Motor driving assembly and robot hand applying same

Abstract

The invention relates to the technical field of motors, in particular to a motor driving assembly and a robot hand applying the same. The motor driving assembly comprises a rotating shaft, a transmission device, a machine shell and a driving device arranged in the machine shell. The driving device specifically can be an axial magnetic flux motor; the transmission device comprises a transmission bracket, an eccentric wheel, a first bearing, a second bearing and a speed reducing assembly; a second bearing, an eccentric wheel and a driving device are sequentially arranged in the axial direction of the rotating shaft; an outer ring of the speed reducing component is fixedly connected with the inner wall of the shell; an inner ring of the speed reducing component is sleeved with the eccentric wheel through a first bearing; the end of the rotating shaft penetrates out of the machine shell and is provided with a transmission support, the transmission support is in bearing connection with the second bearing, and the transmission support is in linkage connection with the speed reduction assembly. And the transmission bracket is connected with the linkage motor. The whole driving assembly has the characteristics of compact structure, small size, high torque density and low reduction ratio.

Description

Technical Field

[0001] The present invention relates to the field of motor technology, and in particular to a motor drive assembly and a robot hand using the same. Background Art

[0002] With the continuous development of the manufacturing industry, related products are constantly updated and iterated, and various electrical products are developing towards integration, lightweight, miniaturization, etc., and the motor, as an indispensable driving device in most electrical products, has always been a research hotspot.

[0003] For example, in the fields of robots, drones, and micro-joint robotic arms, motors, as an important component of actuators, have increasingly higher requirements for lightweight, miniaturization, and response speed.

[0004] However, existing motors are usually hollow cup motors, DC brushless motors, servo motors and other motors, and are usually combined with traditional reducers (such as planetary reducers), which makes the overall structure have technical problems of low torque density and low reduction ratio. Summary of the invention

[0005] In order to solve the above technical problems, the present application discloses, on one hand, a motor drive assembly, which includes a rotating shaft, a transmission device, a housing, and a drive device disposed in the housing;

[0006] The driving device comprises a stator and a rotor which are sequentially arranged at intervals along the axial direction of the rotating shaft;

[0007] The transmission device comprises a transmission bracket, an eccentric wheel, a first bearing, a second bearing and a reduction assembly; the second bearing, the eccentric wheel and the driving device are arranged in sequence along the axial direction of the rotating shaft; the outer ring of the reduction assembly is fixedly connected to the inner wall of the housing, and the inner ring of the reduction member is sleeved with the eccentric wheel through the first bearing;

[0008] The end of the rotating shaft passes through the housing and is provided with the transmission bracket, the transmission bracket is connected to the second bearing, the transmission bracket is linked to the reduction assembly; the transmission bracket is connected to the linkage motor;

[0009] When the driving device drives the rotating shaft to rotate, the rotation of the rotating shaft can drive the rotation of the eccentric wheel connected to the rotating shaft, and then in turn drive the reduction assembly connected to the eccentric wheel to perform eccentric movement, and the rotation of the transmission bracket linked to the reduction assembly.

[0010] Optionally, the reduction assembly includes external teeth, internal teeth, a plurality of transmission pins and a plurality of third bearings;

[0011] The outer ring of the outer teeth is fixedly connected to the inner wall of the housing, and the inner ring of the outer teeth is sawtooth-shaped and can mesh with the outer ring of the inner teeth;

[0012] A first mounting hole is provided in the middle of the inner tooth, and the first mounting hole is sleeved with the first shaft;

[0013] The inner teeth are also provided with a plurality of second mounting holes surrounding the first mounting holes;

[0014] One end of each of the plurality of transmission pins is connected to the transmission bracket, and the other end of each of the transmission pins is arranged in a corresponding second mounting hole through a third bearing; the aperture of the second mounting hole is larger than the diameter of the third bearing;

[0015] When the inner teeth are driven by the rotating shaft to rotate to a preset angle, each of the third bearings can abut against the corresponding second mounting hole.

[0016] Optionally, the transmission bracket includes a first transmission structure and a second transmission structure that are connected;

[0017] A third mounting hole is provided in the middle of the first transmission structure, and the third mounting hole is connected to the second bearing;

[0018] The first transmission structure is also provided with a plurality of fourth mounting holes surrounding the third mounting hole;

[0019] Each of the fourth mounting holes is connected to a corresponding transmission pin;

[0020] The second transmission structure is located outside the housing, and a length extension direction of the second transmission structure is parallel to the axial direction of the rotating shaft;

[0021] The second transmission structure is connected to the linkage motor.

