CN218398111U

CN218398111U - Two-degree-of-freedom actuator, mechanical arm and robot

Info

Publication number: CN218398111U
Application number: CN202222011344.5U
Authority: CN
Inventors: 罗程; 方冉; 胡海涛; 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: 2023-01-31
Anticipated expiration: 2031-09-30
Also published as: CN217195323U; CN218052610U; CN218639638U

Abstract

The utility model provides a double-freedom-degree actuator, an mechanical arm and a robot, wherein the double-freedom-degree actuator comprises a driven module, a transmission mechanism and a driving module; the driven module comprises a swinging shell and an actuating piece; the swinging shell is connected to a fixed shell in a rotating mode around an X axis, and the executing piece is connected to the swinging shell in a rotating mode around a Y axis; the transmission mechanism comprises two bevel gears arranged in the swinging shell, the two bevel gears are respectively in transmission connection with the driving module, driven bevel gears are fixedly mounted on the executing piece and are positioned in the swinging shell and are respectively meshed with the two bevel gears, the two bevel gears drive the executing piece to rotate around a Y axis in a first mode, and the two bevel gears clamp the executing piece to enable the executing piece to rotate around the X axis along with the swinging shell in a second mode. The actuator provided by the application realizes the rotation of the executing piece in two degrees of freedom.

Description

Double-freedom-degree actuator, mechanical arm and robot

The application is based on the divisional application of the Chinese utility model patent with the application number of 202122406279.1 and the name of 'a double-freedom-degree actuator, a mechanical arm and a robot'.

Technical Field

The utility model relates to the robotechnology field especially involves a two degree of freedom executor, arm and robot.

Background

With the continuous development of intelligent robot technology, the sub-fields related to the robot are more and more extensive, and the robot is required to complete more actions in some fields, so that the robot is required to have higher degree of freedom, such as an industrial robot, a medical robot, a bionic robot and the like.

The actuator of the existing bionic robot can only realize rotation with one degree of freedom, and certain joints on the bionic robot can meet the use requirement only by two degrees of freedom.

SUMMERY OF THE UTILITY MODEL

The utility model provides a two degree of freedom executor for satisfy the two degree of freedom rotation demands of current robot executor joint.

The utility model provides a two degree of freedom executor is applied to the robot. The two-degree-of-freedom actuator comprises a driven module, a transmission mechanism and a driving module; the driven module comprises a swinging shell and an actuating piece; the swinging shell is connected to a fixed shell in a rotating mode around an X axis, and the executing piece is connected to the swinging shell in a rotating mode around a Y axis; the transmission mechanism comprises two bevel gears arranged in the swinging shell, the two bevel gears are respectively in transmission connection with the driving module, driven bevel gears are fixedly mounted on the executing part, the driven bevel gears are located in the swinging shell and are respectively meshed with the two bevel gears, the driving module is used for carrying out transmission of a first mode or a second mode on the two bevel gears, the two bevel gears in the first mode rotate in opposite directions so as to drive the executing part to rotate around a Y axis relative to the swinging shell through the driven bevel gears, and the two bevel gears in the second mode rotate in the same direction so as to clamp the executing part through the driven bevel gears and enable the executing part to rotate around an X axis relative to the fixed shell along with the swinging shell. Therefore, the executing part can rotate in two degrees of freedom of an X axis and a Y axis, and the requirement of the two-degree-of-freedom rotation of the existing robot executor joint is met.

When the transmission mechanism is specifically arranged, a hollow channel which penetrates through the transmission mechanism along the X-axis direction and is provided with openings at two ends is arranged in the transmission mechanism; the swing shell is internally provided with a first wire groove, the fixed shell is internally provided with a second wire groove, the outer wall of the driving module is provided with a wire routing structure, the wire routing structure is communicated with one end of the second wire groove, the other end of the second wire groove is communicated with one end of the first wire groove, and the other end of the first wire groove is communicated with one end of the hollow channel.

When the swing shell is arranged specifically, a follow-up executing part is connected to the swing shell in a rotating mode, the follow-up executing part and the executing part are symmetrically arranged relative to the swing shell, and an output wire groove communicated with the other end of the hollow channel is further formed in the follow-up executing part.

