WO2023051285A1

WO2023051285A1 - Two-degree-of-freedom actuator, mechanical arm and robot

Info

Publication number: WO2023051285A1
Application number: PCT/CN2022/119329
Authority: WO
Inventors: 罗程; 方冉; 胡海涛; 黄晓庆; 孔兵
Original assignee: 达闼机器人股份有限公司
Priority date: 2021-09-30
Filing date: 2022-09-16
Publication date: 2023-04-06
Also published as: CN113843775A

Abstract

A two-degree-of-freedom actuator, a mechanical arm and a robot. The two-degree-of-freedom actuator comprises a driven module, a transmission mechanism and a driving module, wherein the driven module comprises a swing housing and an actuator member (2); the swing housing is rotatably connected to a fixed housing (1) around an X axis, and the actuator member (2) is rotatably connected to the swing housing around a Y axis; the driving module comprises a first driving mechanism and a second driving mechanism; the fixed housing (1) is fixedly connected to the first driving mechanism in a detachable manner, and the second driving mechanism is fixedly connected to the first driving mechanism in a detachable manner; and the first driving mechanism and the second driving mechanism drive the transmission mechanism to perform transmission in a first mode or a second mode, and when in the first mode, the transmission mechanism drives the actuator member (2) to rotate relative to the swing housing, and when in the second mode, the transmission mechanism drives the actuator member (2), along with the swing housing, to rotate relative to the fixed housing (1). The two-degree-of-freedom actuator ameliorates the problem in existing robots of it being difficult to mount two actuators on certain joints due to limited space, and ameliorates the problem of cable entanglement or damage caused when the actuators are actuated.

Description

A dual-degree-of-freedom actuator, mechanical arm and robot

This application is based on the Chinese patent application with the application number "202111166900.X" and the filing date is September 30, 2021, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is incorporated herein by reference. into this application.

technical field

The present application relates to the technical field of robots, in particular to a double-degree-of-freedom actuator, a mechanical arm and a robot.

Background technique

With the continuous development of intelligent robot technology, robots are involved in more and more subfields. In some fields, robots are required to complete more actions, so robots are required to have a higher degree of freedom, such as industrial robots, medical robots and bionics. robot etc.

In some cases, the actuator of the bionic robot can only achieve one degree of freedom rotation, while some joints on the bionic robot need to have two degrees of freedom, but the space is limited and it is difficult to install two actuators, and when the actuator moves, often Problems that cause cables to become tangled or broken.

Summary of the invention

The present application provides a two-degree-of-freedom actuator, which is applied to a robot. The double-degree-of-freedom actuator includes a driven module, a transmission mechanism and a driving module. Wherein, the driven module includes a swing housing and an actuator. The swing shell is connected to a fixed shell in rotation around the X axis, and the actuator is connected to the swing shell in rotation around the Y axis. The drive module includes a first drive mechanism and a second drive mechanism, the fixed shell is detachably fixedly connected to the first drive mechanism, and the second drive mechanism is detachably fixedly connected to the first drive mechanism Fixed shell. The first driving mechanism and the second driving mechanism drive the transmission mechanism to perform transmission in the first mode or the second mode. In the first mode, the transmission mechanism drives the actuator to rotate relative to the swing housing; in the second mode, the transmission mechanism drives the actuator to rotate with the swing housing relative to the fixed housing . When the above-mentioned transmission mechanism is specifically arranged, there is a hollow channel penetrating along the X-axis direction and opening at both ends in the transmission mechanism. A first wire groove is arranged in the swing housing, a second wire groove is arranged in the fixed casing, and a wire routing structure is arranged on the outer wall of the driving module, and the wire routing structure is connected to one end of the second wire groove. The other end of the second wire slot communicates with one end of the hollow channel, and the other end of the hollow channel communicates with one end of the first wire slot. An output wire groove communicated with the other end of the first wire groove is also arranged in the actuator.

When setting up the above wiring structure, the wiring structure includes a first wiring slot provided on the first driving mechanism and a second wiring slot provided on the second driving mechanism, and the A communication slot between the first wiring slot and the second wiring slot. The first driving mechanism and the second driving mechanism respectively have connecting terminals exposed in the first wiring groove and the second wiring groove.

