CN110725911A

CN110725911A - A executor and robot for robot

Info

Publication number: CN110725911A
Application number: CN201911061321.1A
Authority: CN
Inventors: 闫巡戈; 崔昊天; 唐彬
Original assignee: Innfos Drive Beijing Technologies Co Ltd
Current assignee: Cloudminds Robotics Co Ltd
Priority date: 2019-11-01
Filing date: 2019-11-01
Publication date: 2020-01-24

Abstract

The present disclosure relates to an actuator for a robot and a robot, the actuator comprising: a housing including a first case (21), a second case (31), the first case (21) and the second case (31) being detachably connected; a motor; a first planetary reduction mechanism, said motors being drivingly connected to said first planetary reduction mechanism and each being housed within said first housing (21), said first planetary reduction mechanism having a first output flange (61); a second planetary reduction mechanism accommodated in the second housing (31) and having a second output flange (71); the first output flange (61) is detachably connected with the power input end of the second planetary speed reducing mechanism in a transmission mode. Through the technical scheme, the actuator for the robot can realize conversion of different speed ratios.

Description

A executor and robot for robot

Technical Field

The present disclosure relates to the field of robotics, and in particular, to an actuator for a robot and a robot.

Background

An actuator is a device in an automation tool that receives control information and exerts a control action on a controlled object, and is one of the important components of a robot. The existing actuator usually adopts fixed transmission ratio output, when different transmission ratios are needed, actuators with different speed ratios need to be replaced, and the problem that the same actuator cannot realize conversion of different speed ratios exists.

Disclosure of Invention

An object of the present disclosure is to provide an actuator for a robot, which is capable of achieving a shift of different speed ratios, and a robot.

In order to achieve the above object, the present disclosure provides an actuator for a robot, the actuator including: the shell comprises a first shell and a second shell, and the first shell and the second shell are detachably connected; a motor; a first planetary reduction mechanism, the motors drivingly coupled to the first planetary reduction mechanism and each housed within the first housing, the first planetary reduction mechanism having a first output flange; a second planetary reduction mechanism accommodated in the second housing and having a second output flange; the first output flange is detachably connected with the power input end of the second planetary speed reducing mechanism in a transmission mode.

Optionally, the first planetary reduction gear includes a first planetary gear train, a first sun gear shaft and a first ring gear, the first planetary gear train includes a first sun gear, a first planet gear and a first planet carrier, the first sun gear is fixed to the first sun gear shaft, the first sun gear shaft is fixed to the output shaft sleeve, the first planet gear is disposed on the first planet carrier, the first planet gear is engaged with the first ring gear, and the first ring gear is fixed to the first housing.

Optionally, the first planet carrier and the first output flange are integrally formed and configured as a cylindrical boss on an inner side surface of the first output flange, the first planet gear is fixed on the cylindrical boss through a first bearing, an inner ring of the first bearing is in interference fit with the cylindrical boss, and an outer ring of the first bearing is in interference fit with an inner ring of the first planet gear.

Optionally, a third bearing is disposed between the first ring gear and the first output flange, a first stop washer is disposed in the first housing, a first annular stop table is formed on the first stop washer, the third bearing is sleeved on the first flange, one end of the third bearing abuts against the first annular stop table, and the other end of the third bearing abuts against the first ring gear.

Optionally, a plurality of first cylindrical pins are integrally arranged on the outer circumference of the first ring gear, a plurality of first open slots are correspondingly arranged on the first housing, the first cylindrical pins are received in the first open slots to limit the rotation of the first ring gear relative to the first housing, and the first ring gear passes through the third bearing stop to retain the first cylindrical pins in the first open slots, or the first ring gear is in interference fit with the first housing and passes through the third bearing stop to retain the first ring gear in the first housing.

Optionally, the outer shell comprises a first end cap, the first housing comprises an inner hollow shaft shell and an outer hollow shaft shell connected together, the inner hollow shaft shell and the outer hollow shaft shell are coaxially arranged and define a central axis of the first housing, the first housing has a first end and a second end opposite to each other along the central axis, the first end cap is connected to the first end of the first housing, and the first end cap is opened with a central shaft hole; the motor is disposed between the inner hollow shaft housing and the outer hollow shaft housing.

Optionally, the motor includes a rotor and a stator, the stator is fixed to the inner hollow shaft shell, the rotor is connected to an output support, the output support is disposed at the first end and is provided with an output shaft sleeve, the output shaft sleeve is sleeved with a fifth bearing and is supported in the central shaft hole through the fifth bearing, and the first sun gear shaft is fixed in the output shaft sleeve in an interference fit manner.

Optionally, the first output flange is disposed at the second end and is supported to the inner hollow shaft housing by a sixth bearing.

Optionally, the first output flange includes a disk body and a radial outer flange formed at an outer end of the disk body, the inner hollow shaft housing is formed with a radial inner flange, the sixth bearing is sleeved on the disk body, an outer end of an outer ring of the second sixth bearing passes through the radial inner flange for stopping, an inner end of the outer ring of the sixth bearing passes through the first inner gear ring for stopping, and a second elastic sheet is disposed between an outer end of an inner ring of the sixth bearing and the radial outer flange.

