WO2023051817A1 - L-type actuator, mechanical arm and robot - Google Patents

Abstract

The embodiments of the present application relate to the technical field of actuators. Disclosed are an L-type actuator, a mechanical arm and a robot. The L-type actuator comprises a drive module (60) and a transmission module (10), wherein the drive module (60) comprises an electric motor (63); and the transmission module (10) comprises an output member (80) and a speed reduction assembly for driving the output member (80), the speed reduction assembly and the electric motor (63) being arranged side by side at an interval. The L-type actuator further comprises a transmission assembly (70) in transmission connection between the electric motor (63) and the speed reduction assembly, wherein the transmission assembly (70) comprises a main transmission member (30) connected to the speed reduction assembly; and the transmission module (10) is provided with a central through hole (52) penetrating the output member (80), the speed reduction assembly and the main transmission member (30) in an axial direction and having two open ends.

Description

L-shaped actuators, manipulators and robots

This application is based on the Chinese patent application with the application number "202111164041.0" 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 hereby incorporated by reference. Apply.

technical field

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

Background technique

With the continuous development of intelligent robot technology, robots are involved in more and more scoring fields. 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 bionic robots. wait.

In some cases, the actuator generally arranges the motor and the reduction mechanism in an axial arrangement; however, this axial arrangement often results in a large axial size, which is not convenient for installation at certain joint positions in the robot.

Summary of the invention

The embodiment of the present application provides an L-shaped actuator, including a drive module and a transmission module, the drive module includes a motor; the transmission module includes an output member and a deceleration assembly for driving the output member, and the deceleration assembly and The motors are arranged side by side at intervals; the L-shaped actuator also includes a transmission assembly connected between the motor and the deceleration assembly, and the transmission assembly includes a main transmission member connected to the deceleration assembly; the transmission The module has a central through hole that runs through the output member, the reduction assembly and the main transmission member in the axial direction and is open at both ends.

In addition, the driving module includes a driving housing, the transmission module is mounted on the driving housing, and a first wire groove is provided at the bottom of the driving housing, and the first wire groove communicates with the central through hole.

In addition, the drive housing includes a motor installation body and a drive bottom cover installed at the bottom of the motor installation body, the first wire groove is arranged on the drive bottom cover, and the motor is installed in the motor installation body; the motor The installation main body is provided with a second wire slot communicating with the first wire slot, and the driving module has a wire connection terminal, and the wire connection terminal is exposed in the second wire slot.

In addition, the number of the second wire grooves is multiple, and each second wire groove extends vertically along the outer wall of the motor installation body; the first wire grooves include transverse parts and longitudinal parts arranged in staggered communication, wherein the transverse parts One end communicates with the central through hole, and the other end communicates with the lower end of one of the second wire grooves; the two ends of the longitudinal portion communicate with the lower end of one of the second wire grooves respectively.

In addition, the transmission module also includes a hollow transmission shaft, the central through hole is formed in the transmission shaft, the transmission shaft passes through the output member and the deceleration assembly, one end of the transmission shaft is connected to the output The piece is fixed.

In addition, the transmission module further includes a transmission shaft encoder arranged at the end of the transmission shaft passing through the main transmission member, and the transmission shaft encoder includes a first magnet and a second magnet opposite to the first magnet. A chip, wherein the first magnet is driven to rotate by the transmission shaft.

In addition, the drive module includes a drive housing, the transmission module is installed on the drive housing, and the outer circumference of the end part of the transmission shaft after passing through the main transmission part is fixed with a first counting gear; The first counting gear meshes with the second counting gear; the first magnet is installed in the center of the second counting gear, and the first chip is installed in the drive shell.

In addition, the motor includes a motor shaft; the drive module also includes a brake and a brake locking piece, and the brake locking piece is positioned and connected with the motor shaft in a circumferential direction, and through the action of the brake on the brake locking piece to Rotation of the motor shaft is restricted.

In addition, the drive module also includes a drive plate and a motor shaft encoder, the motor shaft encoder includes a second magnet fixed at the end of the motor shaft and a magnet fixed to the drive plate and opposite to the second magnet. second chip.