When the above-mentioned second drive mechanism is specifically provided, the second drive mechanism includes a second motor, and the second motor is fixedly installed in the second installation body. The second motor has a second rotor cover, and a central transmission shaft is coaxially fixed on the second rotor cover. The central transmission shaft passes through the first driving mechanism.

When the above-mentioned first driving mechanism is specifically arranged, the first driving mechanism includes a first motor, and the first motor is fixedly installed in the first installation body. The first installation body is detachably fixedly connected to the second installation body.

When the above-mentioned first motor is specifically arranged, the first motor has a first rotor cover, and a first gear is fixedly installed on the first rotor cover. The central transmission shaft passes through the first motor, the first rotor cover and the first gear, and a second gear is fixedly installed at the end. The first gear is arranged coaxially with the second gear.

When the above-mentioned oscillating shell is specifically set, the oscillating shell includes two hemispherical shells. The opposite sides of the two hemispherical shells are respectively provided with spherical shell end caps, and the two spherical shell end caps are detachably fixedly connected by an arc-shaped piece, and the two hemispherical shells are detachably fixed by the arc-shaped piece connect.

When further specifically setting the above-mentioned transmission mechanism, the transmission mechanism includes two planetary ring gears and two planetary cages. Wherein, the two planetary ring gears and the two planetary cages are arranged coaxially in the swing housing, and the two planetary cages are arranged symmetrically on both sides of the two planetary ring gears. The two planetary ring gears are respectively fixedly connected to the fixed shell through supports, and the two supports are respectively provided with bending limit structures, and the two hemispherical shells are respectively corresponding to the fixed shells on the two supports. The bending limit structure limits the position to achieve the effect of making the swing shell rotate relative to the fixed shell. The two planetary cages are respectively rotationally connected to the two spherical shell end caps through hollow shafts, and the two hollow shafts respectively correspondingly pass through the two spherical shell end caps. The two hollow shafts are butted and communicated with each other to form the hollow passage.

When the above-mentioned transmission mechanism is further specifically set up, the transmission mechanism includes two face gears, the two face gears are located between the two planetary ring gears and coaxially arranged with the two planetary ring gears, and The sides of the two face gears facing away from each other are respectively coaxially fixedly connected with a sun gear. The two planetary cages correspond to the two sun gears and the two planetary ring gears, and opposite sides of the two planetary cages are respectively rotatably connected with a ring of planetary gears. One ring of planet gears on each planet cage meshes with the corresponding sun gear and planet ring gear respectively. In a specific embodiment, the number of planetary gears on each planetary cage is five, and the five planetary gears are evenly arranged around the corresponding sun gear.

In addition, bevel gears are coaxially and fixedly installed on the two planetary cages, and driven bevel gears are fixedly installed on the actuator, and the driven bevel gears are located in the swing housing and are respectively connected to Two bevel gears mesh. A follow-up actuator is rotatably connected to the arc-shaped member, and the follow-up actuator and the actuator are symmetrically arranged relative to the swing housing, and the follow-up actuator is symmetrically arranged on the actuator and connected hole.

In the embodiment of the present application, the transmission mechanism further includes two dual gears, and each dual gear includes a first linkage gear and a second linkage gear fixedly connected coaxially. The two first interlocking gears are respectively rotatably connected to the fixed case, and one of the first interlocking gears meshes with the first gear, and the other first interlocking gear meshes with the second gear. The two second linkage gears are respectively engaged with transmission gears, and the two transmission gears are respectively connected in rotation with the fixed housing, and the two transmission gears respectively extend into the swing housing and are connected with the two end gears respectively. corresponding meshing.

When the above-mentioned second installation main body is specifically arranged, an encoder is fixedly installed in the second installation main body. The central transmission shaft is rotatably connected to the stator of the second motor, and the central transmission shaft is provided with a magnet that cooperates with the encoder. In addition, a second motor tail cover is coaxially and detachably fixedly connected to the second installation body, and the encoder is located between the second motor and the second motor tail cover.