Optionally, the first sun gear shaft is provided with a stepped shaft portion, the stepped shaft portion includes a large-diameter section and a small-diameter section, the central hole of the first output flange is configured as a stepped hole, a stepped surface is formed between the large-diameter section and the small-diameter section of the stepped hole, the small-diameter section is sleeved with an eighth bearing, the eighth bearing is accommodated in the large-diameter section, a first elastic sheet is arranged between the stepped surface and the eighth bearing and/or between the large-diameter section and the eighth bearing, and the large-diameter section abuts against the outer end surface of the output shaft sleeve.

Optionally, the first sun gear shaft is integrally formed with the first sun gear.

Optionally, the second planetary reduction mechanism includes a second planetary gear train, a second sun gear shaft, and a second ring gear, the second planetary gear train includes a second sun gear, a second planetary gear, and a second planet carrier, the second sun gear is fixed to the second sun gear shaft, the second planetary gear is disposed on the second planet carrier, and the second planetary gear is engaged in the second ring gear, which is fixedly disposed on the second housing.

Optionally, the second sun gear shaft is provided with a connecting flange which is detachably connected to the first output flange.

Optionally, the second planet carrier and the second output flange are integrally formed, a hollowed-out installation portion is formed between the second planet carrier and the second output flange, the hollowed-out installation portion is provided with a plurality of installation holes, the second planet wheel is sleeved on a positioning pin shaft penetrating through the installation holes so as to be fixedly connected with the second output flange, a second bearing is arranged between the second planet wheel and the positioning pin shaft, an elastic check ring is arranged at the inner end of the second planet wheel, a radial inner flange is formed at the outer end of the second planet wheel, one end of the second bearing abuts against the elastic check ring, and the other end of the second bearing abuts against the radial inner flange.

Optionally, a fourth bearing is arranged between the second ring gear and the second planet carrier, a second stop washer is arranged on the first output flange, a second annular stop table is formed on the second stop washer, the fourth bearing is sleeved on the second planet carrier, one end of the fourth bearing abuts against the second annular stop table, and the other end of the fourth bearing abuts against the second ring gear.

Optionally, a plurality of second cylindrical pins are integrally arranged on the outer circumference of the second ring gear, a plurality of second open slots are correspondingly arranged on the second housing, the second cylindrical pins are accommodated in the second open slots to limit the second ring gear to rotate relative to the second housing, an annular cushion block is arranged between the second housing and the first output flange, the annular cushion block is sleeved on the first output flange, and the second ring gear passes through the annular cushion block stopper to retain the second cylindrical pins in the second open slots, or the second ring gear is in interference fit with the second housing and passes through the annular cushion block stopper to retain the second ring gear in the second housing.

Optionally, the second sun gear shaft is integrally formed with the second sun gear and the second sun gear shaft is configured as a hollow shaft.

Optionally, the second output flange is disposed at an outer end of the second housing and is supported to the second housing by a seventh bearing.

Optionally, the outer circumference of the second housing is provided with a plurality of heat dissipation grooves.

Optionally, the actuator includes a motor driver, the motor driver includes a control module and a second end cap, the control module is electrically connected to the motor, the second end cap is connected to the first housing, and a receiving cavity is formed between the second end cap and the first housing, the control module is disposed in the receiving cavity, and the receiving cavity is sealed by the second end cap.

On the basis of the technical scheme, the robot comprises the actuator for the robot.

Through above-mentioned technical scheme, the executor that this disclosure provided links to each other through first output flange and second planet speed reduction mechanism ground power take off detachably transmission, can have two kinds of different speed ratios, realizes the conversion of different speed ratios to have easy dismounting's characteristics. When the first output flange is used as the power output end of the actuator, the output torque of the motor is transmitted to the first output flange through the first planetary speed reduction mechanism and is output through the first output flange, and at the moment, only the first planetary speed reduction mechanism is arranged in the actuator, so that a small speed ratio is output to the outside. Under the condition that the second output flange is used as the power output end of the actuator, the power input end of the second planetary speed reducing mechanism is in transmission connection with the first output flange, and the second shell is connected with the first shell to seal the second planetary speed reducing mechanism. The output torque of the motor is transmitted to the second output flange through the first planetary reduction mechanism and the first output flange and is output through the second output flange, and at the moment, the actuator is simultaneously provided with the first planetary reduction mechanism and the second planetary reduction mechanism, so that a large speed ratio can be output outwards. Thus, the actuator according to the present disclosure enables shifting of different speed ratios.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

fig. 1 is a schematic perspective view of an actuator provided in an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a partially exploded configuration of an actuator provided by an embodiment of the present disclosure;

FIG. 3 is a cross-sectional view of an actuator provided by an embodiment of the present disclosure;

FIG. 4 is a schematic perspective view of a first output flange of an actuator provided in accordance with an embodiment of the present disclosure;

FIG. 5 is a schematic perspective view of a second output flange of an actuator provided in accordance with an embodiment of the present disclosure;

fig. 6 is a schematic perspective view of a first ring gear of an actuator provided in an embodiment of the present disclosure.

