CN218639638U

CN218639638U - Double-freedom-degree actuator, mechanical arm and robot

Info

Publication number: CN218639638U
Application number: CN202222013263.9U
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: 2023-03-17
Anticipated expiration: 2031-09-30
Also published as: CN217195323U; CN218398111U; CN218052610U

Abstract

The utility model provides a double-freedom-degree actuator, an mechanical arm and a robot, wherein the double-freedom-degree actuator comprises a transmission mechanism and a driving module; the driving module comprises a first driving mechanism and a second driving mechanism which are overlapped up and down, the first driving mechanism positioned above is of a hollow structure and is in transmission connection with the transmission mechanism, the second driving mechanism positioned below is provided with a central transmission shaft, and the central transmission shaft penetrates through the first driving mechanism and is in transmission connection with the transmission mechanism; the first driving mechanism and the second driving mechanism drive the transmission mechanism to perform transmission in a first mode or a second mode, wherein the transmission mechanism outputs two power beams rotating around the Y axis in opposite directions in the first mode, and the transmission mechanism outputs two power beams rotating around the Y axis in the same direction in the second mode. The actuator provided by the application is beneficial to realizing the rotation of two degrees of freedom under the condition of limited space.

Description

Double-freedom-degree actuator, mechanical arm and robot

The application is a divisional application of the Chinese utility model patent application with the application number of 202122406279.1 and the name of 'a two-degree-of-freedom actuator, mechanical arm and 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 the rotation of one degree of freedom, and certain joints on the bionic robot need to have two degrees of freedom, but the two actuators are difficult to install due to limited space, and the rotation of the two degrees of freedom can not be realized under the condition of limited space.

SUMMERY OF THE UTILITY MODEL

The utility model provides a two degree of freedom executors for make some joints realize the rotation of two degrees of freedom under the limited situation in space on the current robot.

The utility model provides a two degree of freedom executor, this two degree of freedom executor are applied to the robot. The two-degree-of-freedom actuator comprises a transmission mechanism and a driving module. The driving module comprises a first driving mechanism and a second driving mechanism which are overlapped up and down, the first driving mechanism positioned above is of a hollow structure and is in transmission connection with the transmission mechanism, the second driving mechanism positioned below is provided with a central transmission shaft, and the central transmission shaft penetrates through the first driving mechanism and is in transmission connection with the transmission mechanism; the first driving mechanism and the second driving mechanism drive the transmission mechanism to perform transmission in a first mode or a second mode, wherein the transmission mechanism outputs two power beams rotating around the Y axis in opposite directions in the first mode, and the transmission mechanism outputs two power beams rotating around the Y axis in the same direction in the second mode. The first motor and the second motor are arranged in an up-and-down overlapping mode, so that the problem that two actuators are difficult to install due to limited space is solved, and rotation with two degrees of freedom can be achieved under the condition of limited space.

When the two-degree-of-freedom actuator is specifically arranged, the two-degree-of-freedom actuator further comprises a driven module, and 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. In the first mode, the transmission mechanism drives the executive component to rotate around a Y axis relative to the swinging shell; in the second mode, the transmission mechanism drives the executive component to rotate along with the swinging shell relative to the fixed shell. This allows the actuator to rotate in two degrees of freedom in the X and Y axes.

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. This arrangement avoids problems of wire entanglement or breakage.

When the wiring structure is specifically arranged, the wiring structure comprises a first wiring groove arranged on the first driving mechanism, a second wiring groove arranged on the second driving mechanism, and a communicating groove communicated between the first wiring groove and the second wiring groove. 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 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. This arrangement avoids problems of twisting or breakage of the wires.

When the second driving mechanism is specifically arranged, the second driving mechanism is fixedly arranged in the second mounting main body. The second driving mechanism is provided with a second rotor cover, and the central transmission shaft is coaxially and fixedly penetrated on the second rotor cover.