When the above-mentioned first installation main body is specifically set, the first motor tail cover is detachably and fixedly connected to the first installation main body, and the first motor tail cover is located between the first motor and the second motor. between, and the first motor tail cover is coaxially and detachably fixedly connected to the second installation body, and the second installation body is located between the first motor tail cover and the second motor tail cover .

When the above-mentioned fixed shell is specifically set, the fixed shell is coaxially and detachably connected to the first installation body through the connection body; the first installation body is located between the second motor tail cover and the connection body between.

In a second aspect, a mechanical arm is provided, and the mechanical arm includes the above-mentioned double-degree-of-freedom actuator.

In a third aspect, a robot is provided, which includes the above-mentioned double-degree-of-freedom actuator.

Description of drawings

FIG. 1 is a perspective view of a two-degree-of-freedom actuator provided in some embodiments of the present application;

Fig. 2 is a side view of a two-degree-of-freedom actuator provided in some embodiments of the present application;

Fig. 3 is a transverse cross-sectional view of a dual-degree-of-freedom actuator provided in some embodiments of the present application;

Fig. 4 is a longitudinal sectional view of a dual-degree-of-freedom actuator provided in some embodiments of the present application;

FIG. 5 is an exploded view of a dual-degree-of-freedom actuator provided in some embodiments of the present application;

Fig. 6 is an exploded view of a swing shell provided by some embodiments of the present application.

Embodiments of the present invention

In order to make the purpose, technical solution and advantages of the application clearer, the application will be further described in detail below in conjunction with the accompanying drawings.

In order to facilitate the understanding of the two-degree-of-freedom actuator provided in this application, its application scenario is firstly explained. The two-degree-of-freedom actuator is used in robots, such as bionic robots, medical robots, and industrial robots. At present, the actuator of the bionic robot can only achieve one degree of freedom rotation, while some joints on the bionic robot need to have two degrees of freedom rotation, but the space is limited and it is difficult to install two actuators, and when the actuator moves, it often leads to the line The cable is entangled or damaged, which needs to be improved.

The present application provides a two-degree-of-freedom actuator, which is applied to a robot. The double-degree-of-freedom actuator includes 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 housing and an actuator 2 . The swing shell is connected to a fixed shell 1 in rotation around the X axis, and the actuator 2 is connected to the swing shell in rotation around the Y axis. The X axis is perpendicular to the Y axis.

The drive module includes a first drive mechanism and a second drive mechanism, the fixed case 1 is detachably fixedly connected to the first drive mechanism, and the second drive mechanism is detachably fixedly connected to the fixed case 1 . The fixed housing 1 and the first drive mechanism and the second drive mechanism are arranged sequentially from top to bottom, and the first drive mechanism and the second drive mechanism are arranged up and down, which helps to improve the problem that it is difficult to install two actuators due to limited space.

The first driving mechanism and the second driving mechanism drive the transmission mechanism to perform transmission in the first mode or the second mode. In the first mode, the transmission mechanism drives the actuator 2 to rotate relative to the swing housing; in the second mode, the transmission mechanism drives the actuator 2 to rotate relative to the fixed housing 1 along with the swing housing. In this way, the actuator 2 can realize the rotation of the two degrees of freedom of the X axis and the Y axis.

In some embodiments, referring to FIG. 2 , FIG. 4 and FIG. 6 when setting up the transmission mechanism, the transmission mechanism has a hollow channel 33 penetrating along the X-axis direction and opening at both ends. A first wire groove 34 is arranged in the swing housing, a second wire groove 35 is arranged in the fixed housing 1, and a wiring structure 14 is provided on the outer wall of the driving module, and the wire routing structure 14 communicates with one end of the second wire groove 35. The other end of the wire groove 35 communicates with one end of the first wire groove 34 , and the other end of the first wire groove 34 communicates with one end of the hollow channel 33 . An output wire groove 36 communicating with the other end of the hollow channel 33 is also provided in the actuator 2 . In this way, the problem of wire entanglement or damage is avoided when the cable is arranged.