Description of the reference numerals

11-a first end cover, 12-a PCB, 13-a second end cover, 14-an external interface, 15-an encoder and 16-an encoder magnet;

21-a first housing, 211-an inner hollow shaft housing, 212-an outer hollow shaft housing, 213-a first end, 214-a second end, 22-a rotor, 221-an output support, 222-an output shaft housing, 23-a stator, 24-a fifth bearing, 25-a coil, 26-a wire guard, 27-a first stop washer;

31-a second shell, 32-a seventh bearing, 33-a second stop washer, 34-an annular cushion block, 35-an elastic retainer ring and 36-a heat dissipation groove;

41-a first sun gear shaft, 42-a sixth bearing, 43-a first planet gear, 44-a first inner gear ring, 441-a first cylindrical pin, 45-a third bearing, 46-a first sun gear, 47-a first bearing, and 48-an eighth bearing;

51-a second sun gear shaft, 52-a fourth bearing, 53-a second planet gear, 54-a second inner gear ring, 541-a second cylindrical pin, 55-a second sun gear, 56-a second bearing and 57-a positioning pin shaft;

61-first output flange, 611-cylindrical boss, 612-first connecting pin hole, 613-first threaded connecting hole, 614-protrusion;

71-a second output flange, 711-a second connecting pin hole, 712-a second threaded connecting hole, 72-a second planet carrier and 73-a hollowed-out mounting part;

81-fastener, 82-first elastic sheet, 83-second elastic sheet.

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

In the present disclosure, the use of directional terms such as "inner and outer" means "inner and outer" with respect to the corresponding profile of the component itself, unless otherwise specified. In addition, the terms "first, second, third, fourth, fifth, sixth, seventh, eighth, etc. used in the present disclosure are intended to distinguish one element from another, and have no order or importance. Furthermore, in the following description, when referring to the figures, the same reference numbers in different figures denote the same or similar elements, unless otherwise explained. The foregoing definitions are provided to illustrate and describe the present disclosure only and should not be construed to limit the present disclosure.

According to a specific embodiment of the present disclosure, referring to fig. 1 to 6, there is provided an actuator for a robot, the actuator including a housing including a first case 21, a second case 31, the first case 21 and the second case 31 being detachably connected; a motor; a first planetary reduction mechanism to which the motor is drivingly connected and which are each accommodated within the first housing 21, the first planetary reduction mechanism having a first output flange 61; a second planetary reduction mechanism accommodated in the second housing 31 and having a second output flange 71; wherein, the first output flange 61 is detachably connected with the power input end of the second planetary reduction mechanism in a transmission way.

Through above-mentioned technical scheme, the executor that this disclosure provided links to each other through first output flange 61 and the power take off detachably transmission of second planet reduction gears, can have two kinds of different speed ratios, realizes the conversion of different speed ratios to have easy dismounting's characteristics. In the case where the first output flange 61 is used as a power output end of the actuator, the output torque of the motor is transmitted to the first output flange 61 through the first planetary reduction mechanism and is output through the first output flange 61, and at this time, only the first planetary reduction mechanism is provided in the actuator, so that a small speed ratio can be output to the outside. In the case where the second output flange 71 serves as the power output end of the actuator, the power input end of the second planetary reduction mechanism is in transmission connection with the first output flange 61, and the second housing 31 is connected with the first housing 21 to enclose the second planetary reduction mechanism. The output torque of the motor is transmitted to the second output flange 71 through the first planetary reduction mechanism via the first output flange 61 and is output via the second output flange 71, and at this time, the actuator is simultaneously provided with the first planetary reduction mechanism and the second planetary reduction mechanism, so that a large speed ratio can be output outwards, and therefore, the conversion of different speed ratios is realized.

In the specific embodiment provided by the present disclosure, referring to fig. 3, the first planetary reduction mechanism includes a first planetary gear train including a first sun gear 46, a first sun gear shaft 41, and a first ring gear 44, the first planetary gear train including a first sun gear 46, a first planet gear 43, and a first carrier, the first sun gear 46 being fixed to the first sun gear shaft 41, the first sun gear shaft 41 being fixed in the output boss 222, the first planet gear 43 being provided in the first carrier, and the first planet gear 43 being engaged in the first ring gear 44, the first ring gear 44 being fixed to the first housing 21. The second planetary reduction mechanism includes a second planetary gear train including a second sun gear 55, second planetary gears 53, and a second carrier 72, a second sun gear 55 fixed to the second sun gear shaft 51, the second sun gear shaft 51 provided with a connecting flange detachably connected to the first output flange 61, the second planetary gears 53 provided to the second carrier 72, and the second planetary gears 53 engaged in the second ring gear 54, the second ring gear 54 fixed to the second housing 31, and a second ring gear 54.