In addition, the main transmission member includes a main gear and a first-stage sun gear fixed coaxially with the main gear, and the main gear is in transmission connection with the motor; the reduction assembly includes a planetary gear assembly, and the first-stage sun gear meshes with the planetary gear assembly.

In addition, the main transmission part also includes a positioning ring platform arranged between the main gear and the primary sun gear, and the transmission module further includes a first bearing sleeved on the positioning ring platform.

In addition, the transmission module also includes a ring gear main body, and the planetary gear assembly is installed in the ring gear main body; the planetary gear assembly includes an intermediate planetary carrier and a first-stage planetary gear pivotally connected to one side of the intermediate planetary carrier; The first-stage planetary gear meshes with the first-stage sun gear, the inner wall of the ring gear main body is provided with an inner ring gear, and the first-stage planetary gear meshes with the inner ring gear; the intermediate planetary carrier and the output drive connection.

In addition, the planetary gear assembly also includes a secondary sun gear fixed on the other side of the intermediate planet carrier and a secondary planetary gear pivotally connected to the output member, the secondary planetary gear and the secondary The sun gear meshes, and the secondary planetary gears mesh with the ring gear.

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

In addition, the main transmission member includes a main gear; the transmission assembly includes a driving gear mounted on the motor and an intermediate gear meshing with the driving gear, and the intermediate gear meshing with the main gear.

The present application also provides a mechanical arm, including the above-mentioned L-shaped actuator.

The present application also provides a robot, including the above-mentioned mechanical arm.

Description of drawings

One or more embodiments are exemplified by the pictures in the corresponding drawings, and these exemplifications do not constitute a limitation to the embodiments. Elements with the same reference numerals in the drawings represent similar elements. Unless otherwise stated, the drawings in the drawings are not limited to scale.

Fig. 1 is the three-dimensional schematic diagram of the L-shaped actuator of some embodiments of the present application;

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

Fig. 3 is a sectional view of the L-shaped actuator of Fig. 2 along the line A-A;

Fig. 4 is a schematic perspective view of another angle of the L-shaped actuator in 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 a three-dimensional exploded view of another angle of the L-shaped actuator of Fig. 1;

Fig. 6 is a three-dimensional exploded view of the transmission module of the L-shaped actuator in Fig. 5;

FIG. 7 is a partial assembly diagram of the L-shaped actuator in FIG. 4 with the drive housing hidden from another angle.

Embodiments of the present invention

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, various implementations of the present application will be described in detail below in conjunction with the accompanying drawings. However, those of ordinary skill in the art can understand that, in each implementation manner of the present application, many technical details are provided for readers to better understand the present application. However, even without these technical details and various changes and modifications based on the following implementation modes, the technical solution claimed in this application can also be realized.

Some embodiments of the present application relate to an L-shaped actuator. The core of this embodiment is that it includes a drive module and a transmission module. The drive module includes a vertically arranged motor; the transmission module includes a an output member and a deceleration assembly for driving the output member, the deceleration assembly is arranged side by side with the motor at intervals; the L-shaped actuator also includes a transmission assembly that is transmission-connected between the motor and the deceleration assembly, and The transmission assembly includes a main transmission member connected to the reduction assembly; the transmission module has a central through hole that penetrates the output member, the reduction assembly and the main transmission member in the axial direction and is open at both ends. It should be noted that the "L" of this L-shaped actuator is not used to limit the appearance of the actuator to an L shape, it means that the direction of power transmission between the drive module and the transmission module is distributed in an L-shape with the axial direction of the module itself. Compared with related technologies, the L-shaped actuator in some embodiments of the present application is arranged side by side with the motor at intervals through the reduction assembly, which reduces the axial length and is compact. More importantly, in this L-shaped actuator, by setting the central through hole through the output part, the deceleration assembly and the main transmission part in the transmission module, the wire can be passed through the central through hole when the actuator is used or multiple actuators are connected in series. It protrudes through the end face of the output part, so that the wires will not be entangled, twisted, or damaged when the actuator is powered on and the output part rotates, which solves the existing problems of the existing actuator when it is routed from the outside. The present application also protects a mechanical arm and a robot, the mechanical arm includes the above-mentioned L-shaped actuator; the robot includes the mechanical arm.