In some embodiments, when the wiring structure 14 is specifically set up, the wiring structure 14 includes a first wiring slot provided on the first driving mechanism and a second wiring slot provided on the second driving mechanism, and communicates with the second wiring slot. A communication groove between the first wire groove and the second wire groove. The first wiring slot and the second wiring slot are in a cross shape. The first driving mechanism and the second driving mechanism respectively have connection terminals exposed in the first wiring groove and the second wiring groove. When arranging the cables, the cables are connected to the connection terminals.

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

In some embodiments, when specifically setting up the first driving mechanism, the first driving mechanism includes a first motor 9 , and the first motor 9 is fixedly installed in the first installation body 8 . The first installation body 8 is detachably fixedly connected to the second installation body 3 . In some embodiments, the first motor 9 has a first rotor cover 11 on which a first gear 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 a second gear 13 is fixedly installed at the end. The first gear 12 and the second gear 13 are arranged coaxially. Both the first motor 9 and the second motor 4 are hollow outer rotor motors, so the central transmission shaft 5 can pass through the middle of the first motor 9 .

In some embodiments, when specifically setting the swing shell, the swing shell includes two hemispherical shells 15 . The opposite side of the two hemispherical shells 15 are respectively provided with spherical shell end caps 16, the two spherical shell end caps 16 are detachably fixedly connected by arc-shaped pieces 17, and the two hemispherical shells 15 are detachable by arc-shaped pieces 17 fixed connection. The two hemispherical shells 15 and the two spherical shell end caps 16 are fixedly connected as a whole through the arc-shaped piece 17 to form a swing shell. Both ends of the arc-shaped member 17 are detachably fixedly connected to the two spherical shell end caps 16 respectively through jacking screws, and the middle part of the arc-shaped member 17 is detachably fixedly connected to the two hemispherical shells 15 respectively through jacking screws.

In some embodiments of the present application, the transmission mechanism includes two planetary ring gears 25 and two planetary cages 26 . Wherein, the two planetary ring gears 25 and the two planetary cages 26 are arranged coaxially in the swing housing, and the two planetary cages 26 are arranged symmetrically on both sides of the two planetary ring gears 25 . The two planetary ring gears 25 are respectively fixedly connected to the fixed shell 1 through the support members 27, and the two support members 27 are respectively provided with bending limit structures, and the two hemispherical shells 15 are respectively corresponding to the bending positions on the two support members 27. The limit structure is limited so that the swing shell composed of the two hemispherical shells 15 can rotate relative to the fixed shell 1 . The two planetary cages 26 are respectively rotatably connected to the two spherical end caps 16 through hollow shafts 19 , and the two hollow shafts 19 correspondingly pass through the two spherical end caps 16 . The hollow shaft 19 is rotatably connected with the spherical shell end cover 16 through a bearing. The two hollow shafts 19 are connected to each other to form a hollow channel 33 .

In some embodiments, the transmission mechanism includes two face gears 20, and the two face gears 20 are located between the two planetary ring gears 25 and coaxially arranged with the two planetary ring gears 25, and are coaxial with the two hollow shafts 19. axis settings. A sun gear 24 is coaxially and fixedly connected to the opposite sides of the two face gears 20 . The two planetary cages 26 correspond to the two sun gears 24 and the two planetary ring gears 25 , and opposite sides of the two planetary cages 26 are respectively rotatably connected with a ring of planetary gears 28 . One ring of planetary gears 28 on each planetary cage 26 meshes with the corresponding sun gear 24 and planetary ring gear 25 respectively. In some embodiments, the number of one circle of planetary gears 28 on each planetary cage 26 is five, five planetary gears 28 are evenly arranged around the corresponding sun gear 24, and the five planetary gears 28 are respectively connected to the corresponding The internal teeth of the planetary ring gear 25 mesh.