When the driving module is specifically arranged, the driving module comprises a first driving mechanism and a second driving mechanism; the fixed shell is detachably and fixedly connected with the first driving mechanism, and the second driving mechanism is detachably and fixedly connected with the first driving mechanism; the first and second drive mechanisms each actuate one of the two bevel gears to effect transmission in either a first mode or a second mode.

In addition, the two-degree-of-freedom actuator further includes a first wiring groove provided in the first drive mechanism, a second wiring groove provided in the second drive mechanism, and a communicating groove communicating between the first wiring groove and the second wiring groove, and the first drive mechanism and the second drive mechanism respectively have a connecting terminal exposed from the first wiring groove and the second wiring groove.

When the second driving mechanism is specifically arranged, the second driving mechanism comprises a second motor; the second motor is fixedly arranged in the second mounting main body; the second motor is provided with a second rotor cover, and a central transmission shaft is coaxially and fixedly penetrated on the second rotor cover; the central drive shaft passes through the first drive mechanism.

When the first driving mechanism is specifically arranged, the first driving mechanism comprises a first motor; the first motor is fixedly arranged in the first installation main body; the first installation main body is detachably and fixedly connected with the second installation main body.

When the first motor is arranged, the first motor is provided with a first rotor cover; a first gear is fixedly arranged on the first rotor cover; the central transmission shaft penetrates through the first motor, the first rotor cover and the first gear, and a second gear is fixedly mounted at the end part of the central transmission shaft; the first gear and the second gear are coaxially arranged.

When the swinging shell is specifically arranged, the swinging shell comprises two hemispherical shells; one side that two hemisphere shells deviate from mutually is provided with the spherical shell end cover respectively, and two spherical shell end covers pass through arc spare detachable fixed connection, just two hemisphere shells pass through arc spare detachable fixed connection.

When the transmission mechanism is specifically arranged, the transmission mechanism comprises two planetary gear rings and two planetary retainers; the two planetary gear rings and the two planetary retainers are coaxially arranged in the swing shell, and the two planetary retainers are symmetrically arranged on two sides of the two planetary gear rings; the two planetary gear rings are respectively and fixedly connected with the fixed shell through supporting pieces, bending limiting structures are respectively arranged on the two supporting pieces, and the two hemispherical shells are respectively and correspondingly limited by the bending limiting structures on the two supporting pieces; the two planetary retainers are respectively and correspondingly and rotatably connected with the two spherical shell end covers through hollow shafts, and the two hollow shafts respectively and correspondingly penetrate through the two spherical shell end covers; the two hollow shafts are in butt joint communication with each other, and the hollow channel is formed inside the hollow shafts.

When the transmission mechanism is specifically arranged, the transmission mechanism comprises two end face gears, the two end face gears are positioned between the two planetary gear rings and are coaxially arranged with the two planetary gear rings, and the sides of the two end face gears, which are deviated from each other, are respectively and coaxially and fixedly connected with a sun gear; the two planetary retainers correspond to the two sun gears and the two planetary gear rings, and one opposite sides of the two planetary retainers are respectively connected with a circle of planetary gears in a rotating way; a circle of planet gears on each planet retainer are respectively meshed with the corresponding sun gear and the corresponding planet gear ring.

When the planetary retainers are arranged specifically, the bevel gears are coaxially and fixedly mounted on the two planetary retainers respectively.

When the arc-shaped part is specifically arranged, a follow-up executing part is rotatably connected to the arc-shaped part, the follow-up executing part and the executing part are symmetrically arranged relative to the swinging shell, connecting holes are symmetrically formed in the follow-up executing part and the executing part, the arc-shaped part is provided with an arc-shaped groove, one end of the arc-shaped groove is communicated with the hollow channel, and the other end of the arc-shaped groove is communicated with the output wire guide groove.

When the transmission mechanism is specifically arranged, the transmission mechanism further comprises two duplicate gears; each duplicate gear comprises a first linkage gear and a second linkage gear which are coaxially and fixedly connected; the two first linkage gears are respectively in rotating connection with the fixed shell, one of the first linkage gears is meshed with the first gear, and the other first linkage gear is meshed with the second gear; the two second linkage gears are respectively meshed with a transmission gear, and the two transmission gears are respectively in rotating connection with the fixed shell; the two transmission gears respectively extend into the swinging shell and are correspondingly meshed with the two end face gears respectively.

