CN216634361U

CN216634361U - Electric actuator, mechanical arm and robot

Info

Publication number: CN216634361U
Application number: CN202122406342.1U
Authority: CN
Inventors: 罗程; 方鑫; 韩振; 黄晓庆; 孔兵
Original assignee: Cloudminds Shanghai Robotics Co Ltd
Current assignee: Cloudminds Shanghai Robotics Co Ltd
Priority date: 2021-09-30
Filing date: 2021-09-30
Publication date: 2022-05-31
Anticipated expiration: 2031-09-30

Abstract

The embodiment of the utility model relates to the technical field of actuators, and discloses an electric actuator, which comprises a driving module and a transmission module, wherein the driving module comprises a motor and a motor installation main body; the transmission module comprises a transmission assembly and an output piece in transmission connection with the transmission assembly; the transmission assembly comprises a transmission shell fixedly connected with the motor installation main body; the output piece is provided with a central through hole for a lead to pass through; and a first wire guide groove which is communicated with the central through hole and penetrates through the side surface of the electric actuator is arranged on the transmission shell. According to the electric actuator, the first wire groove of the transmission shell is communicated with the central through hole of the output part and the second wire groove of the motor installation main body, so that the wires cannot be entangled, twisted and damaged when the electric output part on the actuator rotates, and the problems existing when the traditional actuator is wired from the outside are solved. The utility model also discloses a mechanical arm and a robot.

Description

Electric actuator, mechanical arm and robot

Technical Field

The embodiment of the utility model relates to the technical field of actuators, in particular to an electric actuator, a mechanical arm and a robot.

Background

With the continuous development of intelligent robot technology, robots are more and more extensive in scoring fields, and in some fields, the robots are required to complete more actions, so that the robots are required to have higher freedom degrees, such as industrial robots, medical robots, bionic robots and the like.

However, the conventional electric actuator has at least the following problems: the robot has a plurality of joints, so a plurality of electric actuators are required to be arranged, when the serial control between the actuators is carried out, wires need to be arranged along the outer surfaces of the actuators and fixed, but the output ends of the actuators can cause the wires to be wound or damaged when rotating.

SUMMERY OF THE UTILITY MODEL

An object of an embodiment of the present invention is to provide an electric actuator that can protect a lead wire from being easily damaged.

In order to solve the technical problem, an embodiment of the present invention provides an electric actuator, including a driving module and a transmission module, where the driving module includes a motor and a motor installation main body, and the motor is fixed in the motor installation main body; the transmission module comprises a transmission assembly and an output member in transmission connection with the transmission assembly; the transmission assembly comprises a transmission shell fixedly connected with the motor installation main body; the output piece is provided with a central through hole for a lead to pass through; and a first wire guide groove which is communicated with the central through hole and penetrates through the side surface of the electric actuator is arranged on the transmission shell.

In addition, the driving module further comprises a connecting terminal, the motor mounting main body is provided with a second wire guide groove communicated with the first wire guide groove, and the connecting terminal in the driving module is exposed in the second wire guide groove.

In addition, the number of the connecting terminals is multiple, and the second wire groove comprises a vertical part and a horizontal part; the transverse parts of the second wire grooves are connected among the vertical parts, and the vertical parts are respectively exposed out of the connecting terminals.

In addition, the transmission housing comprises an inner gear ring fixedly connected with the motor mounting body; the output shaft of the motor is fixed with a main driving piece, and the transmission assembly further comprises a primary planet carrier, a primary planet gear pivoted on the primary planet carrier and a secondary sun gear fixedly connected with the primary planet carrier; the primary planetary gear is meshed with the main driving piece and the inner gear ring, and the secondary sun gear is in transmission connection with the output piece.

In addition, the transmission shell also comprises a double-coupling-tooth retainer fixedly connected with the inner gear ring, and the secondary sun gear is pivoted on the double-coupling-tooth retainer; the output part comprises an output gear ring, and the transmission assembly further comprises a secondary planetary gear and a tertiary planetary gear; the secondary planet gear is meshed with the secondary sun gear; the third-stage planetary gear and the second-stage planetary gear are fixedly connected and are respectively pivoted at the upper end and the lower end of the dual-tooth retainer; the third-stage planet gears are meshed with the output gear ring.

In addition, the transmission shell further comprises an output fixing cover fixedly connected with the double-linkage-tooth retainer, the output part further comprises an output flange fixed on the output gear ring, the output flange is pivoted in the output fixing cover, and the center through hole is formed in the middle of the output flange.