The implementation details of the L-shaped actuator in this embodiment will be described in detail below. The following content is only the implementation details provided for the convenience of understanding, and is not necessary for the implementation of this solution.

Please refer to FIG. 1 to FIG. 7 , which are L-shaped actuators according to some embodiments of the present application, which are used in robots, especially intelligent robots such as industrial robots, medical robots, and bionic robots. The L-shaped actuator is an electric actuator. The L-shaped actuator includes a transmission module 10 and a driving module 60 . The driving module 60 includes a vertically arranged motor 63; the transmission module 10 includes an output member 80 that rotates around a vertical axis and a deceleration assembly that drives the output member 80, and the deceleration assembly is arranged side by side with the motor 63 at intervals; the L-shaped actuator It also includes a transmission assembly 70 that is connected between the motor 63 and the deceleration assembly; the transmission assembly 70 includes a main transmission member 30 that is connected to the deceleration assembly; The transmission member 30 has a central through hole 52 with both ends open. In some embodiments, the central through hole 52 is used for the wires connected to the external actuator and the internal wire terminal interface to pass through, so as to avoid the problem of wire entanglement or damage.

1 to 5, the drive module 60 includes a drive housing (not shown), the transmission module 10 is installed on the drive housing, the bottom of the drive housing is provided with a first wire groove 610, the first wire groove 610 communicates with Central through hole 52 . In some embodiments, the drive housing includes a motor installation body 62 and a drive bottom cover 61 installed on the motor installation body 62 , the first wire groove 610 is arranged on the drive bottom cover 61 , and the motor 63 is installed in the motor installation body 62 The motor installation body 62 is provided with a second wire slot 620 communicating with the first wire slot 610 ; In some embodiments, a first wire cover 611 is installed on the driving bottom cover 61 to cover the first wire groove 610 correspondingly; the driving module 60 has wire connection terminals exposed in the second wire groove 620 . The motor installation body 62 is provided with a second wire cover 621 to cover the second wire groove 620 correspondingly.

In some embodiments, there are multiple second wire slots 620, and each second wire slot 620 extends vertically along the outer wall of the motor installation body 62; the first wire slots 610 include transverse parts and longitudinal parts arranged in a staggered manner, One end of the transverse portion communicates with the central through hole 52 , and the other end communicates with the lower end of one of the second wire grooves 620 ; the two ends of the longitudinal portion communicate with the lower end of one of the second wire grooves 620 respectively. In some embodiments, the first wire groove 610 is arranged in a "cross" shape.

The driver module 60 also includes a driver board 68 . In other words, the first wire groove 610 of the driving bottom cover 61 communicates with the central through hole 52 of the transmission shaft 50 and the second wire groove 620 of the motor installation body 62 respectively. In some embodiments, the second wire groove 620 is connected to the wire connection terminals of the motor 63 and the driving board 68 respectively; The driving module 60 also includes a motor tail cover 66 , the motor tail cover 66 is installed at the bottom of the motor installation body 62 and protects the driving board 68 .

The motor 63 includes a motor shaft 630 (as shown in FIG. 3 ). In some embodiments, the motor 63 is an external rotor motor and includes a rotor cover 631 covering the stator. Shaft portion, the motor shaft 630 is fixed on the end of the shaft portion so as to rotate synchronously with the rotor cover 631; the drive module 60 also includes a motor shaft encoder, and the motor shaft encoder includes a second magnet 69 fixed on the end of the motor shaft 630 and The second chip fixed on the drive plate 68 and opposite to the second magnet 69 is used to record the number of rotations of the motor shaft 630 . In some embodiments, the second chip on the driving board 68 records the number of rotations 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 brake 65 and a brake locking piece 67 installed in the motor installation main body 61. The brake locking piece 67 is connected with the motor shaft 620 in the circumferential direction. Through the action of the brake 65 on the brake locking piece 67, Rotation of the motor shaft 620 is restricted. In some embodiments, the motor shaft 620 passes through the motor 62 and the tail of the brake 65 to cooperate with the brake locking plate 67, and the shaft tail of the motor shaft 620 is axially restricted in the brake 65 by a circlip; When the brake 65 is powered on, the motor shaft 620 can rotate freely. When the brake 65 is powered off, the brake 65 limits the rotation of the brake locking piece 67 so as to limit the rotation of the motor shaft 620 .