[0022] Optionally, the transmission pin comprises a first connecting section and a second connecting section connected to each other; the diameter of the first connecting section is greater than the diameter of the second connecting section;

[0023] The first connecting section is connected to the first transmission structure through the corresponding fourth mounting hole;

[0024] The second connecting section is connected to the corresponding third bearing.

[0025] Optionally, the reduction ratio of the reduction assembly is less than or equal to 1 / 20.

[0026] Optionally, a positioning pin is also included;

[0027] The positioning pin is arranged at the connection between the speed reduction assembly and the housing;

[0028] The positioning pin includes a first side surface and a second side surface that are opposite to each other;

[0029] The first side surface is connected to the housing;

[0030] The second side surface is connected to the outer wall of the reduction assembly and a part of the stator.

[0031] Optionally, a connecting frame and a magnet are also included;

[0032] The connecting frame includes a through-hole member and a groove member, and the connecting frame is made of a non-magnetic conductive material;

[0033] A through hole is provided at the bottom of the groove member, and the through hole is connected to the end surface of the through hole member to form an installation cavity that passes through the through hole member and the groove member;

[0034] The first end of the rotating shaft is inserted into the through-hole member and connected to the through-hole member; the first end is the end of the rotating shaft away from the reduction assembly;

[0035] The magnet member is arranged in the groove member.

[0036] Optionally, a control unit is also included;

[0037] The control unit is arranged in the housing at an end close to the magnet member;

[0038] The control unit is used to determine the rotation angle of the rotating shaft by collecting the magnetic field changes of the magnet component, thereby realizing the control of the rotation of the driving device.

[0039] Optionally, the driving device comprises a first sub-stator, a first sub-rotor, a second sub-stator, a second sub-rotor and a third sub-stator which are sequentially arranged in an axial direction of the rotating shaft; the first sub-stator, the second sub-stator and the third sub-stator are respectively connected to the rotating shaft through a fourth bearing, a fifth bearing and a sixth bearing; the fifth bearing comprises a first housing; a first channel surrounding the rotating shaft is provided in the first housing; a plurality of rolling bodies are provided in the first channel; the first bearing is rollingly connected to the rotating shaft through the plurality of rolling bodies; the outer wall of the first housing is sleeved with the second sub-stator;

[0040] The first sub-stator, the second sub-stator and the third sub-stator are all printed circuit board stators.

[0041] The present application further discloses a robot hand in another aspect, which comprises at least one finger joint; the above-mentioned motor drive assembly is arranged in the finger joint.

[0042] An embodiment of the present application provides a motor drive assembly, which includes a rotating shaft, a transmission device, a casing and a driving device arranged in the casing; the driving device includes a stator and a rotor arranged in sequence along the axial direction of the rotating shaft; the transmission device includes a transmission bracket, an eccentric wheel, a first bearing, a second bearing and a reduction assembly; the second bearing, the eccentric wheel and the driving device are arranged in sequence along the axial direction of the rotating shaft; the outer ring of the reduction assembly is fixedly connected to the inner wall of the casing, and the inner ring of the reduction member is sleeved with the eccentric wheel through the first bearing; the end of the rotating shaft passes through the casing and is provided with a transmission bracket, the transmission bracket is connected to the second bearing, and the transmission bracket is linked to the reduction assembly; the transmission bracket is connected to the linkage motor. In this way, when the driving device drives the rotating shaft to rotate, the rotation of the rotating shaft can drive the rotation of the eccentric wheel connected to the rotating shaft, and then in turn drive the reduction assembly connected to the eccentric wheel to perform eccentric movement, as well as the rotation of the transmission bracket linked to the reduction assembly. The entire drive assembly not only has a compact structure and small size, and achieves the effects of high torque density and low reduction ratio, but also can realize the rotation of the rotor, reduction assembly and transmission bracket in different directions and at different speeds, thereby realizing more flexible transmission control. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0044] Figure 1 A cross-sectional view of an exemplary motor drive assembly of the present application;

[0045] Figure 2 A three-dimensional diagram of an exemplary deceleration assembly of the present application;

[0046] Figure 3 A cross-sectional view of another exemplary motor drive assembly of the present application;