In addition, the output fixing cover comprises a first outer ring and a first inner ring which extend downwards from the top surface of the output fixing cover, the output flange comprises a second outer ring and a second inner ring which extend upwards from the bottom surface of the output fixing cover, the transmission module further comprises a first bearing arranged between the first inner ring and the second inner ring and a second bearing arranged between the first outer ring and the second outer ring, and the first bearing and the second bearing axially limit the output flange based on the output fixing cover.

In addition, the transmission module further comprises an output mounting piece fixed with the output flange, the first bearing limits the output mounting piece to move downwards, the second bearing limits the output flange to move upwards, and the center through hole is formed in the middle of the output mounting piece.

In addition, the first guide wire groove comprises a first groove part arranged on the dual-tooth holder and a second groove part arranged on the inner gear ring; the first groove part is communicated with the middle part and the side wall of the dual-tooth retainer, one end of the first groove part is communicated to the lower end of the central through hole, and the other end of the first groove part is communicated with the second groove part.

In addition, the transmission module further comprises an output shaft encoder, the output shaft encoder comprises a first magnet pivoted on the transmission shell and a first chip opposite to the first magnet, and the first magnet is driven to rotate by the transmission assembly.

In addition, the transmission shell also comprises a double-coupling-tooth retainer; the output piece comprises an output gear ring in transmission connection with the transmission assembly; a first counting gear is fixed on the periphery of the central end part of the output gear ring; a second counting gear meshed with the first counting gear is mounted on the dual-tooth retainer; the first magnet is arranged in the center of the second counting gear, and the first chip is arranged on the dual-tooth retainer.

In addition, drive module includes band-type brake and band-type brake locking plate in the installation main part, the band-type brake locking plate with the motor shaft fixed connection of motor, through the effect of band-type brake to the band-type brake locking plate in order to restrict the rotation of motor shaft.

In addition, the driving module further comprises a driving plate and a motor shaft encoder, wherein the motor shaft encoder comprises a second magnet fixed at the tail end of the motor shaft and a second chip fixed on the driving plate and opposite to the second magnet.

In addition, the output member is disposed coaxially with the primary drive member.

In addition, the electric actuator further comprises a plurality of jackscrews, and the jackscrews are connected with the motor mounting main body and the transmission module so that the motor mounting main body and the transmission module are axially locked.

The utility model also provides a mechanical arm which comprises the electric actuator.

The utility model also provides a robot which comprises the electric actuator.

Compared with the prior art, the electric actuator of the embodiment of the utility model has the advantages that the first wire guide groove of the transmission shell is communicated with the central through hole of the output part and the second wire guide groove of the motor installation main body, so that the wires cannot be entangled, twisted and damaged when the electric output part on the actuator rotates, and the problems of the existing actuator in wiring from the outside are solved.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

Fig. 1 is a perspective view of an electric actuator according to an embodiment of the present invention;

FIG. 2 is a side view of the electric actuator of FIG. 1 from the left with the wire cover hidden to reveal a first wire guide slot and a second wire guide slot;

FIG. 3 is a top view of the electric actuator of FIG. 1;

FIG. 4 is a cross-sectional view of the electric actuator of FIG. 3 taken along line A-A;

FIG. 5 is a cross-sectional view of the electric actuator of FIG. 3 taken along line B-B;

FIG. 6 is an exploded perspective view of a transmission module of the electric actuator of FIG. 1;

FIG. 7 is an exploded perspective view of a drive module of the electric actuator of FIG. 1;

FIG. 8 is a partially assembled schematic view of an output member and an output securing cover of the transmission module of the electric actuator of FIG. 1;

fig. 9 is a partial schematic view of an upper portion of a transmission module of the electric actuator of fig. 1.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments.

The utility model relates to an electric actuator, which is characterized by comprising a driving module and a transmission module, wherein the driving module comprises a motor and a motor installation main body; the transmission module comprises a transmission assembly and an output member in transmission connection with the transmission assembly; the transmission assembly comprises a transmission shell fixedly connected with the motor installation main body; the output piece is provided with a central through hole for a lead to pass through; and a first wire guide groove which is communicated with the central through hole and penetrates through the side surface of the electric actuator is arranged on the transmission shell. The first wire groove of the transmission shell is communicated with the central through hole of the output part and the second wire groove of the motor installation main body, so that the problem that wires are wound or damaged due to external connection of the wires is effectively solved. The utility model also protects a mechanical arm and a robot, wherein the mechanical arm comprises the electric actuator; the robot comprises the mechanical arm.