The transmission assembly 70 also includes a driving gear 71 mounted on the motor 63 and an intermediate gear 72 meshing with the driving gear 71 , the intermediate gear 73 is connected with the main transmission member 30 .

The main transmission member 30 includes a main gear 31 and a primary sun gear 32 fixed coaxially with the main gear 31 , the main gear 31 is in transmission connection with the motor 63 ; in some embodiments, the main gear 31 meshes with the intermediate gear 73 . The reduction assembly includes a planetary gear assembly 40 , and the primary sun gear 32 meshes with the planetary gear assembly 40 . The main transmission member 30 also includes a positioning ring platform (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 platform.

Please refer to FIG. 6 and FIG. 7 together. The transmission module 10 further includes a ring gear body 20 ; the planetary gear assembly 40 is installed in the ring gear body 20 . The ring gear main body 20 is configured as a hollow cylinder, and the inner wall of the ring gear main body 20 is provided with an inner ring gear for correspondingly meshing with the planetary gear assembly 40 .

In some embodiments, the planetary gear transmission assembly 40 includes an intermediate planetary carrier 41, a primary planetary gear 42 pivotally connected to one side of the intermediate planetary carrier 41, and a secondary sun gear fixedly connected to the other side of the intermediate planetary carrier 41 43 ; the first-stage planetary gear 41 meshes with the first-stage sun gear 32 . The inner wall of the ring gear main body 20 is provided with an inner ring gear, and the first-stage planetary gear 42 meshes with the inner ring gear;

In some embodiments, the number of primary planetary gears 42 is five, which are distributed around the circumference and pivotally connected to the intermediate planet carrier 41 respectively. When each primary planetary gear 42 meshes with the primary sun gear 32, it also meshes with the ring gear The ring gear of the main body 20 meshes to maintain the stable operation of the primary planetary gear 42 . The first-stage planetary gear 42 surrounds and meshes with the first-stage sun gear 32; when the motor 63 rotates and drives the main transmission member 30 to rotate through the transmission assembly 70, the first-stage sun gear 32 rotates and uses the meshing relationship to drive the first-stage planetary gear 42 to rotate itself , and due to meshing with the inner ring gear of the ring gear main body 20, the first-stage planetary gear 42 will also move along the inner ring gear of the ring gear main body 20 while rotating, that is, revolve around the first-stage sun gear 32, and this revolution will drive The intermediate planetary carrier 41 rotates, thereby driving the secondary sun gear 43 to rotate.

The planetary gear transmission assembly 40 also includes a second-stage planetary gear 45 pivotally connected to the output member 80 . The secondary planetary gear 45 meshes with the secondary sun gear 43 , and the secondary planetary gear 45 meshes with the ring gear. In some embodiments, the number of secondary planetary gears 45 is five, and the secondary planetary gears 45 are distributed around the circumference and pivotally connected to the output member 80 respectively. The secondary planetary gear 45 surrounds and meshes with the secondary sun gear 43 . When the secondary sun gear 43 rotates, the secondary planetary gear 45 drives the output member 80 to rotate. In some embodiments, each second-stage planetary gear 45 meshes with the inner ring gear of the ring gear main body 20 while meshing with the second-stage sun gear 43 .

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 uses the meshing relationship to drive the secondary planetary gear 45 to rotate. The two-stage planetary gear 45 will also move along the ring gear of the ring gear main body 20 while rotating, that is, revolve around the two-stage sun gear 43, and this revolution will drive the output member 80 to rotate, thereby driving the output member 80 And transmission shaft 50 rotates.

In some embodiments, the secondary sun gear 43 is covered with a bearing installation 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 the third bearing 13 arranged between the inner wall of the output member 80 and the bearing installation sleeve. By arranging a double bearing structure on the inner wall and the outer wall of the output member 80, the axial movement of the output member 80 can be reduced.