When the first driving mechanism is specifically arranged, the first driving mechanism is fixedly arranged in the first mounting main body. The first installation main body is detachably and fixedly connected with the second installation main body.

When the first driving mechanism is specifically arranged, the first driving mechanism is provided with a first rotor cover, and a first gear is fixedly mounted on the first rotor cover. The central transmission shaft penetrates through the first driving mechanism, 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 swing shell is specifically arranged, the swing 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 further 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 in a row. The two planetary gear rings are respectively and fixedly connected with the fixed shell through the supporting pieces, the two supporting pieces are respectively provided with a bending limiting structure, the two hemispherical shells are respectively and correspondingly limited by the bending limiting structures on the two supporting pieces, and the effect that the swinging shell rotates relative to the fixed shell is achieved. 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.

When the transmission mechanism is further specifically arranged, the transmission mechanism comprises two face gears, the two face gears are located between the two planetary gear rings and are coaxially arranged with the two planetary gear rings, and one sides of the two face gears, which deviate 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 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. In one embodiment, the number of planet gears in each planet carrier is five, and the five planet gears are arranged evenly around the corresponding sun gear.

In addition, the two planetary retainers are respectively and coaxially and fixedly provided with bevel gears, the executive component is fixedly provided with driven bevel gears, and the driven bevel gears are positioned in the swinging shell and are respectively meshed with the two bevel gears.

When the arc-shaped part is further 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 swing shell, and connecting holes are symmetrically formed in the follow-up executing part and the executing part. This facilitates the connection of other actuators. The arc-shaped piece 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 groove.

In an embodiment of the present application, the transmission mechanism further includes two duplicate gears, and each duplicate gear includes a first linkage gear and a second linkage gear that are coaxially and fixedly connected. Two first linkage gears are respectively connected with the fixed shell in a rotating mode, one of the first linkage gears is meshed with the first gear, and the other first linkage gear is meshed with the second gear. And the two second linkage gears are respectively meshed with a transmission gear, the two transmission gears are respectively in rotating connection with the fixed shell, and the two transmission gears respectively extend into the swinging shell and are respectively correspondingly meshed with the two end face gears.

When the fixed shell is specifically arranged, a second motor tail cover is coaxially, detachably and fixedly connected to the second mounting main body, and the fixed shell is coaxially, detachably and 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.

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

In the above embodiment, the first driving mechanism and the second driving mechanism are stacked one on another, which helps to improve the problem that it is difficult to install two actuators due to limited space, and enables two degrees of freedom of rotation in a situation where space is limited.

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

In a third aspect, a robot is provided, 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 according to 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, this two degree of freedom executor are 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 actuator 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 which penetrates in the X-axis direction and is open at both 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 cable is laid, the cable and the connection terminal are connected.

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.

In particular, when the pendulum housing is provided, the pendulum housing 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 are through arc 17 detachable fixed connection, and two hemisphere shells 15 are 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 and fixedly connected with the two corresponding spherical shell end covers 16 through jackscrews in a detachable mode, and the middle of the arc-shaped part 17 is respectively and fixedly connected with the two hemispherical shells 15 through jackscrews in a detachable 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. The two planetary gear rings 25 are respectively and fixedly connected with the fixed shell 1 through the supporting pieces 27, the two supporting pieces 27 are respectively provided with a bending limiting structure, and the two hemispherical shells 15 are respectively and correspondingly limited by the bending limiting structures on the two supporting pieces 27, so that the swinging shell formed by the two hemispherical shells 15 can rotate relative to the fixed shell 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 two face gears 20 are coaxially and fixedly connected with a sun gear 24 at the sides which are far away from each other. 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 meshes with a 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 17, 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 part 2 is rotationally connected with a swing shell formed by two hemispherical shells through a bearing, and the follow-up actuating part 37 is rotationally connected with the middle part of the arc-shaped part 17 through a rotating shaft. In this embodiment, the follower actuator 37 may further include an output channel 36 communicating with the other end of the first channel 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 way 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 particular 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 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 coaxial detachable fixedly connected with first motor tail cover 10 on the first installation main part 8, first motor tail cover 10 passes through jackscrew and 8 detachable fixed connection of first installation main part, and first motor tail cover 10 is located between second motor 4 and the first motor 9 to first motor tail cover 10 passes through jackscrew and 3 coaxial detachable fixed connection of second installation main part, and second installation main part 3 is located between 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 is opened 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 Y-axis direction and is provided with openings at two ends, and the transmission mechanism is matched with the wire guide grooves to arrange 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 a 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 transmission mechanism and the driving module; wherein the content of the first and second substances,

