear via the connecting bearing.

[0015] In one embodiment, the deceleration structure further includes a limiting bearing, wherein the outer ring of the planetary carrier is rotatably mounted to the housing by means of the limiting bearing.

[0016] In one embodiment, the actuator further includes a signal magnet and an electronic control board, the electronic control board being mounted on the housing, the signal magnet being mounted on the end of the sun gear near the electronic control board and capable of coupling with the encoder magnetic field on the electronic control board for detecting the position and rotational speed of the dual rotor assembly.

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

[0018] A vehicle comprising the aforementioned actuator, the actuator serving as a joint of the robot.

[0019] The aforementioned dual-rotor drive structure includes a shared stator assembly, an inner rotor unit located on the inner periphery of the stator assembly, and an outer rotor unit located on the outer periphery of the stator assembly. By sharing the stator assembly, a coaxial nested layout is formed. Since the inner and outer rotor units independently correspond to the inner and outer peripheries of the stator assembly, the drive structure can quickly respond to torque changes, has excellent acceleration and deceleration performance, and can also provide higher instantaneous power output, making it suitable for occasions requiring rapid climbing or emergency acceleration. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of a dual-rotor drive structure in one embodiment of this application.

[0021] Figure 2 This is an assembly diagram of a dual-rotor drive structure in one embodiment of this application.

[0022] Figure 3 This is a schematic diagram of the stator assembly and housing in one embodiment of this application.

[0023] Figure 4 This is a schematic diagram of a dual-rotor assembly in one embodiment of this application.

[0024] Figure 5 This is a schematic diagram of the deceleration structure and housing in one embodiment of this application.

[0025] Figure 6 This is a cross-sectional schematic diagram of the actuator in one embodiment of this application.

[0026] Attached image annotations:

[0027] 1. Dual-rotor drive structure; 11. Stator assembly; 111. Stator core; 112. Winding; 12. Dual-rotor assembly; 121. Rotor frame; 1211. Inner rotor support; 1212. Outer rotor support; 122. Inner rotor unit; 1221. Inner rotor yoke; 1222. Inner rotor magnet; 123. Outer rotor unit; 1231. Outer rotor yoke; 1232. Outer rotor magnet; 2. Reduction structure; 21. Internal gear ring; 22. Planetary gear set; 23. Sun gear; 24. Planetary carrier; 241. Front planetary carrier; 242. Rear planetary carrier; 25. Connecting bearing; 26. Limit bearing; 3. Housing; 31. Outer shell; 32. End cover; 4. Signal magnet; 5. Electronic control board; 6. Positioning bearing; G1. Central shaft. Detailed Implementation

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] The following is in conjunction with the appendix Figure 1-6 The embodiments of this application will be described in further detail.

[0035] See Figure 1 and Figure 2 As shown, Figure 1 A schematic diagram of a dual-rotor drive structure according to an embodiment of this application is shown. Figure 2 This illustration shows an assembly diagram of a dual-rotor drive structure according to an embodiment of the present application. One embodiment of the present application provides a dual-rotor drive structure 1, including a stator assembly 11 and a dual-rotor assembly 12 that are axially fitted together, with the stator assembly 11 and the dual-rotor assembly 12 arranged coaxially.

[0036] The stator assembly 11 includes an inner circumferential side and an outer circumferential side that are radially opposite each other. The dual rotor assembly 12 includes a rotor frame 121 and an inner rotor unit 122 and an outer rotor unit 123 mounted on the rotor frame 121. The inner rotor unit 122 and the outer rotor unit 123 are arranged coaxially.

[0037] Specifically, the outer rotor unit 123 is disposed around the outer periphery of the stator assembly 11 and coupled to the stator assembly 11, while the inner rotor unit 122 is disposed on the inner periphery of the stator assembly 11 and is also coupled to the stator assembly 11. Driven by the stator assembly 11, the outer rotor unit 123 and the inner rotor unit 122 can rotate around the central axis G1. The central axis G1 is oriented at... Figure 2 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 dual rotor drive structure 1.

[0038] The dual-rotor drive structure 1 shown in this application includes a shared stator assembly 11, an inner rotor unit 122 disposed on the inner periphery of the stator assembly 11, and an outer rotor unit 123 disposed on the outer periphery of the stator assembly 11. This application forms a coaxial nested layout by sharing the stator assembly 11. Since the inner and outer rotor units 123 independently correspond to the inner and outer peripheries of the stator assembly 11, the drive structure can quickly respond to torque changes, has excellent acceleration and deceleration performance, and can also provide higher instantaneous power output, making it suitable for applications requiring rapid climbing or emergency acceleration.