The transmission shaft 50 is fixedly connected with the output member 80 . In some embodiments, a fixed plate 51 extends radially outwards from a peripheral surface of the transmission shaft 50 near the second mounting end 22 , and the fixed plate 51 is fixed to the output member 80 by clamping or threaded connection. The transmission shaft 50 runs through the main transmission part 30 and the planetary gear assembly 40; the central through hole 52 of the transmission shaft 50 is connected to the first wire groove 610 near the main transmission part 30, and the central through hole 52 is close to the position away from the end of the main transmission part 30 It is used to connect with other actuators, avoiding the problem that the wires are connected from the outside, causing the wires to be entangled or damaged.

Referring to Fig. 7, a first counting gear 93 is fixed on the outer periphery of the end portion of the transmission shaft 50 after passing through the main transmission member 30; the second counting gear 94 meshing with the first counting gear 93 is installed on the drive housing; the transmission module 10 also includes a transmission shaft encoder, the transmission shaft encoder includes a first magnet 95 installed in the center of the second counting gear 94 and a first chip 96 installed on the drive housing, and detects the position of the second counting gear 94 by the first chip 96. The number of rotations of the first magnet 95 is used to detect the number of rotations of the transmission shaft 50 . Since the transmission shaft 50 is a hollow structure and the inner central through hole 52 is used for wiring, it is difficult for the first magnet 95 to be directly arranged on the end face of the transmission shaft 50, so the first magnet 95 is biased and passed through two counting gears. The rotation of the propeller shaft 50 is transmitted to the first magnet 95 . Of course, this kind of arrangement is not the only one, and the magnetic part can also be made into a magnetic ring and directly sleeved on the peripheral surface of the end of the transmission shaft 50, and the first chip 96 is staggered from the opening of the transmission shaft 50 to be opposite to the part of the magnetic ring. .

The L-shaped actuator of this application is arranged side by side with the motor 63 through the deceleration assembly and spaced apart, which reduces the axial length and is compact. In addition, the central through hole 52 provided through the transmission module 10 is used for the wire to pass through, so as to avoid the problem of wire winding or damage.

The drive gear 71 of the present application is decelerated by the above stages through the transmission with the intermediate gear 72, the main transmission member 30, the intermediate planet carrier 41, and the output member 80, so the reduction ratio of the drive gear 71 finally transmitted to the transmission shaft 50 is 80 ; Thereby achieving greater deceleration and meeting the demand for flexible execution.

Those of ordinary skill in the art can understand that the above-mentioned implementation modes are specific examples for realizing the present application, and in practical applications, various changes can be made to it in form and details without departing from the spirit and spirit of the present application. scope.

Claims (17)