[0047] Figure 4 A three-dimensional diagram of an exemplary motor drive assembly of the present application;

[0048] Figure 5 A cross-sectional view of an exemplary axial flux motor of the present application;

[0049] Figure 6 This is a schematic diagram of the structure of an exemplary rotor of the present application;

[0050] Figure 7 This is a schematic diagram of a connection between a stator yoke and a magnetic conductive member exemplarily used in the present application;

[0051] Figure 8A three-dimensional diagram of an exemplary printed circuit board stator of the present application;

[0052] Fig. 9 A three-dimensional diagram of another exemplary printed circuit board stator of the present application;

[0053] Fig.10 This is a schematic diagram of the structure of an exemplary shaft sleeve of the present application.

[0054] The following is a supplementary description of the attached drawings:

[0055] 1-rotating shaft; 101-second channel;

[0056] 2-transmission device; 201-transmission bracket; 2011-first transmission structure; 2012-second transmission structure; 2013-third mounting hole; 2014-fourth mounting hole; 202-eccentric wheel; 203-first bearing; 204-second bearing; 205-reduction assembly; 206-external teeth; 207-internal teeth; 2071-first mounting hole; 2072-second mounting hole; 208-transmission pin; 209-third bearing;

[0057] 3-housing; 301-first housing; 302-second housing; 303-third housing;

[0058] 4-driving device; 401-stator; 402-rotor; 403-first sub-stator; 404-second sub-stator; 405-third sub-stator; 406-first sub-rotor; 407-second sub-rotor; 408-stator yoke; 4081-fifth mounting hole; 4082-sixth mounting hole; 409-magnetic conductive member; 410-printed circuit board; 411-seventh mounting hole; 412-epitaxial wafer;

[0059] 5-connecting frame; 501-through hole member; 502-groove member;

[0060] 6-Magnet piece;

[0061] 7- Control unit;

[0062] 8- first notch;

[0063] 9- second notch;

[0064] 10- third notch;

[0065] 11- conductive member;

[0066] 12-first flexible circuit board;

[0067] 13- second flexible circuit board;

[0068] 14- the third flexible circuit board;

[0069] 15- fourth bearing;

[0070] 16-fifth bearing; 1601-first housing; 1602-first channel; 1603-rolling element;

[0071] 17-sixth bearing;

[0072] 18- heat dissipation holes;

[0073] 19-Magnetic steel frame;

[0074] 20-Magnetic steel;

[0075] 21- three-phase lead wire;

[0076] 22-magnetic conductive sheet;

[0077] 23-shaft sleeve; 2301-rubber guide groove;

[0078] 24-washer;

[0079] 25-High thermal conductivity glue;

[0080] 26-Location pin. DETAILED DESCRIPTION

[0081] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0082] The term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present application. In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "top", "bottom", etc. is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present application. In addition, the terms "first" and "second" are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may include one or more of the features explicitly or implicitly. Moreover, the terms "first", "second", etc. are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here.

[0083] When a numerical range is disclosed herein, the above range is deemed to be continuous and includes the minimum and maximum values ​​of the range, as well as each value between such minimum and maximum values. Further, when a range refers to an integer, each integer between the minimum and maximum values ​​of the range is included. In addition, when multiple ranges are provided to describe features or characteristics, the ranges can be merged. In other words, unless otherwise indicated, all ranges disclosed herein should be understood to include any and all sub-ranges included therein. For example, a specified range from "1 to 10" should be deemed to include any and all sub-ranges between a minimum of 1 and a maximum of 10. Exemplary sub-ranges of ranges 1 to 10 include, but are not limited to, 1 to 6.1, 3.5 to 7.8, 5.5 to 10, etc.

[0084] As the core equipment in the electrical field, the motor can be used as a driving device. It is not only a key device for realizing the conversion of electrical energy and mechanical energy, but also an important component for driving various mechanical equipment, realizing automatic control, energy saving and environmental protection, and power transmission and distribution. With the continuous development of science and technology, the application fields of motors will continue to expand and deepen. For example, robots, small drones, and high-end medical fields all require micro motors, which will further develop motors towards high efficiency, lightweight and low cost micro motors.