In some embodiments, bevel gears 29 are coaxially and fixedly installed on the two planetary cages 26 respectively, and driven bevel gears 30 are fixedly installed on the actuator 2, and the driven bevel gears 30 are located in the swing housing and respectively Meshes with two bevel gears 29 . In some embodiments, a follow-up actuator 37 is rotatably connected to the arc-shaped member 17, and the follow-up actuator 37 and the actuator 2 are arranged symmetrically with respect to the swing housing, and the follow-up actuator 37 is symmetrically connected to the actuator 2. Hole 31. This makes it easy to connect other actuators. The actuator 2 is rotatably connected with the swing shell composed of two hemispherical shells through bearings, and the follower actuator 37 is rotatably connected with the middle part of the arc-shaped member 17 through a rotating shaft. Since the driven bevel gear 30 needs to be fixed on the actuator 2 , the aforementioned output wire groove 36 is preferably arranged on the follow-up actuator 37 instead of the actuator 2 .

Referring to Fig. 6, in some embodiments of the present application, the arc-shaped member 17 is provided with an arc-shaped groove 41 towards one side of the two hemispherical shells 15, the arc-shaped member 17 and the arc-shaped groove 41 extend along the same arc, and the output wire groove One end of 36 communicates with the hollow channel 33 through the arc groove 41 . In this way, the communication between the output wire groove 36 and the hollow channel 33 can be facilitated, thereby facilitating the arrangement of cables.

In some embodiments of the present application, the transmission mechanism further includes two dual gears. Each dual gear comprises a first linkage gear 22 and a second linkage gear 21 fixedly connected coaxially. The two first interlocking gears 22 are rotationally connected to the fixed housing 1 through bearings, and one of the first interlocking gears 22 meshes with the first gear 12 , and the other first interlocking gear 22 meshes with the second gear 13 . The two second linkage gears 21 are meshed with transmission gears 23 respectively, and the two transmission gears 23 are rotatably connected with the fixed shell 1 through bearings respectively. The two transmission gears 23 respectively protrude into the swing shell formed by the two hemispherical shells 15 and respectively mesh with the two face gears 20 correspondingly.

In some embodiments, an encoder is fixedly installed in the second installation body 3 . The central transmission shaft 5 is rotationally connected with the stator of the second motor 4 through a bearing. A magnet 7 cooperating with the encoder is arranged on the central transmission shaft 5 . The encoder is integrated on the PCB board 6 and fixedly installed in the second installation body 3 through the PCB board 6 , the magnet 7 is fixedly installed on the central drive shaft 5 through the magnet mounting base, and the magnet 7 is arranged next to the encoder. When the central transmission shaft 5 of the second motor 4 rotates, the magnetic pole direction of the magnet 7 will change, and the encoder can record the number of turns of the second motor 4 by recording the change of the magnetic pole of the magnet 7 .

In some embodiments, a second motor tail cover 32 is coaxially and detachably fixedly connected to the second installation body 3 , and the encoder is located between the second motor 4 and the second motor tail cover 32 . The first installation body 8 is coaxially and detachably fixedly connected with a first motor tail cover 10, and the first motor tail cover 10 is detachably and fixedly connected with the first installation body 8 through a top wire, and the first motor tail cover 10 is located at the second Between the second motor 4 and the first motor 9, and the first motor tail cover 10 is coaxially and detachably fixedly connected with the second installation body 3 through a top wire, and the second installation body 3 is located between the first motor tail cover 10 and the second motor tail cover 10. Between the motor tail cover 32.

In some embodiments, the fixed shell 1 is coaxially and detachably fixedly connected to the first installation body 8 through the connection body 39 . The first installation body 8 is located between the first motor tail cover 10 and the connection body 39 . The aforementioned wiring structure 14 is provided on the outer wall of the first installation body 8 .

In some embodiments, the first drive mechanism and the second drive mechanism are coaxially arranged up and down, which helps to improve the problem that it is difficult to install two actuators due to limited space, and at the same time avoids the installation and use of two actuators, and the actuator can Realize the rotation of two degrees of freedom in the X axis and the Y axis. There is a hollow channel 33 penetrating along the X-axis direction in the transmission mechanism with openings at both ends, and the wires are arranged in conjunction with the wire groove to avoid the problem of wire winding or damage.