[0039] Combination Figure 2 and Figure 3 As shown, Figure 3 A schematic diagram of a stator assembly and housing according to one embodiment of this application is shown. In some embodiments, the stator assembly 11 includes a stator core 111 and a winding 112. The stator core 111 forms a magnetic conductive path between the inner and outer peripheral sides. The winding 112 is wound around the stator core 111 and generates an excitation magnetic field on the inner and / or outer peripheral sides when energized, thereby magnetically driving the dual-rotor assembly 12. The inner rotor unit 122 and the outer rotor unit 123 are each controlled by an independent magnetic field. When the dual-rotor assembly 12 rotates, the inner rotor unit 122 and the outer rotor unit 123 rotate relatively stationary, generating greater torque and power through interaction.

[0040] Furthermore, since both the inner rotor unit 122 and the outer rotor unit 123 independently correspond to the stator assembly 11, the motor can respond quickly to torque changes and has excellent acceleration and deceleration performance. At the same time, the dual-rotor drive structure 1 can also provide higher instantaneous power output to suit applications requiring rapid hill climbing or emergency acceleration.

[0041] Continue reading Figure 2 As shown, the rotor frame 121 includes an inner rotor support portion 1211 and an outer rotor support portion 1212 arranged at intervals. The inner ring of the inner rotor support portion 1211 and the outer ring of the inner rotor support portion 1211 define a section for accommodating the stator assembly 11. The stator assembly 11 can be axially embedded in this section to complete the assembly of the dual rotor drive structure 1.

[0042] The inner rotor support 1211 and the outer rotor support 1212 are coaxially arranged. Both the inner rotor support 1211 and the outer rotor support 1212 are constructed in a cylindrical shape. They have the same structure and are used to support the corresponding rotor unit. The only difference is that the diameter of the outer rotor support 1212 is larger than the diameter of the inner rotor support 1211. The projections of the inner rotor support 1211 and the outer rotor support 1212 in the axial direction at least partially overlap.

[0043] Combination Figure 2 and Figure 4 As shown, Figure 4 A schematic diagram of a dual-rotor assembly according to an embodiment of this application is shown. The inner rotor unit 122 includes an inner rotor yoke 1221 and a plurality of inner rotor magnets 1222, wherein the inner rotor yoke 1221 is constructed as a cylindrical structure, and the inner rotor magnets 1222 are constructed as cuboid sheet-like magnetic sheets. A plurality of inner rotor mounting slots (not shown) are evenly distributed along the axial direction on the inner rotor support 1211, and the inner rotor magnets 1222 can be inserted into the inner rotor mounting slots one by one to complete the connection with the inner rotor support 1211.

[0044] In this embodiment, the inner rotor magnet 1222 of the inner rotor unit 122 is assembled on the side close to the stator assembly 11, that is, the inner rotor magnet 1222 is installed on the outside of the inner rotor support 1211, and the inner rotor yoke 1221 is disposed in the inner rotor support 1211 and connected to the inner ring of the inner rotor support 1211. It is used to provide a certain support force for the inner rotor magnet 1222 during the rotation of the dual rotor assembly 12, so that the inner rotor magnet 1222 is always restricted between the inner rotor support 1211 and the stator assembly 11, so as to ensure the assembly stability of the inner rotor unit 122.

[0045] The outer rotor unit 123 includes an outer rotor yoke 1231 and multiple outer rotor magnets 1232. The outer rotor yoke 1231 is also constructed as a cylindrical structure, and its diameter is larger than that of the inner rotor yoke 1221. The outer rotor magnets 1232 are also constructed as rectangular sheet-like magnetic sheets. Multiple outer rotor mounting slots (not shown) are evenly distributed along the axial direction on the outer rotor support 1212. The outer rotor magnets 1232 can be inserted into the outer rotor mounting slots one by one to complete the connection with the outer rotor support 1212.

[0046] In this embodiment, the outer rotor magnet 1232 of the outer rotor unit 123 is assembled on the side close to the stator assembly 11, that is, the outer rotor magnet 1232 is installed on the inner side of the outer rotor support 1212, and the outer rotor yoke 1231 is sleeved on the periphery of the outer rotor support 1212 and connected to the outer ring of the outer rotor support 1212, thereby providing a certain support force for the outer rotor magnet 1232 during the rotation of the dual rotor assembly 12, so that the outer rotor magnet 1232 is always restricted between the outer rotor support 1212 and the stator assembly 11, so as to ensure the assembly stability of the outer rotor unit 123.