When the second installation main body is specifically arranged, an encoder is fixedly installed in the second installation main body; the central transmission shaft is rotationally connected with a stator of the second motor; and a magnet matched with the encoder is arranged on the central transmission shaft.

When the second installation main body is specifically arranged, the second installation main body is coaxially and detachably fixedly connected with a second motor tail cover, and the encoder is located between the second motor and the second motor tail cover.

When specifically setting up above-mentioned first installation main part, the first motor tail cover of coaxial detachable fixedly connected with on the first installation main part, first motor tail cover is located first motor with between the second motor, just first motor tail cover with the coaxial detachable fixed connection of second installation main part, second installation main part is located first motor tail cover with between the second motor tail cover.

When the fixing shell is specifically arranged, the fixing shell is coaxially and detachably fixedly connected with the first mounting main body through a connecting main body; the first mounting body is located between the second motor tail cover and the connecting body.

In the above embodiment, the driving module transmits the two bevel gears in a first mode or a second mode, the two bevel gears in the first mode rotate in opposite directions to drive the actuating element to rotate around the Y axis relative to the swing shell via the driven bevel gear, and the two bevel gears in the second mode rotate in the same direction to block the actuating element via the driven bevel gear so that the actuating element rotates around the X axis relative to the fixed shell along with the swing shell. Therefore, the executing part can rotate in two degrees of freedom of an X axis and a Y axis, and the requirement of the two-degree-of-freedom rotation of the existing robot executor joint is met.

In a second aspect, there is provided a robot arm comprising a two degree of freedom actuator as described above.

In a third aspect, there is provided a robot comprising a two degree of freedom actuator as described above.

Drawings

Fig. 1 is a perspective view of a two-degree-of-freedom actuator according to an embodiment of the present invention;

fig. 2 is a side view of a two-degree-of-freedom actuator according to an embodiment of the present invention;

fig. 3 is a transverse cross-sectional view of a two-degree-of-freedom actuator provided in an embodiment of the present invention;

fig. 4 is a longitudinal sectional view of a two-degree-of-freedom actuator according to an embodiment of the present invention;

fig. 5 is an exploded view of a two-degree-of-freedom actuator according to an embodiment of the present invention;

fig. 6 is an exploded view of a swing case according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings.

For the convenience of understanding the utility model provides a two degree of freedom executor, its application scenario is explained at first, and this two degree of freedom executor is applied to fields such as bionic robot, medical robot and industrial robot. At present, an actuator of a bionic robot can only realize rotation with one degree of freedom, certain joints on the bionic robot need to have rotation with two degrees of freedom, but the space is limited, the two actuators are difficult to install, and when the actuator acts, cables are often wound or damaged and need to be improved.

The utility model provides a two degree of freedom executor is applied to the robot. The two-degree-of-freedom actuator comprises a driven module, a transmission mechanism and a driving module. Referring to fig. 1, fig. 1 shows a perspective view of a two degree of freedom actuator. As shown in fig. 1, the driven module includes a swing case and an actuator 2. The swinging shell is connected to a fixed shell 1 in a rotating mode around an X axis, and the executing piece 2 is connected to the swinging shell in a rotating mode around a Y axis. The X-axis is perpendicular to the Y-axis.

The driving module comprises a first driving mechanism and a second driving mechanism, the fixed shell 1 is detachably and fixedly connected with the first driving mechanism, and the second driving mechanism is detachably and fixedly connected with the fixed shell 1. The fixed shell 1, the first driving mechanism and the second driving mechanism are sequentially arranged from top to bottom, and the first driving mechanism and the second driving mechanism are arranged up and down, so that the problem that two actuators are difficult to install due to limited space is solved.

The first driving mechanism and the second driving mechanism drive the transmission mechanism to perform transmission in a first mode or a second mode. In the first mode, the transmission mechanism drives the actuating element 2 to rotate relative to the swinging shell; in the second mode, the transmission mechanism drives the actuating member 2 to rotate along with the swinging shell relative to the fixed shell. This allows the actuator 2 to rotate in two degrees of freedom in the X and Y axes.