Through the arrangement of the first planetary reduction mechanism and the second planetary reduction mechanism, the actuator can have two different speed ratios, and the actuator can realize the conversion of different speed ratios through the detachable connection of the connecting flange arranged on the second sun gear shaft 51 and the first output flange 61. When the first output flange 61 is used as a power output end of the actuator, the sun gear shaft drives the sun gear to rotate together with the motor when transmitting torque, and the torque is transmitted to the first output flange 61 through the first sun gear 46, the first planet gear 43 and the first inner gear ring 44 and is output through the first output flange 61. At this time, the actuator is provided with only the first planetary reduction mechanism, and thus a small speed ratio is output externally. In the case where the second output flange 71 serves as a power take-off of the actuator, at this time, the connecting flange provided on the second sun gear shaft 51 is connected to the first output flange 61 by the fastener 81, the second housing 31 is connected to the first housing 21 by the fastener 81, and the second sun gear 55, the second planetary gears 53, and the like in the second reduction mechanism are enclosed on the first housing 21. The first output flange 61 drives the second sun gear shaft 51 to rotate, and the torque transmitted by the first output flange 61 is transmitted to the second output flange 71 through the second sun gear 55, the second planet gear 53 and the second inner gear ring 54 and is output through the second output flange 71. In this case, the actuator is provided with both the first planetary reduction mechanism and the second planetary reduction mechanism, and therefore, a large speed ratio can be output to the outside.

Wherein the first planet carrier may be secured to the first output flange 61 in any suitable manner. Referring to fig. 3 and 4, the first carrier may be integrally formed with the first output flange 61 and configured as a cylindrical boss 611 on an inner side of the first output flange 61, the first planet gear 43 is fixed on the cylindrical boss 611 by a first bearing 47, an inner ring of the first bearing 47 is interference-fitted with the cylindrical boss 611, and an outer ring of the first bearing 47 is interference-fitted with the inner ring of the first planet gear 43. The outer end of the inner ring of the first bearing 47 is stopped by the inner side surface of the first output flange 61, and the outer end of the outer ring of the first bearing 47 is stopped by the third bearing 45, so that the first bearing 47 is prevented from moving in the direction along the central axis of the first housing 21, and the first planetary gear 43 is limited in the direction along the central axis of the first housing 21. It should be construed herein that the terms "inner" and "outer" in the terms of orientation of the "inner end," the inner side of the first output flange 61, and the "outer end" are defined relative to the position of the first housing 21, with the orientation near the first end 213 of the first housing 21 being "inner" and vice versa.

In one embodiment, the first planetary gear train includes three first planetary gears 43, three corresponding cylindrical bosses 611 are formed on the inner side surface of the first output flange 61, each first planetary gear 43 is fixed on the corresponding cylindrical boss 611 through a first bearing 47, and the three cylindrical bosses 611 are integrally formed on the first output flange 61, so that the mounting accuracy of the first planetary gears 43 is improved. It should be construed herein that the term "inner" as used in the "inner side of the first output flange 61" is defined with respect to the position of the first housing 21, with the orientation near the first end 213 of the first housing 21 being "inner" and the opposite being "outer". The number of the first planetary gears 43 may be set according to actual requirements, and the disclosure is not particularly limited.

Wherein, referring to fig. 2, the outer side surface of the first output flange 61 is provided with a plurality of first coupling pin holes 612 and a plurality of first screw coupling holes 613. In the case where the first output flange 61 is used as a power output end of the actuator, the first connection pin hole 612 and the first threaded connection hole 613 are connected to a load so that the first output flange 61 transmits power to the load, thereby rotating the load together. In the case where the second output flange 71 serves as a power output end of the actuator, the first connection pin hole 612 and the first threaded connection hole 613 are connected to the connection flange of the second sun gear shaft 51 to transmit power to the second planetary reduction gear mechanism, output via the second output flange 71 and rotate the load together.

Wherein the second planet carrier 72 may be arranged in any suitable manner. Referring to fig. 3 and 5, the second planet carrier 72 may be integrally formed with the second output flange 71, and a hollow installation portion 73 is formed between the second planet carrier 72 and the second output flange 71, the hollow installation portion 73 is provided with a plurality of installation holes, and the second planet wheels 53 are sleeved on the positioning pin shafts 57 penetrating through the installation holes to be fixedly connected with the second output flange 71. A second bearing 56 is arranged between the second planet wheel 53 and the positioning pin 57. In order to prevent the second bearing 56 from moving in the direction along the central axis of the first housing 21, the inner end of the second planet wheel 53 is provided with the elastic collar 35, the outer end of the second planet wheel 53 is formed with a radial inner flange, one end of the second bearing 56 abuts against the elastic collar 35, and the other end of the second bearing 56 abuts against the radial inner flange, so that the second bearing 56 is limited in the direction along the central axis of the first housing 21, the second bearing 56 can bear a large axial load, and the service life of the second bearing 56 is prolonged.

In one embodiment, the second planetary gear set includes four second planetary gears 53, each second planetary gear 53 is fixedly connected with the second output flange 71 through a positioning pin 57, and the second planetary gear carrier 72 and the second output flange 71 are integrally formed, so that the mounting accuracy of the second planetary gears 53 can be improved. The number of the second planet wheels 53 can be set according to actual requirements, and the disclosure is not particularly limited thereto.

Among them, referring to fig. 2, the outer side surface of the second output flange 71 is provided with a plurality of second coupling pin holes 711 and a plurality of second screw coupling holes 712. In the case where the second output flange 71 serves as a power output end of the actuator, the second connection pin hole 711 and the second threaded connection hole 712 are connected to the load, so that the second output flange 71 transmits power to the load to rotate the load. It should be noted that the term "outer" in the "outer side of the second output flange 71" is defined with respect to the position of the first housing 21, and the second output flange 71 is oriented "inner" toward the first end 213 of the first housing 21 and oriented "outer" away from the first end 213 of the first housing 21.