The following describes in detail the implementation of the electric actuator of the present embodiment, and the following is provided only for the convenience of understanding and is not necessary to implement the present embodiment.

Referring to fig. 1 to 9, an electric actuator according to an embodiment of the present invention is used in a robot, especially an intelligent robot such as an industrial robot, a medical robot, a bionic robot, and the like. The electric actuator comprises a transmission module 10 and a driving module 60, wherein the driving module 60 comprises a motor 62 and a motor mounting main body 61, and the motor 62 is fixed in the motor mounting main body 61; the transmission module 10 includes a transmission assembly (not shown) and an output member 50 connected with the transmission assembly; the transmission assembly comprises a transmission housing (not shown) fixedly connected with the motor mounting body 61; the output member 50 is provided with a central through hole 54 for the wire to pass through; the transmission shell is provided with a first wire guide groove which is communicated with the central through hole 54 and penetrates through the side surface of the electric actuator. The driving module 60 further includes a connection terminal 630, the motor mounting body is provided with a second wire guide 610 communicating with the first wire guide, and the connection terminal 630 of the driving module 60 is exposed in the second wire guide 630. (the arrows in FIG. 5 show the location of the wires in the central through hole, the first wire groove, and the second wire groove).

Specifically, the number of the connection terminals 630 is plural, the second wire groove 610 includes a vertical portion and a horizontal portion, and the connection terminals 630 are respectively exposed in the second wire groove 610; the horizontal portions of the second wire grooves 610 are connected between vertical portions, and the vertical portions have the connection terminals 630 exposed therein, respectively.

In the present embodiment, the output member 50 is provided coaxially with the motor 62, and therefore, the electric actuator is also referred to as an H-type actuator.

Referring to fig. 4 to 6, the transmission housing includes an inner gear ring 20 fixedly connected to the motor mounting body 61, a double-tooth holder 30 fixedly connected to the inner gear ring 20, and an output fixing cover 40 fixedly connected to the double-tooth holder 30. The output element 50 comprises an output ring gear 51, an output flange 52 fixedly connected to the output ring gear 51, and an output mounting 53 fixedly connected to the output flange 52.

A main driving part 70 fixed on the output shaft of the motor 62, the transmission assembly further comprises a primary planet carrier 31, a primary planet gear 32 pivoted on the primary planet carrier 31, and a secondary sun gear 33 fixedly connected with the primary planet carrier 31; the primary planet gears 32 are engaged with the primary drive member 70 and the ring gear 20, and the secondary sun gear 33 is drivingly connected with the output member 50.

Specifically, the number of the primary planetary gears 32 is three, the primary planetary gears 32 are uniformly arranged around the main driving member 70, and each primary planetary gear 32 is simultaneously engaged with the main driving member 70 and the internal teeth of the ring gear 20. In this embodiment, the primary drive member 70 is a gear, which corresponds to a primary sun gear.

In the present embodiment, the primary planet carrier 31 is pivoted on the central shaft of the double-tooth holder 30 through the secondary sun gear 33, so that the primary planet carrier 31 is pivoted with the double-tooth holder 30; the transmission assembly further includes a third planetary gear 41 to the second planetary gear 34; the secondary planetary gears 34 are meshed with the secondary sun gear 33; the third-stage planet gears 41 and the second-stage planet gears 34 are fixedly connected and are respectively pivoted at the upper end and the lower end of the double-tooth retainer 30; the third planetary gears 41 mesh with the output ring gear 51. In the present embodiment, the number of the third-stage planetary gears 41 and the second-stage planetary gears 34 is four. The third planetary gears 41 mesh with the internal teeth of the output ring gear 51, thereby rotating the output ring gear 51. Specifically, a rotation shaft extends from the middle of each secondary planetary gear 34 toward the double-tooth holder 30, and each tertiary planetary gear 41 is in interference fit with the rotation shaft of the corresponding secondary planetary gear 34 through one end of the double-tooth holder 30.

The output flange 52 is fixed inside the output ring gear 51. The output flange 52 is pivoted in the output fixing cover 40, and the center through hole 54 is formed in the middle of the output flange 52. The output ring gear 51 is pivoted in the output stationary cover 40.