When the transmission mechanism is specifically provided, referring to fig. 2, 4 and 6, a hollow passage 33 penetrating in the X-axis direction and having two open ends is provided in the transmission mechanism. Be provided with first metallic channel 34 in the swing shell, be provided with second metallic channel 35 in the set casing 1, drive module's outer wall is equipped with and walks line structure 14, walks the one end intercommunication of line structure 14 and second metallic channel 35, and the other end and the one end intercommunication of cavity passageway 33 of second metallic channel 35, the one end intercommunication of the other end and first metallic channel 34 of cavity passageway 33. Thus, when the cable is arranged, the problem that the conducting wire is wound or damaged is avoided.

When the routing structure 14 is specifically arranged, the routing structure 14 includes a first routing groove arranged on the first driving mechanism, a second routing groove arranged on the second driving mechanism, and a communicating groove communicated between the first routing groove and the second routing groove. The first wiring groove and the second wiring groove are in a cross shape. The first driving mechanism and the second driving mechanism are respectively provided with a connecting terminal exposed out of the first wiring groove and the second wiring groove. When the cables are arranged, the cables are connected with the connection terminals.

When the second driving mechanism is specifically provided, the second driving mechanism includes a second motor 4. Referring to fig. 3 and 5, the second motor 4 is fixedly installed in the second installation body 3. The second motor 4 has a second rotor cover 38, and a central transmission shaft 5 is coaxially fixed on the second rotor cover 38. The central drive shaft 5 passes through the first drive mechanism.

When the first driving mechanism is specifically arranged, the first driving mechanism comprises a first motor 9, and the first motor 9 is fixedly installed in the first installation main body 8. The first mounting body 8 is detachably and fixedly connected with the second mounting body 3. Furthermore, the first electric motor 9 has a first rotor cover 11, on which first rotor cover 11 a first gear wheel 12 is fixedly mounted. The central transmission shaft 5 passes through the first motor 9, the first rotor cover 11 and the first gear 12 and is fixedly mounted at an end with a second gear 13. The first gear 12 is disposed coaxially with the second gear 13. The first motor 9 and the second motor 4 are both hollow outer rotor motors, so that the central transmission shaft 5 can pass through the middle of the first motor 9.

When specifically provided, the wobble shell comprises two hemispherical shells 15. One side that two hemisphere shells 15 deviate from mutually is provided with spherical shell end cover 16 respectively, and two spherical shell end covers 16 pass through arc 17 detachable fixed connection, and just two hemisphere shells 15 pass through arc 17 detachable fixed connection. The two hemispherical shells 15 and the two spherical shell end covers 17 are fixedly connected into a whole through the arc-shaped piece 17 to form the swinging shell. The two ends of the arc-shaped part 17 are respectively connected with the two spherical shell end covers 16 through jackscrews in a detachable and fixed mode, and the middle of the arc-shaped part 17 is respectively connected with the two hemispherical shells 15 through jackscrews in a detachable and fixed mode.

In the present embodiment, the transmission mechanism includes two planetary ring gears 25 and two planetary holders 26. Wherein two planet ring gears 25 and two planet carriers 26 are coaxially arranged within the swing case, and the two planet carriers 26 are symmetrically arranged on both sides of the two planet ring gears 25. Two planetary gear 25 are respectively through support piece 27 and set casing 1 fixed connection, are provided with the limit structure that bends on two support piece 27 respectively, and two hemisphere shells 15 are spacing by the limit structure that bends on two support piece 27 respectively to make the swing shell that two hemisphere shells 15 are constituteed rotate relatively set casing 1. The two planetary retainers 26 are respectively and correspondingly rotationally connected with the two spherical shell end covers 16 through the hollow shafts 19, and the two hollow shafts 19 respectively and correspondingly penetrate through the two spherical shell end covers 16. The hollow shaft 19 is rotatably connected to the ball housing end cap 16 via a bearing. The two hollow shafts 19 are in butt joint communication with the inside to form a hollow passage 33.

Furthermore, the gear train comprises two face gears 20, the two face gears 20 being located between the two planetary gear rings 25 and being arranged coaxially with the two planetary gear rings 25 and coaxially with the two hollow shafts 19. The sides of the two face gears 20 facing away from each other are respectively coaxially and fixedly connected with a sun gear 24. The two planetary carriers 26 correspond to the two sun gears 24 and the two planetary ring gears 25, and a ring of planetary gears 28 are rotatably connected to opposite sides of the two planetary carriers 26, respectively. A ring of planet gears 28 on each planet carrier 26 mesh with the respective sun gear 24 and planet ring gear 25. In a particular embodiment, the number of one ring of planet gears 28 on each planet carrier 26 is five, five planet gears 28 are evenly arranged around the corresponding sun gear 24, and five planet gears 28 are each meshed with the internal teeth of the corresponding planet ring gear 25.