[0047] See Figures 1 to 6 As shown, Figure 5 A schematic diagram of the deceleration structure and housing in one embodiment of this application is shown. Figure 6A cross-sectional schematic diagram of an actuator according to one embodiment of this application is shown. In some embodiments, this application also provides an actuator, including a housing 3, a reduction structure 2 and the aforementioned dual-rotor drive structure 1 assembled within the housing 3. The dual-rotor drive structure 1 is used to generate driving force, and the reduction structure 2 is axially connected to the output end of the dual-rotor drive structure 1 for outputting driving force outward.

[0048] Specifically, the reduction structure 2 includes an internal gear ring 21, a planetary gear set 22, and a sun gear 23. The outer ring of the internal gear ring 21 is fixed to the inner wall of the housing 3. The sun gear 23 passes through the central axis G1 and is fixed at the center of the rotor frame 121. The planetary gear set 22 meshes between the sun gear 23 and the internal gear ring 21.

[0049] Specifically, the sun gear 23 and the rotor frame 121 are configured with an interference fit. The surface of the sun gear 23 away from the rotor frame 121 has teeth for meshing with the planetary gear set 22, thereby achieving the transmission connection between the reduction structure 2 and the dual-rotor drive structure 1. In this embodiment, integrating the output shaft of the dual-rotor drive structure 1 and the central gear of the reduction structure 2 into the sun gear 23 effectively reduces the overall size of the actuator, simplifies the structural design, and lowers costs.

[0050] Continue reading Figure 5 and Figure 6 As shown, in some embodiments, the reduction structure 2 further includes a planet carrier 24 and a connecting bearing 25. The planet carrier 24 is connected to the aforementioned planetary gear set 22, and the inner ring of the planet carrier 24 is rotatably connected to the sun gear 23 via the connecting bearing 25.

[0051] Furthermore, in some embodiments, the deceleration structure 2 also includes a limiting bearing 26 installed between the outer ring of the planetary carrier 24 and the inner wall of the housing 3. The outer ring of the planetary carrier 24 can be rotatably installed on the inner wall of the housing 3 by means of the limiting bearing 26, so that the planetary carrier 24 can output driving force outward.

[0052] In this embodiment, the planetary carrier 24 includes a front planetary carrier 241 and a rear planetary carrier 242 arranged sequentially along the central axis G1. The front planetary carrier 241 and the rear planetary carrier 242 are located at opposite ends of the planetary gear set 22 in the axial direction and are connected to each other by means of pins to drive an external load. Specifically, the inner ring of the front planetary carrier 241 is mounted to the outer wall of the sun gear 23 by means of a connecting bearing 25, and the outer ring of the front planetary carrier 241 is mounted to the inner wall of the housing 3 by means of a limiting bearing 26.

[0053] For details, please refer to [link / reference]. Figure 6As shown, in some other embodiments, the actuator also includes a signal magnet 4 and an electronic control board 5. In this embodiment, the electronic control board 5 is fixed to the inner wall of the housing 3 by screws. The electronic control board 5 includes, but is not limited to, a motor drive board fixed to the inner wall of the housing 3. The electronic control board 5 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 movement. The signal magnet 4 is installed at the end of the sun gear 23 near the electronic control board 5, and a certain gap is maintained between it and the electronic control board 5 to avoid installation interference.

[0054] When the dual rotor assembly 12 rotates, the signal magnet 4 fixed at the end of the sun gear 23 can continuously and stably transmit the magnetic field to one side of the electronic control board 5 through the gap. The encoder arranged on the electronic control board 5 is in a stationary state. When it senses the alternating magnetic field generated by the signal magnet 4, it will generate corresponding pulse electrical signals at different pins. The electrical signals emitted by different pins can identify the rotation speed and direction of the dual rotor assembly 12 at this time.

[0055] Combination Figure 3 and Figure 6 As shown, in order to facilitate assembly, the housing 3 is constructed as a split structure in this embodiment of the application. The housing 3 specifically includes an outer shell 31 and an end cover 32 that is detachably installed on the outer shell 31 by means of bolts. The stator assembly 11 can be press-fitted onto the end cover 32 along the axial direction to achieve relative fixation between the stator assembly 11 and the housing 3.