In the embodiment provided by the present disclosure, in order to support the first planet gear 43 and perform an axial limiting function on the first bearing 47, a third bearing 45 is disposed between the first ring gear 44 and the first output flange 61, and the third bearing 45 is sleeved on the protrusion 614 on the inner side surface of the first output flange 61 to reduce friction between the first ring gear 44 and the first output flange 61. In order to prevent the third bearing 45 from moving in the direction along the central axis of the first housing 21, a first stop washer 27 is disposed in the first housing 21, specifically, a first stop washer 27 is disposed on the output bracket 221 (hereinafter), the first stop washer 27 is formed with a first annular stop table, the third bearing 45 is sleeved on the first flange 61, one end of the third bearing abuts against the first annular stop table, and the other end of the third bearing abuts against the first annular gear 44, so as to limit the third bearing 45 in the direction along the central axis of the first housing 21, so that the third bearing 45 can bear a large axial load, thereby prolonging the service life of the third bearing 45.

Wherein the first ring gear 44 may be fixed to the first housing 21 in any suitable manner. In one embodiment, as shown in fig. 3 and 6 in combination, the outer circumference of the first ring gear 44 may be integrally provided with a plurality of first cylindrical pins 441, the first case 21 is correspondingly provided with a plurality of first open grooves, the first cylindrical pins 441 are received in the first open grooves to limit rotation of the first ring gear 44 relative to the first case 21, the first ring gear 44 is stopped by the third bearing 45 to hold the first cylindrical pins 441 in the first open grooves, prevent the first ring gear 44 from being moved in a direction along the central axis of the first case 21 to be separated from the first case 21, and enhance the connection reliability between the first ring gear 44 and the first case 21. In another embodiment, the first ring gear 44 may be interference fit on the inner hollow shaft housing 211 (below) of the first housing 21 and stopped by the third bearing 45 to retain the first ring gear 44 in the first housing 21.

In the embodiment provided by the present disclosure, in order to reduce friction between the second ring gear 54 and the second carrier 72, the fourth bearing 52 is provided between the second ring gear 54 and the second carrier 72. In order to prevent the fourth bearing 52 from moving in the direction along the central axis of the second housing 31, the first output flange 61 is provided with a second stop washer 33, the second stop washer 33 is formed with a second annular stop table, the fourth bearing sleeve 52 is arranged on the second planet carrier 72, one end of the fourth bearing sleeve abuts against the second annular stop table, and the other end of the fourth bearing sleeve abuts against the second annular gear 54, so as to limit the fourth bearing 52 in the direction along the central axis of the second housing 31, so that the fourth bearing 52 can bear a large axial load, and the service life of the fourth bearing 52 is prolonged.

Wherein the second ring gear 54 may be fixed to the second housing 31 in any suitable manner. In one embodiment, referring to fig. 3, a plurality of second cylindrical pins 541 are integrally provided on an outer circumference of the second ring gear 54, the second housing 31 is correspondingly provided with a plurality of second open grooves, the second cylindrical pins 541 are received in the second open grooves to limit rotation of the second ring gear 54 relative to the inner hollow shaft housing 211, an annular spacer 34 is provided between the second housing 31 and the first output flange 61, the annular spacer 34 is fitted over the first output flange 61, the second ring gear 54 is stopped by the annular spacer 34 to hold the second cylindrical pins 541 in the second open grooves, the second ring gear 54 is prevented from moving in a direction along a central axis of the second housing 31 to be separated from the second housing 31, and connection reliability between the second ring gear 54 and the second housing 31 is enhanced. In another embodiment, the outer circumference of the second ring gear 54 may be interference-fitted with the inner wall surface of the second housing 31 to be fixedly disposed in the second housing 31, and stopped by the annular spacer 34 to hold the second ring gear 54 in the second housing 31.

In the particular embodiment provided by the present disclosure, the housing further includes a first end cap 11, the first end cap 11 being removably coupled to the first housing 21 via fasteners 81 to enclose the first planetary reduction mechanism within the first housing 21. Wherein the first housing 21 includes an inner hollow shaft housing 211 and an outer hollow shaft housing 212 connected together, the inner hollow shaft housing 211 and the outer hollow shaft housing 212 are coaxially disposed and define a central axis of the first housing 21, the first housing 21 has a first end 213 and a second end 214 opposite to each other along the central axis, the first end cap 11 is connected to the first end 213 of the first housing 21, and the first end cap 11 has a central shaft hole opened therein.