the driving module comprises a first driving mechanism and a second driving mechanism which are overlapped up and down, the first driving mechanism positioned above is of a hollow structure and is in transmission connection with the transmission mechanism, the second driving mechanism positioned below is provided with a central transmission shaft, and the central transmission shaft penetrates through the first driving mechanism and is in transmission connection with the transmission mechanism;

the first driving mechanism and the second driving mechanism drive the transmission mechanism to perform transmission in a first mode or a second mode, wherein the transmission mechanism outputs two power beams rotating around the Y axis in opposite directions in the first mode, and the transmission mechanism outputs two power beams rotating around the Y axis in the same direction in the second mode.

2. The two degree-of-freedom actuator of claim 1 further comprising a driven module comprising a swing housing and an actuator; the swinging shell is connected to a fixed shell in a rotating manner around an X axis, and the executing piece is connected to the swinging shell in a rotating manner around a Y axis;

the transmission mechanism drives the executive component to rotate around a Y axis relative to the swinging shell in the first mode, and drives the executive component to rotate along with the swinging shell relative to the fixed shell in the second mode.

3. The two-degree-of-freedom actuator according to claim 2, 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.

4. The two-degree-of-freedom actuator according to claim 3, wherein the routing structure includes a first routing groove provided in the first driving mechanism, a second routing groove provided in the second driving mechanism, and a communicating groove communicating between the first routing groove and the second routing groove, and the first driving mechanism and the second driving mechanism have connection terminals exposed in the first routing groove and the second routing groove, respectively.

5. The two-degree-of-freedom actuator according to claim 3, 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.

6. The two degree-of-freedom actuator of claim 1 wherein the second drive mechanism is fixedly mounted within the second mounting body; the second driving mechanism is provided with a second rotor cover, and the central transmission shaft is coaxially and fixedly penetrated on the second rotor cover.

7. The two degree-of-freedom actuator of claim 6 wherein the first drive mechanism is fixedly mounted within the first mounting 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 drive mechanism has a first rotor cover; a first gear is fixedly arranged on the first rotor cover; the central transmission shaft penetrates through the first driving mechanism, 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 2 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 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 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 bevel gears are fixedly mounted coaxially on each of the two planetary holders, and wherein driven bevel gears are fixedly mounted on the actuator, the driven bevel gears being located within the swing case and meshing with the two bevel gears, respectively.

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 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.

15. The two-degree-of-freedom actuator of claim 7, wherein a second motor tail cover is fixedly and coaxially detachably connected to the second mounting body, and the fixed shell is fixedly and coaxially detachably connected to the first mounting body through a connecting body; the first mounting body is located between the second motor tail cover and the connecting body.

16. The two-degree-of-freedom actuator of claim 15 wherein the first mounting body has a first motor tail cap fixedly attached thereto coaxially and removably, the first motor tail cap being positioned between the first drive mechanism and the second drive mechanism, and the first motor tail cap being fixedly attached to the second mounting body coaxially and removably, the second mounting body being positioned between the first motor tail cap and the second motor tail cap.

17. A robot arm, comprising: a two degree of freedom actuator as claimed in any one of claims 1 to 16.

18. A robot, comprising: a two degree of freedom actuator as claimed in any one of claims 1 to 16.