[0085] Taking robots as an example, robot hands (also called dexterous hands) are an important topic in robot research as a new type of end effector of robots. In recent years, research progress has accelerated at home and abroad. Since the 1970s, a large number of studies have been carried out on dexterous hands at home and abroad, from three fingers to five fingers, from industry to life, from simple grasping to dexterous operation. Market-related entities have continuously promoted the research on dexterous hands in order to solve increasingly complex practical operation problems. With the acceleration of the industrialization of humanoid robots, research in the field of dexterous hands at home and abroad has also shown an accelerating trend.

[0086] Generally speaking, the ways in which robots interact with the environment mainly include: moving and walking, obtaining information such as vision, and executing and outputting decisions. The end effector is a general term for the robot's execution parts. It is generally installed at the end of the robot's wrist and is a device that directly executes tasks. As the final link and execution part of the robot's interaction with the environment, the end effector plays an extremely important role in improving the robot's flexibility and ease of use. Its performance largely determines the working performance of the entire robot. Dexterous hands imitate the structure and function of human hands and play a key role in the interaction between robots and the environment. "Dexterity" refers to the variability of the hand's posture. The higher this variability, the more dexterous the hand is. The robot's dexterous hand refers to the human hand in terms of structure and function. It can flexibly manipulate objects, realize flexible grasping of objects, and meet a variety of work needs. The most common number of fingers in a multi-finger dexterous hand is 3-5, each finger has 3 joints, and the kinematic pairs of the finger joints are all revolute pairs.

[0087] Since the motor drive has both precision and economy, the motor can be used as the driving device of the finger joint 4. In the motor drive mode, the motor controls the torque and speed through the reducer, and then converts the rotational motion into the bending motion of the finger through other transmission devices 2. The drive system is mainly composed of a motor and a reducer. Its advantages are small size, fast response, convenient control, good stability, high precision, stable output torque, etc. Among them, the motors used include hollow cup motors, brushless toothed motors, etc.

[0088] However, hollow cup motors, brushless DC motors, servo motors and other motors still have problems such as low structural compactness and low torque density. In addition, the drive systems based on these motors and existing reducers (such as planetary reducers) also have problems such as low reduction ratio and large space occupancy.

[0089] To do this, see Figure 1, which shows a cross-sectional view of an exemplary motor drive assembly of the present application. The motor drive assembly provided in the present application includes a rotating shaft 1, a transmission device 2, a housing 3 and a drive device 4 arranged in the housing 3, wherein the drive device 4 can be specifically an axial flux motor, including a stator 401 and a rotor 402, and the transmission device 2 includes a transmission bracket 201, an eccentric wheel 202, a first bearing 203, a second bearing 204 and a reduction assembly 205; the second bearing 204, the eccentric wheel 202 and the drive device 4 are sequentially arranged along the axial direction of the rotating shaft 1; the outer ring of the reduction assembly 205 is fixedly connected to the inner wall of the housing 3, and the inner ring of the reduction member is sleeved with the eccentric wheel 202 through the first bearing 203; the end of the rotating shaft 1 passes through the housing 3, and is provided with a transmission bracket 201, the transmission bracket 201 is connected to the second bearing 204, and the transmission bracket 201 is linked to the reduction assembly 205; the transmission bracket 201 is connected to the linkage motor. Therefore, when the driving device 4 drives the rotating shaft 1 to rotate, the rotation of the rotating shaft 1 can drive the rotation of the eccentric wheel 202 connected to the rotating shaft 1, and then in turn drive the reduction assembly 205 connected to the eccentric wheel 202 to perform eccentric movement, as well as the rotation of the transmission bracket 201 linked to the reduction assembly 205. The entire driving assembly not only has a compact structure and small size, and achieves the effects of high torque density and low reduction ratio, but also can realize the rotation of the rotor 402, the reduction assembly 205 and the transmission bracket 201 in different directions and at different speeds, thereby realizing more flexible transmission control.

[0090] In one possible implementation, see Figure 2 The deceleration assembly 205 includes an outer tooth 206, an inner tooth 207, a plurality of transmission pins 208 and a plurality of third bearings 209; the outer ring of the outer tooth 206 is fixedly connected to the inner wall of the housing 3, the inner ring of the outer tooth 206 is serrated and can mesh with the outer ring of the inner tooth 207; a first mounting hole 2071 is provided in the middle of the inner tooth 207, and the first mounting hole 2071 is connected to the first sleeve 23; the inner tooth 207 is also provided with a plurality of second mounting holes surrounding the first mounting hole 2071 Hole 2072; one end of each of the multiple transmission pins 208 is connected to the transmission bracket 201, and the other end of each of the transmission pins 208 is arranged in a corresponding second mounting hole 2072 through a third bearing 209; the aperture of the second mounting hole 2072 is larger than the diameter of the third bearing 209; when the inner tooth 207 is driven by the rotating shaft 1 to rotate to a preset angle, each of the third bearings 209 can abut against the corresponding second mounting hole 2072.