1. An L-shaped actuator, comprising a drive module (60) and a transmission module (10), the drive module (60) comprising a motor (63); the transmission module (10) comprising an output member (80) and driving the The deceleration assembly of the output member (80), the deceleration assembly and the motor (63) are arranged side by side at intervals; the L-shaped actuator also includes a transmission connected between the motor (63) and the deceleration assembly assembly (70), the transmission assembly (70) includes the main transmission member (30) connected to the reduction assembly; the transmission module (10) has the output member (80), the reduction assembly and the main The transmission part (30) has a central through hole (52) with two ends open.
2. The L-shaped actuator according to claim 1, wherein the drive module (60) includes a drive housing, the transmission module (10) is installed on the drive housing, and the bottom of the drive housing is provided with a first wire groove (610), the first wire groove (610) communicates with the central through hole (52).
3. The L-shaped actuator according to claim 2, wherein the drive housing includes a motor installation body (62) and a drive bottom cover (61) installed at the bottom of the motor installation body (62), the first wire groove ( 610) is set on the driving bottom cover (61), the motor (63) is installed in the motor installation body (62); the motor installation body (62) is provided with the first wire groove (610) ), the drive module (60) has a wire connection terminal, and the wire connection terminal is exposed in the second wire groove (620).
4. The L-shaped actuator according to claim 3, wherein the number of the second wire grooves (620) is multiple, and each second wire groove (620) extends vertically along the outer wall of the motor installation body (62); The first wire trough (610) includes a transverse portion and a longitudinal portion arranged in a staggered manner, wherein one end of the transverse portion communicates with the central through hole (52), and the other end communicates with the lower end of one of the second wire troughs (620). communicated; both ends of the longitudinal portion communicate with the lower end of a second wire slot (620) respectively.
5. The L-shaped actuator according to claim 1, wherein the transmission module (10) further comprises a hollow transmission shaft (50), and the central through hole (52) is formed in the transmission shaft (50) , the transmission shaft (50) runs through the output member (80) and the reduction assembly, and one end of the transmission shaft (50) is fixed to the output member (80).
6. The L-shaped actuator according to claim 5, wherein the transmission module (10) further includes a transmission shaft encoder arranged at the end of the transmission shaft (50) passing through the main transmission member (30) , the transmission shaft encoder includes a first magnet (95) and a first chip (96) opposite to the first magnet (95), wherein the first magnet (95) is controlled by the transmission shaft (50) Drive to turn.
7. The L-shaped actuator according to claim 6, wherein the drive module (60) includes a drive housing, the transmission module (10) is installed on the drive housing, and the transmission shaft (50) passes through the main transmission member (30) The first counting gear (93) is fixed on the outer periphery of the rear end; the second counting gear (94) meshing with the first counting gear (93) is installed on the drive housing; the first magnet (95) is installed in the center of the second counting gear (94), and the first chip (96) is installed in the drive housing.
8. The L-shaped actuator according to claim 1, wherein the motor (63) includes a motor shaft (620); the drive module (60) also includes a brake and a brake locking piece (67), and the brake The brake locking piece (67) is circumferentially positioned and connected to the motor shaft (620), and the rotation of the motor shaft (620) is limited by the action of the brake on the brake locking piece (67).
9. The L-shaped actuator according to claim 8, wherein the drive module (60) further includes a drive plate and a motor shaft encoder, and the motor shaft encoder includes a second motor shaft encoder fixed at the end of the motor shaft (620). Two magnets (69) and a second chip fixed on the driving board and opposite to the second magnet (69).
10. The L-shaped actuator according to claim 1, wherein the main transmission member (30) includes a main gear (31) and a primary sun gear (32) coaxially fixed with the main gear (31), the The main gear (31) is in transmission connection with the motor (63); the reduction assembly includes a planetary gear assembly (40), and the primary sun gear (32) meshes with the planetary gear assembly (40).
11. The L-shaped actuator according to claim 10, wherein the main transmission member (30) further includes a positioning ring set between the main gear (31) and the primary sun gear (32), and the transmission module (10) also includes a first bearing (11) sleeved on the positioning ring platform.
12. The L-shaped actuator according to claim 10, wherein the transmission module (10) further comprises a ring gear body (20), and the planetary gear assembly (40) is installed in the ring gear body (20); The planetary gear assembly (40) includes an intermediate planetary carrier (41) and a first-stage planetary gear (42) pivotally connected to one side of the intermediate planetary carrier (41); the first-stage planetary gear (42) and the first-stage planetary gear (42) The first-stage sun gear (32) meshes, the inner wall of the ring gear body (20) is provided with an inner ring gear, and the first-stage planetary gear (42) meshes with the inner ring gear; the intermediate planetary carrier (41) and The output member (80) is in transmission connection.
13. The L-shaped actuator according to claim 12, wherein the planetary gear assembly (40) further includes a secondary sun gear (43) fixed on the other side of the intermediate planet carrier (41) and pivotally connected to the The secondary planetary gear (45) on the output member (80), the secondary planetary gear (45) meshes with the secondary sun gear (43), the secondary planetary gear (45) and the internal The ring gear meshes.
14. The L-shaped actuator according to claim 13, wherein a bearing installation sleeve is sleeved on the second-stage sun gear (43), and the transmission module (10) also includes an outer wall arranged on the output member (80) The second bearing (12) between the ring gear main body (20), and the third bearing (13) arranged between the inner wall of the output member (80) and the bearing installation sleeve.
15. The L-shaped actuator according to claim 1, wherein the main transmission member (30) includes a main gear (31); the transmission assembly (70) includes a driving gear (71) mounted on a motor (63) And an intermediate gear (73) meshing with the driving gear (71), the intermediate gear (73) meshing with the main gear (31).
16. A mechanical arm comprising the L-shaped actuator according to any one of claims 1-15.
17. A robot comprising the L-shaped actuator according to any one of claims 1-15.