The motor is arranged between the inner hollow shaft shell 211 and the outer hollow shaft shell 212, and the first planetary reduction mechanism is located in the inner hollow shaft shell 211, so that the magnetic torque radius of the motor is larger, and the torque density is improved. The motor comprises a rotor 22 and a stator 23, wherein the stator 23 is fixed on an inner hollow shaft shell 211, the rotor 22 is connected with an output support 221, the output support 221 is arranged at a first end 213 and is provided with an output shaft sleeve 222, a fifth bearing 24 is sleeved on the output shaft sleeve 222 and supported in a central shaft hole through the fifth bearing 24, and a first sun gear shaft 41 is fixed in the output shaft sleeve 222 in an interference fit manner so as to realize transmission connection of the first sun gear shaft 41 and the rotor 22, so that the first sun gear shaft 41 is driven to rotate by the output support 221 connected with the rotor 22 when the rotor 22 rotates, and power transmission is realized. In some embodiments, the first sun gear shaft 41 may be fixedly connected to the output shaft sleeve 222 through a key connection or a spline connection to limit the rotation of the first sun gear shaft 41 relative to the output shaft sleeve 222, and both ends of the output shaft sleeve 222 are provided with a limit structure, and the limit structure is used for stopping to limit the displacement of the output shaft sleeve 222 relative to the first sun gear shaft 41 in the axial direction to prevent the output shaft sleeve 222 from being separated from the first sun gear shaft 41.

Wherein the first output flange 61 is disposed at the second end 214 and is supported by the inner hollow shaft housing 211 via a sixth bearing 42 to reduce friction between the first output flange 61 and the inner hollow shaft housing 211; the second output flange 71 is provided at an outer end portion of the second housing 31 and supported by the second housing 31 through the seventh bearing 32 to reduce friction between the second output flange 71 and the second housing 31.

Wherein, the first sun gear shaft 41 is provided with a stepped shaft portion including a large diameter section and a small diameter section, the central hole of the first output flange 61 is configured as a stepped hole, a stepped surface is formed between the large diameter section and the small diameter section of the stepped hole, the small diameter section is sleeved with an eighth bearing 48, the eighth bearing 48 is accommodated in the large diameter section, a first elastic sheet 82 is provided between the stepped surface and the eighth bearing 48 and/or between the large diameter section and the eighth bearing 48, and the large diameter section abuts against the outer end surface of the output bushing 222. The eighth bearing 48 can be preloaded by the first elastic piece 82, so that the eighth bearing 48 is prevented from loosening and shifting, and the first elastic piece 82 can absorb vibration generated when the first output flange 61 rotates, thereby reducing abrasion to other parts and reducing noise. It should be noted that the term "outer" in the "outer end surface" is defined relative to the position of the first housing 21, and the term "outer" in the direction away from the first end 213 of the first housing 21 is defined as "outer" and "inner" otherwise.

The first output flange 61 comprises a disc body and a radial outer flange formed at the outer end of the disc body, the inner hollow shaft shell 211 is provided with a radial inner flange, the sixth bearing 42 is sleeved on the disc body, the outer end of the outer ring of the sixth bearing 42 is stopped by the radial inner flange, the inner end of the outer ring of the sixth bearing 42 is stopped by the first inner gear ring 44, and a second elastic sheet 83 is arranged between the outer end of the inner ring of the sixth bearing 42 and the radial outer flange to pre-tighten the sixth bearing 42 and further absorb vibration generated by the first output flange 61 when rotating, so that abrasion to other parts is reduced, and noise is reduced. It should be construed herein that the terms "inner" and "outer" in the orientation of "inner end" and "outer end" are defined relative to the position of the first housing 21, with the orientation near the first end 213 of the first housing 21 being "inner" and vice versa.

In the using process, if the robot comprising the actuator is in rigid collision with the environment, the first elastic sheet 82 and the second elastic sheet 83 can also absorb part of energy to play a certain buffering role, so that the impact force during collision is relieved, and the damage risk of some related parts in the actuator is reduced.

In the specific embodiment provided by the present disclosure, the first sun gear shaft 41 and the first sun gear 46 are integrally formed, so as to improve the coaxiality of the first sun gear shaft 41 and the first sun gear 46; the second sun gear shaft 51 is integrally formed with the second sun gear 55 to improve the coaxiality of the second sun gear shaft 51 and the second sun gear 55, and the second sun gear shaft 51 is configured as a hollow shaft to reduce the weight of the second sun gear shaft 51.

In the embodiment provided by the present disclosure, referring to fig. 1 to 3, the outer circumference of the second housing 31 is provided with a plurality of heat dissipation grooves 36, and the plurality of heat dissipation grooves 36 increase the contact area between the second housing 31 and the external environment, so that heat generated by the actuator during use can be quickly transferred to the external environment, thereby enhancing the heat dissipation effect.

In the specific embodiment provided by the present disclosure, the actuator includes a motor driver, the motor driver includes a control module and a second end cap 13, the control module is electrically connected with the motor, the second end cap 13 is connected to the first housing 21, and an accommodating cavity is formed between the second end cap 13 and the first housing 21, the control module is disposed in the accommodating cavity, and the accommodating cavity is sealed by the second end cap 13. Specifically, referring to fig. 3, the second end cap 13 is coupled to the first end cap 11, the control module includes a PCB board 12, the PCB board 12 is disposed between the first end cap 11 and the second end cap 13, and the second end cap 13 may be coupled to the first end cap 11 by a fastener 81 to couple the motor driver to the first housing 21.

