CN218905391U

CN218905391U - L-shaped actuator, mechanical arm and robot

Info

Publication number: CN218905391U
Application number: CN202221310733.1U
Authority: CN
Inventors: 罗程; 刘猛; 方鑫; 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: 2023-04-25
Anticipated expiration: 2031-09-30
Also published as: CN216180505U

Abstract

The embodiment of the utility model relates to the technical field of actuators and discloses an L-shaped actuator, a mechanical arm and a robot; the L-shaped actuator comprises a driving module and a transmission module, wherein the driving module comprises a driving shell and a motor; the driving shell comprises a motor installation main body and a driving bottom cover arranged on the motor installation main body, the motor is arranged in the motor installation main body, the transmission module is arranged on the driving shell and comprises an output piece and a speed reducing assembly for driving the output piece, and the speed reducing assembly and the motor are arranged side by side at intervals; the L-shaped actuator further comprises a transmission assembly which is connected between the motor and the speed reduction assembly in a transmission manner. Compared with the related art, the L-shaped actuator provided by the embodiment of the utility model has the advantages that the axial length is reduced, and the L-shaped actuator is compact and small due to the fact that the speed reducing assembly is arranged at intervals side by side with the motor.

Description

L-shaped actuator, mechanical arm and robot

The present application is based on the chinese patent application with application number "202122406290.8" and application date 2021, 09, 30.

Technical Field

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

Background

With the continuous development of intelligent robot technology, the field of robot related scoring is becoming more and more widespread, and robots are required to be capable of completing more actions in certain fields, so that robots are required to have higher degrees of freedom, such as industrial robots, medical robots, bionic robots and the like.

The existing actuator generally arranges the motor and the speed reducing mechanism axially; however, such an axially aligned arrangement tends to result in a large axial dimension that is inconvenient to install at certain joint locations in the robot.

Disclosure of Invention

An object of an embodiment of the present utility model is to provide an L-shaped actuator that is compact and small.

In order to solve the technical problems, the embodiment of the utility model provides an L-shaped actuator, which comprises a driving module and a transmission module, wherein the driving module comprises a driving shell and a motor; the driving shell comprises a motor installation main body and a driving bottom cover arranged on the motor installation main body, the motor is arranged in the motor installation main body, the transmission module is arranged on the driving shell and comprises an output piece and a speed reducing assembly for driving the output piece, and the speed reducing assembly and the motor are arranged side by side at intervals; the L-shaped actuator further comprises a transmission assembly which is connected between the motor and the speed reduction assembly in a transmission manner.

In addition, the drive housing is provided with a first wire channel extending from an end provided with the motor to an end provided with the transmission module.

In addition, the first wire groove is arranged on the driving bottom cover; the motor mounting main body is provided with a second wire groove communicated with the first wire groove, and the driving module is provided with a wire connecting terminal which is exposed in the second wire groove.

In addition, the number of the second wire grooves is multiple, and each second wire groove vertically extends along the outer wall of the motor mounting main body; the first wire grooves comprise transverse parts and longitudinal parts which are arranged in a staggered and communicated mode, one end of each transverse part extends to one end of the driving shell where the transmission module is arranged, and the other end of each transverse part is communicated with the lower end of one second wire groove; both ends of the longitudinal portion are respectively communicated with the lower end of a second wire groove.

In addition, the transmission assembly comprises a main transmission member connected with the speed reduction assembly; the transmission module is provided with a central through hole which axially penetrates through the output piece, the speed reduction assembly and the main transmission piece.

In addition, the transmission module further comprises a transmission shaft with a hollow inside, the central through hole is formed in the transmission shaft, the transmission shaft penetrates through the output piece and the speed reduction assembly, and one end of the transmission shaft is fixed with the output piece.

In addition, the driving module comprises a motor shaft encoder connected with a motor shaft of the motor, and the transmission module comprises a transmission shaft encoder connected with the output piece.

In addition, the transmission module comprises a transmission shaft fixedly connected with the output piece and a transmission shaft encoder arranged at one end of the transmission shaft, wherein the transmission shaft encoder comprises a first magnet and a first chip opposite to the first magnet, and the first magnet is driven to rotate by the transmission shaft.

In addition, a first counting gear is fixed on the periphery of the end part of the transmission shaft; a second counting gear meshed with the first counting gear is arranged on the driving shell; the first magnet is arranged at the center of the second counting gear, and the first chip is arranged on the driving shell.