[0091] Exemplarily, a plurality of second mounting holes 2072 can be evenly distributed around the first mounting hole 2071, and the specific number and size are determined by the torque required to be transmitted, the torque accuracy, and the size of adjacent components. When the number is too small, the torque transmitted may be insufficient, and when the number is too large, the torque accuracy will be reduced due to the friction between the third bearing 209 and the second mounting hole 2072. Therefore, the number and size of the second mounting holes 2072 can be selected as needed, and there is no limitation here. In the embodiment of the present application, the number of the second mounting holes 2072 can be 3 to 8.

[0092] The specific number of teeth of the internal and external teeth 206 can also be set according to the required deceleration and torque increase. In a feasible implementation, the reduction ratio of the reduction assembly 205 is less than or equal to 1 / 20. Specifically, the reduction ratio can be 1 / 3, 1 / 5, 1 / 7, 1 / 10, 1 / 13, 1 / 15, 1 / 17 or 1 / 20, etc. That is, the gear ratio of the reduction assembly 205 is within 1:20. In this way, this solution can adopt a quasi-direct drive (Quasi-Direct Drive) combined with a low reduction ratio reduction assembly, which has both high precision and high economy, making it an ideal choice for a finger joint drive device. In the collimated drive mode, the motor moderately adjusts the torque and speed through a reducer with a low reduction ratio, and then efficiently converts the rotational motion of the motor into the bending motion of the finger through a transmission device.

[0093] Although the mass of the motor may only be a small part of the total mass of the robot in general, in robots with high reduction ratios, the mass of the motor can have a significant effect on the joint dynamics. The scaling effect of the transmission ratio allows us to use the term "reflected inertia" to describe the inertial load felt by the other side of the transmission. Specifically, the reflected inertia of the arm is reduced by the square of the reduction ratio on the motor side, while the reflected inertia of the motor is multiplied by the square of the reduction ratio on the arm side.

[0094] The reflected inertia is a state-dependent function that not only captures the inertia of the current link, but also reflects the inertial coupling between other joints; while the reflected inertia on the motor side is constant and only affects the local joints.

[0095] For high reduction ratios, the reflected inertia effect dominates, resulting in the following two results: 1. The dynamic equations of the manipulator tend to be diagonalized (the inertial coupling term is relatively small). 2. The dynamic characteristics are relatively stable in the workspace (the state dependence term is relatively small). This characteristic makes it possible to adjust the fixed feedback gain for each joint individually, so that good control performance can be achieved in all configurations.

[0096] This solution uses a low reduction ratio reduction component with a collimated drive. Compared with the traditional high reduction ratio design, it can significantly reduce the inertial coupling problem, making the entire dynamic system simpler and more responsive, and can achieve lightweight and efficient joint torque control without sacrificing control performance. The collimated drive method is not only more compact in structure, but also can significantly improve the operational flexibility of the dexterous hand and the ability to perform complex tasks, especially suitable for the fine operation scenarios of the robot end effector. By limiting the reduction ratio to within 1:20, the advantages of the quasi-direct drive actuator can be utilized, so that the robot dexterous hand can reduce the reflected inertia, improve the control accuracy and stability, while maintaining the high accuracy of torque sensing, especially in the application of small force perception.

[0097] The deceleration and torque increase principle of the above-mentioned transmission device 2 can be explained as follows: when the rotor 402 of the driving device 4 rotates under the action of the magnetic field of the stator 401, it will drive the rotating shaft 1 to rotate. The rotating shaft 1 now serves as the input shaft of the reduction assembly 205. Through the eccentric wheel 202, the first bearing 203 and the inner teeth 207 arranged thereon, the inner teeth 207 are caused to undergo eccentric motion. At this time, the outer ring of the inner teeth 207 will undergo friction and sliding motion, so that the rotation direction and speed of the inner teeth 207 are inconsistent with those of the rotor 402. The transmission bracket 201 is linked to the inner teeth 207 through the pin shaft and the third bearing 209. When the eccentric motion of the inner teeth 207 causes it to rotate to a certain angle, the third bearing 209 will abut against the second mounting hole 2072 of the inner teeth 207, forming a certain rotation resistance, thereby affecting the rotation of the transmission bracket 201. Therefore, under the action of the reduction assembly 205, the speed reduction and torque increase of the rotor 402 on the rotating shaft 1 can be achieved, and through the above-mentioned design and control, the rotor 402, the inner teeth 207, and the transmission bracket 201 can also be rotated in different directions and at different speeds, so that when it is applied to a dexterous hand, it can realize flexible control of the finger joints and realize more anthropomorphic movements.