In addition, bevel gears 29 are coaxially and fixedly mounted on the two planetary holders 26, respectively, and driven bevel gears 30 are fixedly mounted on the actuator 2, the driven bevel gears 30 being located in the swing case and meshing with the two bevel gears 29, respectively. In addition, follow-up executing parts 37 are rotatably connected to the arc-shaped parts 41, the follow-up executing parts 37 and the executing parts 2 are symmetrically arranged relative to the swinging shell, and connecting holes 31 are symmetrically arranged on the follow-up executing parts 37 and the executing parts 2. This facilitates the connection of other actuators. The actuating member 2 is rotatably connected with a swing shell consisting of two hemispherical shells through a bearing, and the follow-up actuating member 37 is rotatably connected with the middle part of the arc-shaped member 41 through a rotating shaft. In this embodiment, the follower actuator 37 may further have an output wire groove 36 communicating with the other end of the first wire groove 34. Referring to fig. 6, in some embodiments of the present application, the arc member 17 is provided with an arc slot 41 on a side facing the two hemispherical shells 15, the arc member 17 and the arc slot 41 extend along the same arc, and one end of the output wire slot 36 is communicated with the hollow channel 33 through the arc slot 41. Thus, when the cable is arranged, the output wire groove 36 can be conveniently communicated with the hollow channel 33 through the arc-shaped groove 41, and the problem of winding or breakage of the wire is avoided.

In an embodiment of the application, the transmission mechanism further comprises two duplicate gears. Each double gear comprises a first linkage gear 22 and a second linkage gear 21 which are fixedly connected coaxially. The two first linkage gears 22 are respectively rotatably connected with the fixed shell 1 through rotating shafts, one of the first linkage gears 22 is meshed with the first gear 12, and the other first linkage gear 22 is meshed with the second gear 13. The two second linkage gears 21 are respectively engaged with a transmission gear 23, and the two transmission gears 23 are respectively connected with the fixed shell 1 in a rotating manner through a rotating shaft. The two transmission gears 23 respectively extend into the swing shell formed by the two hemispherical shells 15 and are respectively correspondingly meshed with the two face gears 20.

In a specific embodiment, an encoder is fixedly mounted within the second mounting body 3. The central transmission shaft 5 is rotatably connected with the stator of the second motor 4 through a bearing. The central transmission shaft 5 is provided with a magnet 7 matched with the encoder. The encoder is integrated on PCB board 6 and through 6 fixed mounting of PCB board in second installation subject 3, and magnet 7 passes through magnet mount pad fixed mounting on central transmission shaft 5 to magnet 7 is close to the encoder setting. When the central transmission shaft 5 of the second motor 4 rotates, the magnetic pole direction of the magnet 7 is changed, and the encoder can record the number of the rotation turns of the second motor 4 by recording the change of the magnetic pole of the magnet 7.

In addition, a second motor tail cover 32 is fixedly connected to the second mounting body 3 in a coaxial and detachable manner, and the encoder is located between the second motor 4 and the second motor tail cover 32. The first motor tail cover 10 is fixedly connected with the first mounting main body 8 in a coaxial and detachable mode, the first motor tail cover 10 is fixedly connected with the first mounting main body 8 in a detachable mode through jackscrews, the first motor tail cover 10 is located between the second motor 4 and the first motor 9, the first motor tail cover 10 is fixedly connected with the second mounting main body 3 in a coaxial and detachable mode through jackscrews, and the second mounting main body 3 is located between the first motor tail cover 32 and the second motor tail cover 10. The stationary housing 1 is fixedly connected coaxially and detachably to the first mounting body 8 by means of a connecting body 39. The first mounting body 8 is located between the first motor tail cap 10 and the connecting body 39. The above-mentioned routing structure 14 opens on the outer wall of the first mounting body 8.

In the embodiment, the first driving mechanism and the second driving mechanism are coaxially arranged up and down, so that the problem that two actuators are difficult to install due to limited space is solved, the two actuators are prevented from being installed and used, and the actuators can realize rotation in two degrees of freedom of an X axis and a Y axis. The transmission mechanism is internally provided with a hollow channel which penetrates through the transmission mechanism along the X-axis direction and has two open ends, and the transmission mechanism is matched with the wire guide groove to arrange the wires, so that the problem of wire winding or damage is avoided.