Wherein, both sides end of PCB board 12 is provided with an external interface 14 respectively, and external power supplies power to PCB board 12 through this external interface 14, and the coil 25 of stator 23 is supplied power by the three-phase power line in PCB board 12 again to make stator 23 produce the change magnetic field, thereby make rotor 22 rotate and drive first sun gear axle 41 and rotate in order to transmit torque, and control the rotational speed of rotor 22 through PCB board 12, in order to realize the variable speed. In addition, the three-phase power cord passes through the cladding of line protecting plate 26, and the one end joint of line protecting plate 26 is in first end cover 11, and the other end joint is in first casing 21, makes the executor outward appearance more pleasing to the eye from this.

In the specific implementation provided by the present disclosure, the actuator further includes an encoder 15, and the encoder 15 may detect information such as a rotational angle position of the rotor 22 and a rotational speed of the rotor 22, and then send the information to the PCB 12 for processing to generate a corresponding control command for controlling the output of the motor. Wherein, the encoder 15 includes an encoder magnet 16, and the encoder magnet 16 is fixedly disposed at an end portion of the first sun gear shaft 41 close to the first end 213 and rotates with the first sun gear shaft 41, so that the encoder 15 can obtain information such as the rotation angle position of the detected rotor 22 and the rotation speed of the rotor 22 by detecting the rotation angle position of the encoder magnet 16 and measuring the rotation speed of the encoder magnet 16, and then send the information to the PCB 12 for processing to generate a corresponding control command for controlling the output of the motor. As an embodiment of the present disclosure, the motor may be configured as a flat brushless outer rotor 22 motor, and the flat brushless outer rotor 22 motor has a flat structure, so that the outer diameter of the rotor 22 is large, and the encoder 15 with a larger code wheel may be used to improve the resolution of the encoder 15, thereby improving the accuracy and reliability of the encoder 15, and further improving the precision of the control module to realize flexible control. The actuator can determine the output force of the robot limb according to the torque applied to the robot joint and the spatial displacement of the robot joint measured by the encoder 15, so that a force sensor at the tail end of the robot limb is replaced, instability caused by an unmodeled mode between the motor driver and the non-collocated sensor is greatly relieved, intelligent sensing of a load is achieved, and collision is reduced.

On the basis of the technical scheme, the present disclosure further provides a robot, which includes the above actuator for a robot, and therefore, the robot also has the above features, and details are not repeated herein in order to avoid repetition.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims

1. An actuator for a robot, the actuator comprising:

a housing including a first case (21), a second case (31), the first case (21) and the second case (31) being detachably connected;

a motor;

a first planetary reduction mechanism, said motors being drivingly connected to said first planetary reduction mechanism and each being housed within said first housing (21), said first planetary reduction mechanism having a first output flange (61);

a second planetary reduction mechanism accommodated in the second housing (31) and having a second output flange (71);

the first output flange (61) is detachably connected with the power input end of the second planetary speed reducing mechanism in a transmission mode.

2. Actuator according to claim 1, wherein the first planetary reduction mechanism comprises a first planetary gear train comprising a first sun wheel (46), a first planet wheel (43) and a first planet carrier, a first sun wheel (46) being fixed to the first sun wheel shaft (41), a first planet wheel (43) being arranged on the first planet carrier, and the first planet wheel (43) being engaged in the first annulus gear (44), the first annulus gear (44) being fixed to the first housing (21).

3. The actuator according to claim 2, wherein the first planet carrier is integrally formed with the first output flange (61) and is configured as a cylindrical boss (611) on the inner side of the first output flange (61), the first planet (43) is fixed on the cylindrical boss (611) by a first bearing (47), the inner ring of the first bearing (47) is in interference fit with the cylindrical boss (611), and the outer ring of the first bearing (47) is in interference fit with the inner ring of the first planet (43).

4. The actuator according to claim 2, wherein a third bearing (45) is arranged between the first ring gear (44) and the first output flange (61), a first stop washer (27) is arranged in the first housing (21), a first annular stop table is formed on the first stop washer (27), the third bearing (45) is sleeved on the first flange (61) and has one end abutting against the first annular stop table and the other end abutting against the first ring gear (44).

5. The actuator according to claim 4, wherein the outer circumference of the first ring gear (44) is integrally provided with a plurality of first cylindrical pins (441), the first housing (21) is correspondingly provided with a plurality of first open grooves, the first cylindrical pins (441) are received in the first open grooves to restrict the first ring gear (44) from rotating relative to the first housing (21), the first ring gear (44) is stopped by the third bearing (45) to hold the first cylindrical pins (441) in the first open grooves, or,

the first ring gear (44) is interference-fitted with the first housing (21) and stopped by the third bearing (45) to hold the first ring gear (44) in the first housing (21).

6. The actuator of claim 2, wherein the outer housing comprises a first end cap (11), the first housing (21) comprises an inner hollow shaft shell (211) and an outer hollow shaft shell (212) coupled together, the inner hollow shaft shell (211) and the outer hollow shaft shell (212) are coaxially disposed and define a central axis of the first housing (21), the first housing (21) has a first end (213) and a second end (214) opposite to each other along the central axis, the first end cap (11) is coupled to the first end (213) of the first housing (21), and the first end cap (11) defines a central shaft aperture;

the motor is disposed between the inner hollow shaft housing (211) and the outer hollow shaft housing (212).