[0098] In the embodiment of the present application, the outer teeth 206 are directly assembled with the housing 3, and the inner teeth 207 are assembled with the rotating shaft 1 through the first bearing 203 and the eccentric wheel 202, thereby greatly reducing the axial dimension of the assembly, and the axial dimension of the assembly can be reduced to 20 mm. In addition, the third bearing 209 and the inner teeth 207 are used as the transmission structure of the reduction assembly 205 and the transmission bracket 201, so that the friction force can be reduced, thereby improving the torque accuracy of the assembly.

[0099] In an embodiment of the present application, each finger of the dexterous hand may include multiple finger joints, and each finger joint is provided with a motor drive assembly for controlling the rotation of the finger joint, and the transmission bracket 201 in the motor drive assembly may be connected to the motor drive assembly of another finger joint, so that the bending, extension, fixed-point lifting of heavy objects and other operations of the fingers can be realized through flexible control of each finger joint.

[0100] In the present application, please refer to Figure 3 A groove structure is partially provided on the stator yoke 408 of the stator 401 to allow the eccentric wheel 202 and part of the first bearing 203 to sink into the stator yoke 408, which can further reduce the axial dimension of the assembly.

[0101] In the embodiment of the present application, the outer diameter of the first bearing 203 is greater than the outer diameter of the second bearing 204 so that it can provide a higher load force.

[0102] In one possible implementation, see Figure 4 The transmission bracket 201 includes a first transmission structure 2011 and a second transmission structure 2012 connected to each other; a third mounting hole 2013 is provided in the middle of the first transmission structure 2011, and the third mounting hole 2013 is connected to the second bearing 204; a plurality of fourth mounting holes 2014 surrounding the third mounting hole 2013 are also provided on the first transmission structure 2011; each of the fourth mounting holes 2014 is connected to a corresponding transmission pin 208; the second transmission structure 2012 is located outside the housing 3, and the length extension direction of the second transmission structure 2012 is parallel to the axial direction of the rotating shaft 1; the second transmission structure 2012 is connected to the linkage motor. By setting the transmission bracket 201 into an L-shaped structure, it can be connected to the linkage motor in the radial direction of the assembly, and the second transmission structure 2012 is also provided with a mounting hole for connecting with the linkage motor.

[0103] In a feasible implementation, the transmission pin 208 includes a first connection section and a second connection section that are connected; the diameter of the first connection section is larger than the diameter of the second connection section; the first connection section is connected to the first transmission structure 2011 through the corresponding fourth mounting hole 2014; and the second connection section is connected to the corresponding third bearing 209. Thus, while ensuring the reliability of torque transmission, the friction between the third bearing 209 and the second mounting hole 2072 can be reduced through the adaptive interconnection between the two.

[0104] In one possible implementation, see Figure 3 and Figure 4The motor drive assembly further includes a positioning pin 26; the positioning pin 26 is provided at the connection between the reduction assembly 205 and the housing 3; the positioning pin 26 includes a first side surface and a second side surface opposite to each other; the first side surface is connected to the housing 3; the second side surface is connected to the outer wall of the reduction assembly 205 and a part of the stator 401. Specifically, a notch can be provided on the stator yoke 408 of the stator 401 so that the positioning pin 26 can assemble the outer teeth 206, the housing 3 and the stator yoke 408 together, and the radial rotation of the three can be prevented while meeting the angle positioning requirements.