[0056] In this embodiment, the outer shell 31 is manufactured using injection molding. During actual assembly, the injection-molded shell 3 contains the aforementioned internal gear ring 21 and limiting bearing 26. First, the front planetary carrier 241 is pressed into the limiting bearing 26. Then, the pins connecting the bearing 25 and the planetary gear set 22 are pressed into the front planetary carrier 241, allowing the sun gear 23 to be tightly connected to the rotor carrier 121. During operation, the dual rotor assembly 12 directly drives the sun gear 23 to rotate. The rotating sun gear 23 meshes with the planetary gears and, along the internal gear ring 21 fixed to the inner wall of the shell 3, drives the front planetary carrier 241 to rotate via the pins, thereby driving the external load.

[0057] Furthermore, in some other embodiments, the actuator also includes a positioning bearing 6, the outer ring of which is assembled with a bearing housing (not shown) disposed on the end cover 32, and the inner ring of which is assembled with the rotor frame 121, so that the dual rotor assembly 12 can rotate freely within the housing 3 by means of the positioning bearing 6 and the connecting bearing 25.

[0058] In some embodiments, this application also provides a robot, which includes at least a body (not shown), legs (not shown), and an actuator as shown in any of the above embodiments, wherein the 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.

[0059] 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.

[0060] 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.

[0061] 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 dual-rotor drive structure, characterized in that, The drive structure includes coaxially arranged components: The stator assembly has radially opposite inner and outer circumferential sides; and, A dual-rotor assembly includes a rotor frame and an inner rotor unit and an outer rotor unit mounted on the rotor frame. The inner rotor unit is located on the inner periphery of the stator assembly, and the outer rotor unit is arranged around the outer periphery of the stator assembly. The inner rotor unit, the outer rotor unit, and the rotor frame are coaxially arranged and coupled to the stator assembly.

2. The dual-rotor drive structure according to claim 1, characterized in that, The stator assembly includes a stator core and windings. The stator core forms the magnetic conductive path on the outer periphery and the outer periphery side. The windings are wound around the core to generate an excitation magnetic field on the inner periphery and / or the outer periphery side when energized, so as to magnetically drive the dual rotor assembly.

3. The dual-rotor drive structure according to any one of claims 1-2, characterized in that, The rotor frame includes an inner rotor support portion coaxially arranged with the stator assembly. The inner rotor unit includes an inner rotor yoke and a plurality of inner rotor magnets. The inner rotor magnets are installed at intervals along the circumference of the rotor frame in the inner rotor support portion. The inner rotor yoke is sleeved on the inner side of the inner rotor support portion to abut the inner rotor magnets between the inner rotor support portion and the stator assembly.

4. The dual-rotor drive structure according to any one of claims 1-2, characterized in that, The rotor frame includes an outer rotor support portion coaxially arranged with the stator assembly. The outer rotor unit includes an outer rotor yoke and a plurality of outer rotor magnets. The outer rotor magnets are installed at intervals along the circumference of the rotor frame on the outer rotor support portion. The outer rotor yoke is sleeved around the outer rotor support portion to abut the outer rotor magnets between the outer rotor support portion and the stator assembly.

5. An actuator, characterized in that, The actuator includes: The dual-rotor drive structure as described in any one of claims 1-4; A reduction gear structure is connected to the output end of the dual-rotor drive structure; and, A housing for accommodating the dual-rotor drive structure and the reduction structure.

6. The actuator according to claim 5, characterized in that, The reduction structure comprises 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 dual-rotor drive structure, and the planetary gear set meshes between the sun gear and the internal gear ring.

7. The actuator according to claim 6, characterized in that, The reduction structure also includes a planet carrier and a connecting bearing. The planet carrier is connected to the planetary gear set, and the inner ring of the planet carrier is rotatably connected to the sun gear via the connecting bearing.

8. The actuator according to claim 7, characterized in that, The deceleration structure also includes a limiting bearing, and the outer ring of the planetary carrier is rotatably mounted on the housing by means of the limiting bearing.

9. The actuator according to claim 6, characterized in that, The actuator also includes a signal magnet and an electronic control board. The electronic control board is mounted on the housing, and the signal magnet is mounted on the end of the sun gear near the electronic control board and can be coupled to the magnetic field of the encoder on the electronic control board for detecting the position and speed of the dual rotor assembly.

10. A robot, characterized in that, Includes an actuator as described in any one of claims 6-9, the actuator serving as a joint of the robot.

Images