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

In addition, the motor includes a motor shaft; the drive module further comprises a band-type brake arranged in the motor installation main body, and the band-type brake limits the rotation of the motor shaft when the power is off.

In addition, the driving module further comprises a band-type brake locking piece, the motor shaft penetrates through the tail of the rear shaft body of the band-type brake to be matched with the band-type brake locking piece, and the band-type brake is limited to rotate when the power is off, so that the motor shaft is limited to rotate.

In addition, the main transmission piece comprises a main gear and a primary sun gear coaxially fixed with the main gear, and the main gear is in transmission connection with the motor; the reduction assembly includes a planetary gear assembly with which the primary sun gear is meshed.

In addition, the main transmission piece further comprises a positioning ring table arranged between the main gear and the primary sun gear, and the transmission module further comprises a first bearing sleeved on the positioning ring table.

In addition, the transmission module further includes a ring gear body in which the planetary gear assembly is mounted; the planetary gear assembly comprises a middle planetary carrier and a primary planetary gear pivoted on one side of the middle planetary carrier; the primary planet gears are meshed with the primary sun gear, an inner gear ring is arranged on the inner wall of the gear ring main body, and the primary planet gears are meshed with the inner gear ring; the intermediate planet carrier is in transmission connection with the output piece.

In addition, the planetary gear assembly further comprises a secondary sun gear fixed on the other side of the middle planet carrier and a secondary planet gear pivoted on the output piece, the secondary planet gear is meshed with the secondary sun gear, and the secondary planet gear is meshed with the annular gear.

In addition, the second-stage sun gear is sleeved with a bearing mounting sleeve, and the transmission module further comprises a second bearing arranged between the outer wall of the output piece and the gear ring main body, and a third bearing arranged between the inner wall of the output piece and the bearing mounting sleeve.

In addition, the main driving member includes a main gear; the transmission assembly comprises a driving gear arranged on the motor and an intermediate gear meshed with the driving gear, and the intermediate gear is meshed with the main gear.

The utility model further provides a mechanical arm which comprises the L-shaped actuator.

The utility model further provides a robot comprising the mechanical arm.

Compared with the related art, the L-shaped actuator provided by the embodiment of the utility model has the advantages that the axial length is reduced, and the L-shaped actuator is compact and small due to the fact that the speed reducing assembly is arranged at intervals side by side with the motor. More mainly, in this L type executor, through the central through-hole that runs through output piece, reducing assembly and main drive piece in transmission module setting, can pass the wire from central through-hole and stretch out at output piece terminal surface when using executor or many executors to establish ties, the condition that the wire can not appear entanglement, stranded conductor, damage when the executor is gone up electric output piece and is rotated like this has solved the problem that exists when walking the line from outside of current executor.

Drawings

One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which the figures of the drawings are not to be taken in a limiting sense, unless otherwise indicated.

FIG. 1 is a schematic perspective view of an L-shaped actuator according to an embodiment of the present utility model;

FIG. 2 is a top view of the L-shaped actuator of FIG. 1;

FIG. 3 isbase:Sub>A cross-sectional view of the L-shaped actuator of FIG. 2 taken along line A-A;

FIG. 4 is a schematic perspective view of the L-shaped actuator of FIG. 1, wherein the first wire cover and the second wire cover are hidden to show the first wire groove and the second wire groove;

FIG. 5 is another angular exploded view of the L-shaped actuator of FIG. 1;

FIG. 6 is an exploded perspective view of a drive module of the L-shaped actuator of FIG. 5;

FIG. 7 is a partially assembled schematic illustration of the L-shaped actuator of FIG. 4 with the drive housing hidden from view from another perspective.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the following detailed description of the embodiments of the present utility model will be given with reference to the accompanying drawings. However, those of ordinary skill in the art will understand that in various embodiments of the present utility model, numerous technical details have been set forth in order to provide a better understanding of the present application. However, the technical solutions claimed in the present application can be implemented without these technical details and with various changes and modifications based on the following embodiments.