In some embodiments, the first motor 9 and the second motor 4 output the power 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. When rotating in the reverse direction, the driven bevel gear 30 is driven at this time, and the connected actuator 2 and the follow-up actuator 37 can rotate around the Y axis relative to the swing housing. This is the motion state in the first mode; when two When the bevel gear 29 rotates in the same direction, the driven bevel gear 30 is stuck, and the connected actuator 2 cannot rotate, but it will rotate around the X axis with the swing housing. This is the motion state in the second mode.

In addition, the present application provides a mechanical arm, which includes the above dual-degree-of-freedom actuator.

In addition, the present application also provides a robot, which includes the above-mentioned two-degree-of-freedom actuator.

The above is only the specific implementation of the application, but the scope of protection of the application is not limited thereto. Anyone familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the application, and should cover Within the protection scope of this application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

A two-degree-of-freedom actuator, including: a driven module, a transmission mechanism and a driving module; wherein,

The driven module includes a swing housing and an actuator (2); the swing housing is connected to a fixed housing (1) in rotation around the X axis, and the actuator (2) is connected to the swing housing in rotation around the Y axis superior;

The drive module includes a first drive mechanism and a second drive mechanism; the fixed shell (1) is detachably fixedly connected to the first drive mechanism, and the second drive mechanism is detachably connected to the first drive mechanism The fixed connection fixed shell (1);

The first driving mechanism and the second driving mechanism drive the transmission mechanism to perform transmission in the first mode or the second mode, and in the first mode, the transmission mechanism drives the actuator (2) relative to the The oscillating shell rotates, and in the second mode, the transmission mechanism drives the actuator (2) to rotate with the oscillating shell relative to the fixed shell (1).
The double-degree-of-freedom actuator according to claim 1, wherein the transmission mechanism has a hollow channel (33) penetrating along the X-axis direction and opening at both ends; the swing housing of the hollow channel (33) is provided with a second A wire groove (34), a second wire groove (35) is arranged in the fixed case (1), and a wire routing structure (14) is arranged on the outer wall of the driving module, and the wire routing structure (14) is connected with the One end of the second wire groove (35) is connected, the other end of the second wire groove (35) is connected with one end of the hollow channel (33), the other end of the hollow channel (33) is connected with the first wire One end of the groove (34) is connected, and an output wire groove (36) connected with the other end of the first wire groove (34) is also provided in the executive member (2).
The double-degree-of-freedom actuator according to claim 2, wherein, the wiring structure (14) includes a first wiring slot provided on the first driving mechanism and a second wiring slot provided on the second driving mechanism. A wire slot and a communication slot connected between the first wire slot and the second wire slot, the first drive mechanism and the second drive mechanism respectively have and the exposed connection terminals of the second wire slot.
The double-degree-of-freedom actuator according to claim 1, wherein the second drive mechanism includes a second motor (4); the second motor (4) is fixedly installed in the second installation body (3); the The second motor (4) has a second rotor cover (38), and the second rotor cover (38) is coaxially fixed with a central transmission shaft (5); the central transmission shaft (5) passes through the first drive mechanism.
The double-degree-of-freedom actuator according to claim 4, wherein the first drive mechanism includes a first motor (9); the first motor (9) is fixedly installed in the first installation body (8); the The first installation body (8) is detachably fixedly connected to the second installation body (3).
The double-degree-of-freedom actuator according to claim 5, wherein the first motor (9) has a first rotor cover (11); a first gear is fixedly installed on the first rotor cover (11) (12); the central transmission shaft (5) passes through the first motor (9), the first rotor cover (11) and the first gear (12), and the end is fixedly installed with a second A gear (13); the first gear (12) and the second gear (13) are arranged coaxially.
The double-degree-of-freedom actuator according to claim 6, wherein the swing shell includes two hemispherical shells (15); the opposite sides of the two hemispherical shells (15) are respectively provided with spherical shell end covers (16) , the two spherical shell end caps (16) are detachably fixedly connected through an arc-shaped piece (17), and the two hemispherical shells (15) are detachably fixedly connected through the arc-shaped piece (17).
The double-degree-of-freedom actuator according to claim 7, wherein the transmission mechanism includes two planetary ring gears (25) and two planetary cages (26);