In this embodiment, the output fixing cover 40 includes a first outer ring and a first inner ring extending downward from a top surface thereof, the output flange 52 includes a second outer ring and a second inner ring extending upward from a bottom surface thereof, the transmission module 10 further includes a first bearing 11 disposed between the first inner ring and the second inner ring, and a second bearing 12 disposed between the first outer ring and the second outer ring, and the first bearing 11 and the second bearing 12 axially limit the output flange 52 based on the output fixing cover 40. By providing a dual bearing structure at the inner and outer walls of the output fixing cover 40, the axial play of the output member 50 can be reduced. Specifically, the first bearing 11 is mounted between the output mount 53 and an upward facing mounting surface of the output stationary cover 40 to restrict downward movement of the output mount, and the second bearing 12 is mounted between the output flange 52 and a downward facing mounting surface of the output stationary cover 40 to restrict upward movement of the output flange 52. The center through hole 54 is also opened in the middle of the output mounting member 53.

The first wire guide groove comprises a first groove part 35 arranged on the double-tooth holder 30 and a second groove part 25 arranged on the inner gear ring 20; the first groove portion 35 communicates with the middle portion and the side wall of the double-coupling retainer 30, one end of the first groove portion 35 communicates with the lower end of the central through hole 54, and the other end communicates with the second groove portion 25. The output ring gear 51 is of a hollow construction and therefore has a central through hole 54 extending also to the centre of the output ring gear 51, which central through hole 54 communicates with the first groove part 35 of the first conductor groove. It will be appreciated that a central through bore 54 extends through the output ring gear 51, output flange 52, output mount 53 and output stationary cover 40.

When the main driving member 70 rotates, the primary planet gears 32 are driven to rotate by the meshing relationship, and due to the meshing relationship with the ring gear 20, the primary planet gears 32 also move along the ring gear 20 while rotating, i.e., revolve around the main driving member 70, and the revolution drives the primary planet carrier 31 to rotate, so as to drive the secondary sun gear 33 to rotate. The rotation of the secondary sun gear 33 drives the secondary planet gear 34 to rotate through the meshing relationship, and the third planet gear 41 is fixedly connected with the secondary planet gear 34 and is respectively pivoted and arranged at the upper end and the lower end of the double-gear retainer 30, so that the rotation of the third planet gear 41 is driven. The third-stage planetary gears 41 rotate the output ring gear 51 by meshing engagement with the output ring gear 51, so that the output ring gear 51, the output flange 52, the output mounting member 53 and the output member 50 rotate.

Referring to fig. 5, 8 and 9, the transmission module 10 further includes an output shaft encoder, the output shaft encoder includes a first magnet 36 pivotally connected to the transmission housing and a first chip 37 opposite to the first magnet 36, and the first magnet 36 is driven by the transmission assembly to rotate. Specifically, a first counter gear 38 is fixed to the outer periphery of the center end portion of the output ring gear 51; a second counter gear 39 meshed with the first counter gear 38 is mounted on the double tooth holder 30; the first magnet 36 is mounted in the center of the second counter gear 39, and the first chip 37 is mounted on the double-tooth holder 30. As shown in fig. 8, the dual-toothed holder 30 is disposed in a disc shape, and the top of the dual-toothed holder 30 is provided with a ring groove 301, a plurality of gear grooves 302 distributed uniformly, and the first groove 35 located in the middle; each gear groove 302 communicates with the ring groove 301. The ring groove 301 is used for matching and mounting the output ring gear 51, and the gear groove 302 is used for mounting the third-stage planet gears 41. The outer end of the first groove portion 35 is connected to the outer side wall of the double-tooth holder 30, and the inner end of the first groove portion 35 is used for mounting the second counter gear 39.

Referring to fig. 7, the driving module 60 further includes a driving board 63, and the second wire slot 610 is used for accommodating a wire connecting the motor 62 and the driving board 63. Specifically, the second wire groove 610 is respectively communicated to the connection terminals 630 of the motor 62 and the driving plate 63; i.e., the second wire guide 610, is used to receive wires for connecting the motor 62 and the driving plate 63, respectively. The driving module 60 further includes a motor tail cover 64 and a wire cover plate 65, and the motor tail cover 64 is mounted at the bottom of the motor mounting main body 61 and protects the driving plate 63. The wire cover plate 65 is disposed on the second wire groove 610 and the first wire groove portion corresponding to the mounting cover. The motor tail cover 64 is arranged in a special-shaped structure, and particularly, the motor tail cover is provided with a concave arc surface so as to be conveniently butted with other actuators.