An embodiment of the utility model relates to an L-shaped actuator, which is characterized by comprising a driving module and a transmission module, wherein the driving module comprises a vertically arranged motor; the transmission module comprises an output piece rotating around a vertical axis and a speed reduction assembly for driving the output piece, and the speed reduction assembly and the motor are arranged at intervals side by side; the L-shaped actuator further comprises a transmission assembly which is connected between the motor and the speed reduction assembly in a transmission way, and the transmission assembly comprises a main transmission part connected with the speed reduction assembly; the transmission module is provided with a central through hole which axially penetrates through the output piece, the speed reduction assembly and the main transmission piece and is provided with two open ends. The "L" of the present L-shaped actuator is not intended to limit the appearance of the actuator to an L shape, and means that the direction of power transmission between the driving module and the transmission module is distributed in L with the axial direction of the module itself. Compared with the related art, the L-shaped actuator provided by the embodiment of the utility model has the advantages that the axial length is reduced, and the L-shaped actuator is compact and small due to the fact that the speed reducing assembly is arranged at intervals side by side with the motor. In addition, the central through hole penetrating through the transmission module is used for allowing the wires to pass through, so that the problem of winding or breakage of the wires is avoided. The utility model also provides a mechanical arm and a robot, wherein the mechanical arm comprises the L-shaped actuator; the robot comprises the mechanical arm.

The implementation details of the L-shaped actuator of the present embodiment are specifically described below, and the following description is provided only for convenience of understanding, and is not necessary to implement the present embodiment.

Referring to fig. 1 to 7, an L-shaped actuator according to an embodiment of the present utility model is used on a robot, particularly an intelligent robot such as an industrial robot, a medical robot, a bionic robot, and the like. The L-shaped actuator is an electric actuator. The L-shaped actuator includes a transmission module 10 and a drive module 60. The drive module 60 comprises a vertically arranged motor 63; the transmission module 10 comprises an output piece 80 rotating around a vertical axis and a speed reduction assembly for driving the output piece 80, wherein the speed reduction assembly and the motor 63 are arranged at intervals side by side; the L-shaped actuator further comprises a transmission assembly 70 which is in transmission connection between the motor 63 and the speed reduction assembly; the transmission assembly 70 includes a main transmission member 30 coupled to the reduction assembly; the transmission module 10 has a central through hole 52 passing through the output member 80, the reduction assembly and the main transmission member 30 in the axial direction and opening at both ends. In this embodiment, the central through hole 52 is used for the wires connecting the external actuator and the internal wire terminal interface to pass through, so as to avoid the problem of wire winding or breakage.

Referring to fig. 1 to 5, the driving module 60 includes a driving housing (not shown) on which the transmission module 10 is mounted, and a first wire groove 610 is provided at the bottom of the driving housing, and the first wire groove 610 extends from one end of the driving housing where the motor 63 is disposed to one end of the driving housing where the transmission module 10 is disposed and communicates with the central through hole 52. Specifically, the driving housing includes a motor mounting body 62 and a driving bottom cover 61 mounted on the motor mounting body 62, a first wire groove 610 is provided on the driving bottom cover 61, and a motor 63 is mounted in the motor mounting body 62; the motor mounting body 62 is provided with a second wire groove 620 communicating with the first wire groove 610. Further, the driving bottom cover 61 is mounted with a first wire cover plate 611 to cover the first wire groove 610 correspondingly; the driving module 60 has a wire connection terminal exposed in the second wire groove 620. The motor mounting body 62 is provided with a second wire cover 621 to cover the second wire groove 620 correspondingly.

In the present embodiment, the number of the second wire grooves 620 is plural, and each of the second wire grooves 620 extends vertically along the outer wall of the motor mounting body 62; the first wire grooves 610 include transverse portions and longitudinal portions which are alternately communicated, wherein one end of the transverse portion extends to one end of the driving housing where the transmission module 10 is disposed and is communicated with the central through hole 52, and the other end is communicated with the lower end of one of the second wire grooves 620; both ends of the longitudinal portion communicate with the lower ends of one second wire groove 620, respectively. Specifically, the first wire groove 610 is disposed in a cross shape.

The drive module 60 also includes a drive plate 68. In other words, the first wire groove 610 of the driving bottom cover 61 communicates with the center through hole 52 of the driving shaft 50 and the second wire groove 620 of the motor mounting body 62, respectively. Specifically, the second wire grooves 620 are respectively connected to the wire connection terminals of the motor 63 and the driving plate 68; namely, the second wire groove 620 is used for accommodating wires respectively connected to the motor 63 and the driving plate 68. The drive module 60 further includes a motor tail cap 66, the motor tail cap 66 being mounted to the bottom of the motor mounting body 62 and protecting a drive plate 68.