The two planetary ring gears (25) and the two planetary cages (26) are coaxially arranged in the swing housing, and the two planetary cages (26) are symmetrically arranged in the two Both sides of the planetary ring gear (25);

The two planetary ring gears (25) are respectively fixedly connected to the fixed housing (1) through supports (27), and the two supports (27) are respectively provided with bending limiting structures, and the two hemispheres The shells (15) are correspondingly limited by the bending limit structures on the two supports (27);

The two planetary cages (26) are respectively rotationally connected to the two spherical shell end covers (16) through hollow shafts (19), and the two hollow shafts (19) respectively pass through the two spherical shell ends The cover (16); the two hollow shafts (19) are connected to each other to form the hollow channel (33).
The double-degree-of-freedom actuator according to claim 8, wherein the transmission mechanism comprises two face gears (20), and the two face gears (20) are located between the two planetary gears (25) It is coaxially arranged with the two planetary ring gears (25), and the sides of the two face gears (20) facing away from each other are coaxially fixedly connected with a sun gear (24);

The two planetary cages (26) correspond to the two sun gears (24) and the two planetary ring gears (25), and the opposite sides of the two planetary cages (26) are respectively rotationally connected There is one ring of planetary gears (28); one ring of planetary gears (28) on each planetary cage (26) meshes with the corresponding sun gear (24) and planetary ring gear (25) respectively.
The double-degree-of-freedom actuator according to claim 9, wherein, the bevel gears (29) are coaxially and fixedly installed on the two planetary cages (26), respectively, and the actuator (2) is fixedly installed with A driven bevel gear (30), the driven bevel gear (30) is located in the swing housing and meshes with two bevel gears (29) respectively.
The double-degree-of-freedom actuator according to claim 10, wherein a follow-up actuator (37) is rotatably connected to the arc-shaped member (17), and the follow-up actuator (37) is connected to the actuator ( 2) It is arranged symmetrically with respect to the swing housing, and connecting holes (31) are symmetrically arranged on the follow-up actuator (37) and the actuator (2).
The double-degree-of-freedom actuator according to claim 11, wherein the transmission mechanism further includes two double-linked gears; each double-linked gear includes a first linkage gear (22) and a second linkage gear fixedly connected coaxially (twenty one);

Two first linkage gears (22) are respectively rotationally connected with the fixed housing (1), and one of the first linkage gears (22) meshes with the first gear (12), and the other first linkage gear (22 ) meshes with the second gear (13);

The two second linkage gears (21) are meshed with transmission gears (23) respectively, and the two transmission gears (23) are respectively connected to the fixed shell (1) in rotation; the two transmission gears (23) respectively extend into the The oscillating shell is respectively meshed with the two face gears (20).
The double-degree-of-freedom actuator according to claim 4, wherein an encoder is fixedly installed in the second installation body (3); the central transmission shaft (5) and the stator of the second motor (4) Rotation connection; the central drive shaft (5) is provided with a magnet (7) that cooperates with the encoder.
The double-degree-of-freedom actuator according to claim 13, wherein a second motor tail cover (32) is coaxially and detachably fixedly connected to the second installation body (3), and the encoder is located at the second Between the second motor (4) and the second motor tail cover (32).
The double-degree-of-freedom actuator according to claim 14, wherein a first motor tail cover (10) is coaxially and detachably fixedly connected to the first installation body (8), and the first motor tail cover ( 10) Located between the first motor (9) and the second motor (4), and the first motor tail cover (10) is detachably fixed coaxially with the second installation body (3) connected, the second installation body (3) is located between the first motor tail cover (10) and the second motor tail cover (32).
The double-degree-of-freedom actuator according to claim 15, wherein, the fixed housing (1) is coaxially and detachably fixedly connected to the first installation body (8) through a connection body (39); the first The installation body (8) is located between the first motor tail cover (10) and the connection body (39).
A mechanical arm, comprising: the two-degree-of-freedom actuator according to any one of claims 1-16.
A robot, comprising: the two-degree-of-freedom actuator according to any one of claims 1-16.