The second wire groove 610 includes a vertical portion and a horizontal portion which are alternately connected, and the connection terminals are respectively exposed in the second wire groove 610, so that the connection terminals 630 are embedded in the second wire groove 610 after being connected by wires. The horizontal portions of the second wire grooves 610 are connected between the vertical portions, and the vertical portions have the connection terminals exposed therein, respectively.

The upper end of the drive module 60 has an opening through which the primary drive member 70 is exposed.

The drive module 60 further includes a motor shaft encoder; the motor 62 includes a motor shaft 620, the motor shaft 620 extending through the motor 62. The motor shaft encoder comprises a second magnet 621 fixed at the tail end of the motor shaft 620 and a second chip fixed on the driving plate 63 and opposite to the second magnet 621; the main driving member 70 is installed at one end of the motor shaft 620 close to the transmission module 10, and the second magnet 621 is fixed at the other end of the motor shaft 620 and is arranged close to the driving plate 63, so that the second chip on the driving plate 63 records the number of turns of the motor shaft 620. Specifically, the motor shaft encoder records the number of revolutions of the motor 62 by recording the number of times the second magnet 621 rotates to cause the magnetic field to change.

The driving module 60 further comprises a band-type brake 66 and a band-type brake locking piece 67 which are installed in the motor installation body 61, the band-type brake locking piece 67 is fixedly connected with the motor shaft 620, and the rotation of the motor shaft 620 is limited by the effect of the band-type brake 66 on the band-type brake locking piece 67. Specifically, the motor shaft 620 passes through the motor 62 and the band-type brake 66, and then the shaft body tail part is fixed with the band-type brake locking piece 67, and the band-type brake locking piece 67 is axially limited in the band-type brake 66 through the snap spring. The band-type brake comprises a friction plate, and the band-type brake locking plate 67 and the friction plate are circumferentially positioned to realize synchronous rotation or stop. When the band-type brake 66 is powered on, the friction plate is released, so that the motor shaft 620 can rotate freely, and when the band-type brake 66 is powered off, the magnetic force in the band-type brake 66 disappears, so that the friction plate is clamped and exerts friction force, and the rotation of the band-type brake locking plate 67 is limited, so that the rotation of the motor shaft 620 is limited.

The electric actuator further comprises a plurality of jackscrews 90, and the jackscrews 90 are connected with the motor mounting main body 61 and the inner gear ring 20 so that the motor mounting main body 61 and the inner gear ring 20 are locked. Specifically, the motor mounting body 61 is axially matched with the inner gear ring 20, is locked by the jackscrew 90, and can quickly replace the transmission module 10 by disassembling the jackscrew 90.

According to the electric actuator, the first wire guide groove of the transmission shell is communicated with the central through hole 54 of the output part 50 and the second wire guide groove 610 of the motor mounting main body 61, so that wires can be conveniently and respectively connected with the motor 62, the driving plate 63 and an external actuator, and the problem that the wires are wound or damaged in the working process is solved. And the main driving element 70 of the driving module 60 is tightly matched with the transmission assembly of the transmission module 10 and the output element 50, so that the device is compact and small.

The main driving part 70 of the utility model is meshed with the first-stage planetary gear 32 and is transmitted to the second-stage sun gear 33 through the first-stage planet carrier 31 to realize the speed reduction with the speed reduction ratio of 9: 1; after the secondary planet gears 34 drive the tertiary planet gears 41 to rotate, the transmission ratios of the tertiary planet gears 41 transmitted to the output member 50 through the output gear ring 51 are all 4.5:1, so that the final speed reduction ratio of the main driving member 70 transmitted to the output member 50 is 9 × 4.5-40.5; therefore, the large deceleration is realized, and the requirement of flexible execution is met.

It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the utility model, and that various changes in form and details may be made therein without departing from the spirit and scope of the utility model in practice.

Claims

1. An electric actuator is characterized by comprising a driving module and a transmission module, wherein the driving module comprises a motor and a motor installation main body, and the motor is fixed in the motor installation main body; the transmission module comprises a transmission assembly and an output member in transmission connection with the transmission assembly; the transmission assembly comprises a transmission shell fixedly connected with the motor installation main body; the output piece is provided with a central through hole for a lead to pass through; and a first wire guide groove which is communicated with the central through hole and penetrates through the side surface of the electric actuator is arranged on the transmission shell.