The motor 63 includes a motor shaft 630 (as shown in fig. 3), in which the motor 63 is an external rotor motor and includes a rotor cover 631 covering the stator, the rotor cover 631 having a shaft portion extending into the base of the stator at the middle thereof, and the motor shaft 630 being fixed to the end of the shaft portion so as to rotate in synchronization with the rotor cover 631; the driving module 60 further includes a motor shaft encoder including a second magnet 69 fixed to an end of the motor shaft 630 and a second chip fixed to the driving plate 68 opposite to the second magnet 69 to record the number of turns of the motor shaft 630. Specifically, the second chip on the drive plate 68 records the number of turns of the motor 63 by recording the number of times the second magnet 69 rotates to change the magnetic field.

The drive module 60 also includes a band-type brake 65 mounted within the motor mounting body 61, the band-type brake 65 limiting rotation of the motor shaft 620 when de-energized. The drive module 60 further includes a band-type brake locking tab 67, the band-type brake locking tab 67 being circumferentially positioned with the motor shaft 620 to limit rotation of the motor shaft 620 by action of the band-type brake 65 on the band-type brake locking tab 67. Specifically, the motor shaft 620 passes through the motor 62 and the band-type brake 65, and then the tail of the shaft body is matched with the band-type brake locking piece 67, and the tail of the shaft body of the motor shaft 620 is axially limited in the band-type brake 65 through the clamp spring; when band-type brake 65 is energized, motor shaft 620 is free to rotate, and when band-type brake 65 is de-energized, band-type brake 65 limits rotation of band-type brake locking tab 67 and thereby limits rotation of motor shaft 620.

The transmission assembly 70 further includes a driving gear 71 mounted on the motor 63 and an intermediate gear 72 engaged with the driving gear 71, the intermediate gear 73 being connected to the main transmission member 30.

The main driving member 30 comprises a main gear 31 and a primary sun gear 32 coaxially fixed with the main gear 31, and the main gear 31 is in driving connection with the motor 63; specifically, the main gear 31 is meshed with the intermediate gear 73. The reduction assembly includes a planetary gear assembly 40 with the primary sun gear 32 meshed with the planetary gear assembly 40. The main transmission member 30 further includes a positioning ring (not shown) disposed between the main gear 31 and the primary sun gear 32, and the transmission module 10 further includes a first bearing 11 disposed on the positioning ring.

Referring to fig. 6 and fig. 7, the transmission module 10 further includes a gear ring main body 20; the planetary gear assembly 40 is mounted in the ring gear main body 20. The ring gear main body 20 is in a hollow cylinder shape, and an inner wall of the ring gear main body 20 is provided with an inner gear ring so as to correspondingly engage with the planetary gear assembly 40.

Specifically, the planetary gear transmission assembly 40 includes an intermediate carrier 41, a primary planetary gear 42 pivotally connected to one side of the intermediate carrier 41, and a secondary sun gear 43 fixedly connected to the other side of the intermediate carrier 41; the primary planet gears 41 mesh with the primary sun gear 32. An inner wall of the gear ring main body 20 is provided with an inner gear ring, and the primary planetary gears 42 are meshed with the inner gear ring; the intermediate planet carrier 41 is in driving connection with the output member 80.

Further, the number of primary planet gears 42 is five, and the primary planet gears 42 are circumferentially distributed and pivotally connected to the intermediate planet carrier 41, respectively, and each primary planet gear 42 is meshed with the primary sun gear 32 and the ring gear of the ring gear main body 20 at the same time, so as to maintain stable operation of the primary planet gears 42. The primary planet gears 42 surround and mesh around the primary sun gear 32; when the motor 63 rotates, the primary sun gear 32 rotates and drives the primary planet gears 42 to rotate by the meshing relationship when the main driving member 30 is driven to rotate by the driving assembly 70, and the primary planet gears 42 also move along the ring gear of the ring gear main body 20 while rotating due to meshing with the ring gear of the ring gear main body 20, namely, revolve around the primary sun gear 32, and the revolution drives the intermediate planet carrier 41 to rotate, so as to drive the secondary sun gear 43 to rotate.

The planetary gear assembly 40 also includes a secondary planetary gear 45 pivotally connected to the output member 80. The secondary planet gears 45 mesh with the secondary sun gear 43, and the secondary planet gears 45 mesh with the ring gear. In the present embodiment, the number of the secondary planet gears 45 is five, and the secondary planet gears 45 are circumferentially distributed and pivotally connected to the output member 80 respectively. The secondary planet gears 45 surround and mesh around the secondary sun gear 43. When the secondary sun gear 43 rotates, the output member 80 is driven to rotate by the secondary planet gears 45. In the present embodiment, each secondary planet gear 45 meshes with the secondary sun gear 43 and also meshes with the ring gear of the ring gear main body 20.

