US 10,889,011 B2
Actuator, robot arm and robot
Haotian Cui, Beijing (CN); and Xunge Yan, Beijing (CN)
Assigned to INNFOS DRIVE (BEIJING) TECHNOLOGIES CO., LTD., Beijing (CN)
Filed by INNFOS DRIVE(BEIJING)TECHNOLOGIES CO., LTD., Beijing (CN)
Filed on Feb. 26, 2019, as Appl. No. 16/285,785.
Claims priority of application No. 2018 1 0161540 (CN), filed on Feb. 27, 2018; and application No. 2019 1 0053150 (CN), filed on Jan. 21, 2019.
Prior Publication US 2019/0263007 A1, Aug. 29, 2019
Int. Cl. B25J 18/04 (2006.01); B25J 9/00 (2006.01); B25J 18/06 (2006.01); H02K 11/21 (2016.01); H02K 11/33 (2016.01); B25J 9/12 (2006.01); F16H 1/46 (2006.01); F16H 7/02 (2006.01); F16H 37/02 (2006.01); F16H 49/00 (2006.01); F16H 57/031 (2012.01); H02K 7/116 (2006.01); H02K 7/14 (2006.01); F16H 57/02 (2012.01); H02K 3/02 (2006.01)
CPC B25J 18/04 (2013.01) [B25J 9/0021 (2013.01); B25J 9/126 (2013.01); B25J 18/06 (2013.01); F16H 1/46 (2013.01); F16H 7/023 (2013.01); F16H 37/02 (2013.01); F16H 49/001 (2013.01); F16H 57/031 (2013.01); H02K 7/116 (2013.01); H02K 7/14 (2013.01); H02K 11/21 (2016.01); H02K 11/33 (2016.01); F16H 2057/02034 (2013.01); H02K 3/02 (2013.01)] 15 Claims
OG exemplary drawing
 
1. An actuator, comprising: a motor, comprising a housing, a motor stator and a motor rotor, wherein the motor stator is disposed to the housing, the motor rotor is rotatably connected to the housing, and the motor rotor covers the motor stator; a position encoder, disposed to the motor rotor; a reducer, connected to the motor rotor, and configured to adjust a rotation speed output from the motor rotor; and a motor driver, disposed on the housing, and electrically connected to the motor;
wherein the reducer comprises a primary inner ring gear, a primary sun gear, a primary planetary gear, a primary output rotary disc, a first hollow annular member, and a second hollow annular member; the primary planetary gear is disposed on a surface of the primary output rotary disc and is rotatable relative to the primary output rotary disc; the primary sun gear and the primary planetary gear are disposed in the primary inner ring gear; the primary planetary gear is in mesh with the primary sun gear and the primary inner ring gear respectively, and a primary drive shaft is extended on the primary sun gear, the primary drive shaft is connected to the motor rotor; the first hollow annular member is disposed on the primary inner ring gear, the second hollow annular member is disposed on the first hollow annular member, and the first hollow annular member and the second hollow annular member both surround the primary output rotary disc.