2. The electric actuator according to claim 1, wherein the drive module further includes a connection terminal, the motor mounting body is provided with a second wire guide groove communicating with the first wire guide groove, and the connection terminal in the drive module is exposed in the second wire guide groove.

3. The electric actuator according to claim 2, wherein the number of the connection terminals is plural, and the second wire groove includes a vertical portion and a lateral portion; the transverse parts of the second wire grooves are connected among the vertical parts, and the vertical parts are respectively exposed out of the connecting terminals.

4. The electric actuator of claim 1, wherein the transmission housing includes an annular gear fixedly connected to the motor mounting body; the output shaft of the motor is fixed with a main driving piece, and the transmission assembly further comprises a primary planet carrier, a primary planet gear pivoted on the primary planet carrier and a secondary sun gear fixedly connected with the primary planet carrier; the primary planetary gear is meshed with the main driving piece and the inner gear ring, and the secondary sun gear is in transmission connection with the output piece.

5. The electric actuator of claim 4, wherein the transmission housing further comprises a double-tooth holder fixedly connected with the inner gear ring, and the secondary sun gear is pivoted on the double-tooth holder; the output part comprises an output gear ring, and the transmission assembly further comprises a secondary planetary gear and a tertiary planetary gear; the secondary planet gear is meshed with the secondary sun gear; the third-stage planetary gear and the second-stage planetary gear are fixedly connected and are respectively pivoted at the upper end and the lower end of the dual-tooth retainer; the third-stage planet gears are meshed with the output gear ring.

6. The electric actuator of claim 5, wherein the transmission housing further comprises an output fixing cover fixedly connected to the dual-toothed holder, and the output member further comprises an output flange fixed to the output ring gear, the output flange being pivotally connected to the output fixing cover, and the output flange having the central through hole formed therein.

7. The electric actuator of claim 6, wherein the output stationary cover includes a first outer ring and a first inner ring extending downwardly from a top surface thereof, wherein the output flange includes a second outer ring and a second inner ring extending upwardly from a bottom surface thereof, wherein the transmission module further includes a first bearing disposed between the first inner ring and the second inner ring, and a second bearing disposed between the first outer ring and the second outer ring, wherein the first bearing and the second bearing axially position the output flange based on the output stationary cover.

8. The electric actuator of claim 7, wherein the transmission module further comprises an output mounting member secured to the output flange, the first bearing limiting downward movement of the output mounting member, the second bearing limiting upward movement of the output flange, the output mounting member having the central through hole formed therein.

9. The electric actuator of claim 5, wherein the first wire guide comprises a first slot portion disposed on the dual rack holder and a second slot portion disposed on the ring gear; the first groove part is communicated with the middle part and the side wall of the dual-tooth retainer, one end of the first groove part is communicated to the lower end of the central through hole, and the other end of the first groove part is communicated with the second groove part.

10. The electric actuator of claim 1, wherein the transmission module further comprises an output shaft encoder, the output shaft encoder comprising a first magnet pivotally connected to the transmission housing and a first chip opposite the first magnet, the first magnet being driven to rotate by the transmission assembly.

11. The electric actuator of claim 10, wherein the transmission housing further comprises a dual-rack cage; the output piece comprises an output gear ring in transmission connection with the transmission assembly; a first counting gear is fixed on the periphery of the central end part of the output gear ring; a second counting gear meshed with the first counting gear is mounted on the dual-tooth retainer; the first magnet is arranged at the center of the second counting gear, and the first chip is arranged on the duplex tooth retainer.

12. The electric actuator of claim 1, wherein the drive module comprises a band-type brake and a band-type brake locking piece in the mounting body, the band-type brake locking piece is fixedly connected with a motor shaft of the motor, and the rotation of the motor shaft is limited by the effect of the band-type brake on the band-type brake locking piece.

13. The electric actuator of claim 1, wherein the drive module further comprises a drive plate and a motor shaft encoder, the motor shaft encoder including a second magnet fixed to an end of the motor shaft and a second chip fixed to the drive plate and opposing the second magnet.

14. The electric actuator of claim 4, wherein the output member is disposed coaxially with the primary drive member.

15. The electric actuator of claim 1, further comprising a plurality of jackscrews connecting the motor mounting body and the transmission module to axially lock the motor mounting body and the transmission module.

16. A robotic arm comprising an electric actuator as claimed in any one of claims 1 to 15.

17. A robot comprising an electric actuator according to any of claims 1-15.