When the motor 63 rotates to drive the transmission assembly 70, the main transmission member 30 and the intermediate planetary carrier 41 to rotate, the primary sun gear 32 rotates and drives the secondary planetary gears 45 to rotate by utilizing the meshing relationship, and the secondary planetary gears 45 also move along the ring gear of the ring gear main body 20 while rotating due to meshing with the ring gear of the ring gear main body 20, namely revolve around the secondary sun gear 43, and the revolution drives the output member 43 to rotate, so as to drive the output member 43 and the transmission shaft 50 to rotate.

Further, the secondary sun gear 43 is sleeved with a bearing mounting sleeve, and the transmission module 10 further includes a second bearing 12 disposed between the outer wall of the output member 80 and the ring gear main body 20, and a third bearing 13 disposed between the inner wall of the output member 80 and the bearing mounting sleeve. By providing dual bearing structures on the inner and outer walls of the output member 80, axial play of the output member 80 may be reduced.

The drive shaft 50 is fixedly connected to the output member 80. Specifically, a peripheral surface of the end of the transmission shaft 50 adjacent to the second mounting end 22 extends radially outwardly to form a fixing plate 51, and the fixing plate 51 is fixed to the output member 80 by means of a snap-fit or screw-connection. The transmission shaft 50 penetrates the main transmission member 30 and the planetary gear assembly 40; the position of the central through hole 52 of the transmission shaft 50, which is close to the main transmission member 30, is communicated with the first wire groove 610, and the position of the central through hole 52, which is close to the end far away from the main transmission member 30, is used for connecting with other actuators, so that the problem that wires are wound or damaged due to the connection of the wires from the outside is avoided.

Referring to fig. 7, a first counter gear 93 is fixed to the outer circumference of the end portion of the transmission shaft 50 passing through the main transmission member 30; the driving housing is provided with a second counting gear 94 meshed with the first counting gear 93; the transmission module 10 further includes a transmission shaft encoder including a first magnet 95 installed at the center of the second counter gear 94 and a first chip 96 installed on the driving housing, and the number of rotations of the first magnet 95 of the second counter gear 94 is detected through the first chip 96, thereby detecting the number of rotations of the transmission shaft 50. Since the transmission shaft 50 is of a hollow structure and the inner center through hole 52 is used for wiring, it is difficult for the first magnet 95 to be directly provided on the end face of the transmission shaft 50, so that the first magnet 95 is biased and the rotation of the transmission shaft 50 is transmitted to the first magnet 95 through the two counter gears. Of course, this arrangement is not exclusive, and the magnetic member may be formed as a magnetic ring and directly sleeved on the peripheral surface of the distal end of the transmission shaft 50, and the first chip 96 may be offset from the opening of the transmission shaft 50 and face the magnetic ring.

The L-shaped actuator provided by the utility model is compact and small in axial length by arranging the speed reducing assembly and the motor 63 at intervals. In addition, the central through hole 52 penetrating the transmission module 10 is used for the wires to pass through, so that the problem of winding or breakage of the wires is avoided.

The drive gear 71 of the present utility model is decelerated from the above stages by transmission with the intermediate gear 72, the main transmission member 30, the intermediate carrier 41, and the output member 80, so that the reduction ratio at which the drive gear 71 is finally transmitted to the transmission shaft 50 is 80; thereby realizing larger deceleration and meeting the requirement of flexible execution.

It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples of 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.

Claims

1. The L-shaped actuator is characterized by comprising a driving module and a transmission module, wherein the driving module comprises a driving shell and a motor; the driving shell comprises a motor installation main body and a driving bottom cover arranged on the motor installation main body, the motor is arranged in the motor installation main body, the transmission module is arranged on the driving shell and comprises an output piece and a speed reducing assembly for driving the output piece, and the speed reducing assembly and the motor are arranged side by side at intervals; the L-shaped actuator further comprises a transmission assembly which is connected between the motor and the speed reduction assembly in a transmission manner.

2. The L-shaped actuator of claim 1, wherein said drive housing is provided with a first wire channel extending from an end at which said motor is disposed to an end at which said transmission module is disposed.

3. The L-shaped actuator of claim 2, wherein said first wire groove is provided on said drive base cover; the motor mounting main body is provided with a second wire groove communicated with the first wire groove, and the driving module is provided with a wire connecting terminal which is exposed in the second wire groove.