In the embodiment, the first motor 9 and the second motor 4 output power in a reversing way through the transmission mechanism, and the power of the first motor 9 and the second motor 4 is transmitted to the two bevel gears 29; when the two bevel gears 29 rotate reversely, the driven bevel gear 30 is driven, and the connected executing part 2 and the follow-up executing part 37 can rotate around the Y axis relative to the swinging shell, which is a motion state in a first mode; when the two bevel gears 29 rotate in the same direction, the driven bevel gear 30 is locked, the connected actuating element 2 cannot rotate, but rotates around the X-axis along with the swing shell, which is the motion state in the second mode.

In addition, the application provides a mechanical arm, and the mechanical arm comprises the two-degree-of-freedom actuator.

In addition, the application also provides a robot, and the robot comprises the two-degree-of-freedom actuator.

The above embodiments are only specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of changes or substitutions within the technical scope of the present invention, and all should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A two degree-of-freedom actuator, comprising: the device comprises a driven module, a transmission mechanism and a driving module; wherein the content of the first and second substances,

the driven module comprises a swinging shell and an executing piece; the swinging shell is connected to a fixed shell in a rotating mode around an X axis, and the executing piece is connected to the swinging shell in a rotating mode around a Y axis;

the transmission mechanism comprises two bevel gears arranged in the swing shell, the two bevel gears are respectively in transmission connection with the driving module,

the actuating element is fixedly provided with a driven bevel gear which is positioned in the swinging shell and is respectively meshed with the two bevel gears,

the driving module transmits the two bevel gears in a first mode or a second mode, the two bevel gears rotate in opposite directions in the first mode to drive the actuating element to rotate around a Y axis relative to the swing shell through the driven bevel gear, and the two bevel gears rotate in the same direction in the second mode to clamp the actuating element through the driven bevel gear so that the actuating element rotates around an X axis relative to the fixed shell along with the swing shell.

2. The two-degree-of-freedom actuator according to claim 1, wherein the transmission mechanism has a hollow channel penetrating along the X-axis direction and having two open ends; the swing shell is internally provided with a first wire groove, the fixed shell is internally provided with a second wire groove, the outer wall of the driving module is provided with a wiring structure, the wiring structure is communicated with one end of the second wire groove, the other end of the second wire groove is communicated with one end of the first wire groove, and the other end of the first wire groove is communicated with one end of the hollow channel.

3. The two-degree-of-freedom actuator according to claim 2, wherein the swing shell is rotatably connected with a follow-up actuator, the follow-up actuator and the actuator are symmetrically arranged relative to the swing shell, and the follow-up actuator is further provided with an output wire groove communicated with the other end of the hollow channel.

4. The two degree-of-freedom actuator of claim 1 wherein the drive module includes a first drive mechanism and a second drive mechanism; the fixed shell is detachably and fixedly connected with the first driving mechanism, and the second driving mechanism is detachably and fixedly connected with the fixed shell;

the first and second drive mechanisms each drive one of the two bevel gears to effect transmission in either a first mode or a second mode.

5. The two-degree-of-freedom actuator according to claim 4, further comprising a first wiring groove provided in the first drive mechanism, a second wiring groove provided in the second drive mechanism, and a communication groove communicating between the first wiring groove and the second wiring groove, wherein the first drive mechanism and the second drive mechanism have connection terminals exposed in the first wiring groove and the second wiring groove, respectively.

6. The two degree-of-freedom actuator of claim 4 wherein the second drive mechanism includes a second motor; the second motor is fixedly arranged in the second mounting main body; the second motor is provided with a second rotor cover, and a central transmission shaft is coaxially and fixedly penetrated on the second rotor cover; the central transmission shaft passes through the first driving mechanism.

7. The two degree-of-freedom actuator of claim 6 wherein the first drive mechanism includes a first motor; the first motor is fixedly arranged in the first installation main body; the first installation main body is detachably and fixedly connected with the second installation main body.

8. The two degree-of-freedom actuator of claim 7 wherein the first motor has a first rotor cover; a first gear is fixedly arranged on the first rotor cover; the central transmission shaft penetrates through the first motor, the first rotor cover and the first gear, and a second gear is fixedly mounted at the end part of the central transmission shaft; the first gear and the second gear are coaxially arranged.