7. The actuator according to claim 6, characterized in that the electric machine comprises a rotor (22) and a stator (23), the stator (23) is fixed to the inner hollow shaft housing (211), an output bracket (221) is connected to the rotor (22), the output bracket (221) is arranged at the first end (213) and is provided with an output shaft sleeve (222), a fifth bearing (24) is sleeved on the output shaft sleeve (222) and supported in the central shaft hole through the fifth bearing (24), and the first sun gear shaft (41) is fixed in the output shaft sleeve (222) in an interference fit manner.

8. The actuator according to claim 6, wherein the first output flange (61) is disposed at the second end (214) and is supported to the inner hollow shaft housing (211) by a sixth bearing (42).

9. The actuator according to claim 6, wherein the first output flange (61) comprises a disk body and a radial outer flange formed at an outer end of the disk body, the inner hollow shaft housing (211) is formed with a radial inner flange, the sixth bearing (42) is sleeved on the disk body, an outer end of an outer ring of the sixth bearing (42) is stopped by the radial inner flange, an inner end of an outer ring of the sixth bearing (42) is stopped by the first inner gear ring (44), and a second elastic sheet (83) is arranged between the outer end of the outer ring of the inner ring of the sixth bearing (42) and the radial outer flange.

10. Actuator according to claim 7, wherein the first sun gear shaft (41) is provided with a stepped shaft portion comprising a large diameter section and a small diameter section, the central bore of the first output flange (61) is configured as a stepped bore having a stepped surface formed between the large diameter section and the small diameter section, the small diameter section is sleeved with an eighth bearing (48), the eighth bearing (48) is accommodated in the large diameter section, and a first resilient tab (82) is provided between the stepped surface and the eighth bearing (48) and/or between the large diameter section and the eighth bearing (48), and the large diameter section abuts against an outer end surface of the output sleeve (222).

11. Actuator according to claim 2, wherein the first sun wheel shaft (41) is integrally formed with the first sun wheel (46).

12. Actuator according to claim 1, wherein the second planetary reduction mechanism comprises a second planetary gear train, a second sun gear shaft (51) and a second annulus gear (54), the second planetary gear train comprises a second sun gear (55), second planet gears (53) and a second planet carrier (72), the second sun gear (55) is fixed to the second sun gear shaft (51), the second planet gears (53) are arranged in the second planet carrier (72), and the second planet gears (53) are engaged in the second annulus gear (54), the second annulus gear (54) is fixed to the second housing (31).

13. Actuator according to claim 12, wherein the second sun gear shaft (51) is provided with a connecting flange which is detachably connected to the first output flange (61).

14. The actuator according to claim 12, wherein the second planet carrier (72) is integrally formed with the second output flange (71), a hollow mounting portion (73) is formed between the second planet carrier (72) and the second output flange (71), the hollow mounting portion (73) is provided with a plurality of mounting holes, the second planet wheel (53) is sleeved on a positioning pin shaft (57) penetrating the mounting holes to be fixedly connected with the second output flange (71), a second bearing (56) is arranged between the second planet wheel (53) and the positioning pin shaft (57), an elastic retainer ring (35) is arranged at the inner end of the second planet wheel (53), a radial inner flange is formed at the outer end of the second planet wheel (53), and one end of the second bearing (56) abuts against the elastic retainer ring (35), the other end is abutted against the radial inner flange.

15. The actuator according to claim 12, wherein a fourth bearing (52) is disposed between the second ring gear (54) and the second planet carrier (72), a second stop washer (33) is disposed on the first output flange (61), a second annular stop table is formed on the second stop washer (33), and the fourth bearing (52) is sleeved on the second planet carrier (72) and has one end abutting against the second annular stop table and the other end abutting against the second ring gear (54).

16. The actuator according to claim 12, wherein the outer circumference of the second ring gear (54) is integrally provided with a plurality of second cylindrical pins (541), the second housing (31) is correspondingly provided with a plurality of second open slots, the second cylindrical pins (541) are received in the second open slots to limit the second ring gear (54) from rotating relative to the second housing (31), an annular spacer (34) is arranged between the second housing (31) and the first output flange (61), the annular spacer (34) is sleeved on the first output flange (61), the second ring gear (54) is stopped by the annular spacer (34) to keep the second cylindrical pins (541) in the second open slots, or,

the second ring gear (54) is in interference fit with the second housing (31) and is stopped by the annular spacer (34) to hold the second ring gear (54) in the second housing (31).

17. The actuator according to claim 12, characterized in that the second sun gear shaft (51) is integrally formed with the second sun gear (55), and the second sun gear shaft (51) is configured as a hollow shaft.

18. Actuator according to claim 1, wherein the second output flange (71) is arranged at an outer end of the second housing (31) and is supported to the second housing (31) by means of a seventh bearing (32).

19. Actuator according to claim 1, wherein the outer circumference of the second housing (31) is provided with a plurality of heat dissipation grooves (36).

20. The actuator according to claim 1, characterized in that the actuator comprises a motor driver, the motor driver comprises a control module and a second end cap (13), the control module is electrically connected with the motor, the second end cap (13) is connected with the first shell (21), a containing cavity is formed between the second end cap (13) and the first shell (21), the control module is arranged in the containing cavity, and the containing cavity is sealed by the second end cap (13).

21. A robot, characterized in that the robot comprises an actuator for a robot according to any of claims 1-20.