4. The L-shaped actuator of claim 3, wherein the number of said second wire grooves is plural, each second wire groove extending vertically along the outer wall of the motor mounting body; the first wire grooves comprise transverse parts and longitudinal parts which are arranged in a staggered and communicated mode, one end of each transverse part extends to one end of the driving shell where the transmission module is arranged, and the other end of each transverse part is communicated with the lower end of one second wire groove; both ends of the longitudinal portion are respectively communicated with the lower end of a second wire groove.

5. The L-shaped actuator of claim 1, wherein said transmission assembly comprises a main transmission member coupled to said reduction assembly; the transmission module is provided with a central through hole which axially penetrates through the output piece, the speed reduction assembly and the main transmission piece.

6. The L-shaped actuator of claim 5, wherein said drive module further comprises a drive shaft having a hollow interior, said central throughbore being formed in said drive shaft, said drive shaft extending through said output member and said reduction assembly, one end of said drive shaft being secured to said output member.

7. The L-shaped actuator of claim 1, wherein the drive module comprises a motor shaft encoder coupled to a motor shaft of the motor, and the drive module comprises a drive shaft encoder coupled to the output member.

8. The L-shaped actuator of claim 1, wherein said drive module comprises a drive shaft fixedly connected to said output member, and a drive shaft encoder disposed at one end of said drive shaft, said drive shaft encoder comprising a first magnet and a first chip opposite said first magnet, wherein said first magnet is rotated by said drive shaft.

9. The L-shaped actuator of claim 8, wherein a first counter gear is fixed to an outer periphery of an end of the drive shaft; a second counting gear meshed with the first counting gear is arranged on the driving shell; the first magnet is arranged at the center of the second counting gear, and the first chip is arranged on the driving shell.

10. The L-shaped actuator of claim 8, wherein the motor comprises a motor shaft, the drive module further comprising a drive plate and a motor shaft encoder, the motor shaft encoder comprising a second magnet fixed to a motor shaft end of the motor and a second chip fixed to the drive plate and opposite the second magnet.

11. The L-shaped actuator of claim 1, wherein the motor comprises a motor shaft; the drive module further comprises a band-type brake arranged in the motor installation main body, and the band-type brake limits the rotation of the motor shaft when the power is off.

12. The L-type actuator of claim 11, wherein the drive module further comprises a band-type brake locking tab, the motor shaft passing through a rear shaft tail of the band-type brake to engage the band-type brake locking tab, the band-type brake limiting rotation of the band-type brake locking tab when de-energized to thereby limit rotation of the motor shaft.

13. The L-shaped actuator of claim 5, wherein said main driving member comprises a main gear and a primary sun gear coaxially fixed with said main gear, said main gear being drivingly connected to said motor; the reduction assembly includes a planetary gear assembly with which the primary sun gear is meshed.

14. The L-shaped actuator of claim 13, wherein said main driving member further comprises a positioning ring stage disposed between the main gear and the primary sun gear, and said driving module further comprises a first bearing sleeved on said positioning ring stage.

15. The L-shaped actuator of claim 13, wherein the transmission module further comprises a ring gear body, the planetary gear assembly being mounted in the ring gear body; the planetary gear assembly comprises a middle planetary carrier and a primary planetary gear pivoted on one side of the middle planetary carrier; the primary planet gears are meshed with the primary sun gear, an inner gear ring is arranged on the inner wall of the gear ring main body, and the primary planet gears are meshed with the inner gear ring; the intermediate planet carrier is in transmission connection with the output piece.

16. The L-shaped actuator of claim 15, wherein said planetary gear assembly further comprises a secondary sun gear fixed to the other side of said intermediate planet carrier and a secondary planet gear pivotally connected to said output member, said secondary planet gear being in mesh with said secondary sun gear, said secondary planet gear being in mesh with said ring gear.

17. The L-shaped actuator of claim 16, wherein said secondary sun gear is sleeved with a bearing mounting sleeve, said transmission module further comprising a second bearing disposed between an outer wall of the output member and said ring gear body, and a third bearing disposed between an inner wall of the output member and said bearing mounting sleeve.

18. The L-shaped actuator of claim 5, wherein said main drive member comprises a main gear; the transmission assembly comprises a driving gear arranged on the motor and an intermediate gear meshed with the driving gear, and the intermediate gear is meshed with the main gear.

19. A robotic arm comprising an L-shaped actuator as claimed in any one of claims 1 to 18.

20. A robot comprising an L-shaped actuator according to any one of claims 1-18.