9. The two degree-of-freedom actuator of claim 8 wherein the pendulum shell comprises two hemispherical shells; one side that two hemisphere shells deviate from mutually is provided with the spherical shell end cover respectively, and two spherical shell end covers pass through arc spare detachable fixed connection, just two hemisphere shells pass through arc spare detachable fixed connection.

10. The two degree-of-freedom actuator of claim 9 wherein the transmission mechanism includes two planet rings and two planet cages; wherein the content of the first and second substances,

the two planetary gear rings and the two planetary retainers are coaxially arranged in the swinging shell, and the two planetary retainers are symmetrically arranged on two sides of the two planetary gear rings;

the two planetary gear rings are respectively and fixedly connected with the fixed shell through support pieces, the two support pieces are respectively provided with a bending limiting structure, and the two hemispherical shells are respectively and correspondingly limited by the bending limiting structures on the two support pieces;

the two planetary retainers are respectively and correspondingly and rotatably connected with the two spherical shell end covers through hollow shafts, and the two hollow shafts respectively and correspondingly penetrate through the two spherical shell end covers; the two hollow shafts are in butt joint communication with each other to form a hollow channel.

11. The two-degree-of-freedom actuator according to claim 10, wherein the transmission mechanism comprises two face gears, the two face gears are positioned between the two planetary gear rings and are coaxially arranged with the two planetary gear rings, and the sides of the two face gears, which face away from each other, are respectively coaxially and fixedly connected with a sun gear;

the two planetary retainers correspond to the two sun gears and the two planetary gear rings, and one opposite sides of the two planetary retainers are respectively and rotatably connected with a circle of planetary gears; a circle of planet gears on each planet retainer are respectively meshed with the corresponding sun gear and the corresponding planet gear ring.

12. The two degree-of-freedom actuator of claim 11 wherein the bevel gears are each coaxially fixedly mounted on the two planetary holders.

13. The two-degree-of-freedom actuator according to claim 12, wherein the arc-shaped member is rotatably connected with a follow-up actuator, the follow-up actuator and the actuator are symmetrically arranged relative to the swing shell, the follow-up actuator and the actuator are symmetrically provided with connecting holes, the arc-shaped member is provided with an arc-shaped groove, one end of the arc-shaped groove is communicated with the hollow channel, and the other end of the arc-shaped groove is communicated with the output wire guide groove.

14. The two degree-of-freedom actuator of claim 11, wherein the transmission further comprises two duplicate gears; each duplicate gear comprises a first duplicate gear and a second duplicate gear which are coaxially and fixedly connected;

the two first linkage gears are respectively in rotating connection with the fixed shell, one of the first linkage gears is meshed with the first gear, and the other first linkage gear is meshed with the second gear;

the two second linkage gears are respectively engaged with a transmission gear, and the two transmission gears are respectively in rotary connection with the fixed shell; the two transmission gears respectively extend into the swinging shell and are correspondingly meshed with the two end face gears respectively.

15. The two degree-of-freedom actuator of claim 7 wherein an encoder is fixedly mounted within the second mounting body; the central transmission shaft is rotationally connected with a stator of the second motor; and a magnet matched with the encoder is arranged on the central transmission shaft.

16. The two-degree-of-freedom actuator of claim 15 wherein a second motor tail cap is coaxially and removably fixedly attached to the second mounting body, and the encoder is positioned between the second motor and the second motor tail cap.

17. The two degree-of-freedom actuator of claim 16, wherein the first mounting body has a first motor tail cap coaxially removably fixedly attached thereto, the first motor tail cap being positioned between the first motor and the second motor, and the first motor tail cap is coaxially removably fixedly attached to the second mounting body, the second mounting body being positioned between the first motor tail cap and the second motor tail cap.

18. The two degree-of-freedom actuator of claim 17 wherein the stationary housing is fixedly attached to the first mounting body coaxially and removably via a connecting body; the first mounting body is located between the second motor tail cover and the connecting body.

19. A robotic arm, comprising: a two degree of freedom actuator as claimed in any one of claims 1 to 18.

20. A robot, comprising: a two degree of freedom actuator as claimed in any one of claims 1 to 18.