[0105] In one possible implementation, see Figure 3 , the motor drive assembly also includes a connecting frame 5 and a magnet member 6; the connecting frame 5 includes a through hole member 501 and a groove member 502, and the connecting frame 5 is made of non-magnetic material; a through hole is provided at the bottom of the groove member 502, and the through hole is connected to the end face of the through hole member 501 to form an installation cavity that passes through the through hole member 501 and the groove member 502; the first end of the rotating shaft 1 is inserted into the through hole member 501 and connected to the through hole member 501; the first end is the end of the rotating shaft 1 away from the deceleration assembly 205; the magnet member 6 is arranged in the groove member 502. Due to the magnetic field intensity distribution generated by the magnet member 6 and the magnetization method and the sinusoidal nature of the magnetic field intensity signal received by the magnetic encoding chip (used to collect the magnetic field change of the magnet member 6) on the control unit 7, the rotating shaft 1 and the magnet member 6 can be connected through the above-mentioned connecting frame 5, so that the concentricity of the magnet and the magnetic encoding chip in the control unit 7 can be ensured.

[0106] In the embodiment of the present application, when the driving device 4 is a stator-rotor stator configuration, a groove structure can also be set on the stator yoke 408 of another stator 401 to allow the above-mentioned connecting frame 5 and the magnet part 6 to sink into the groove structure, further reducing the axial dimension of the assembly, and the stator 401 is connected to the rotating shaft 1 through a bearing. Specifically, the connecting frame 5 can be directly assembled on the inner ring of the bearing, thereby reducing the axial dimension of the magnet part 6 and the chip, improving the axial distance accuracy, and making the axial integration of the entire assembly higher.

[0107] In a feasible embodiment, the motor drive assembly also includes a control unit 7; the control unit 7 is arranged in the housing 3 near the end of the magnet part 6; the control unit 7 is used to determine the rotation angle of the rotating shaft 1 by collecting the magnetic field changes of the magnet part 6, thereby realizing the control of the rotation of the driving device 4.

[0108] In the embodiment of the present application, a magnetic encoding chip is provided on the control unit 7, and the magnetic encoding chip is close to the magnet member 6. The magnet member 6 rotates synchronously with the shaft 1, so that the NS magnetic field distribution generated on the magnet member 6 also rotates synchronously with the motor shaft 1, and can be sensed by the magnetic encoding chip through magneto-electric conversion to obtain the angular position signal of the shaft 1. By setting the magnet member 6 in the above-mentioned connecting frame 5, it can be ensured that the magnetic field sensed by the magnetic encoding chip position is a sinusoidal magnetic flux density change as the rotor 402 rotates, and the magnetic flux density amplitude is within the range of the magnetic encoding receiving signal.

[0109] The control unit 7 further includes a three-phase power supply unit, which is used to supply power to the windings of the stator 401 , thereby realizing the rotation of the rotor 402 .

[0110] Due to the magnetic field strength distribution generated by the magnet component 6 and the magnetization method and the sinusoidal nature of the magnetic field strength signal received by the magnetic encoding chip of the control unit 7, it is necessary to maintain a certain distance between the magnetic encoding chip and the magnet component 6 in the axial direction to avoid interference between the components on the control unit 7 and the end face of the stator yoke 408. For this purpose, a gasket 24 can be set between the stator yoke 408 and the control unit 7.

[0111] In the embodiment of the present application, the drive device 4 includes a stator 401 and a rotor 402 which are arranged in sequence along the axial direction of the rotating shaft 1. Optionally, the drive device 4 can be a stator-rotor configuration. In order to improve the torque density and reduce the loss to the rotating shaft 1, it can also be set to a stator-rotor-stator configuration, so that the rotor 402 is balanced and the force acting on the rotating shaft 1 is also more balanced. In order to further improve the torque density of the motor drive assembly, it can also be set to a stator-rotor-stator-rotor-stator configuration, please refer to Figure 3 and Figure 5 The specific description is as follows: the driving device 4 includes a first sub-stator 403, a first sub-rotor 406, a second sub-stator 404, a second sub-rotor 407 and a third sub-stator 405 which are arranged in sequence along the axial direction of the rotating shaft 1; the first sub-stator 403, the second sub-stator 404 and the third sub-stator 405 are connected to the rotating shaft 1 through a fourth bearing 15, a fifth bearing 16 and a sixth bearing 17 respectively; the fifth bearing 16 includes a first housing 1601; a first channel 1602 surrounding the rotating shaft 1 is provided in the first housing 1601; a plurality of rolling bodies 1603 are provided in the first channel 1602; the first bearing 203 is rollingly connected to the rotating shaft 1 through the plurality of rolling bodies 1603; the outer wall of the first housing 1601 is sleeved with the second sub-stator 404; the first sub-stator 403, the second sub-stator 404 and the third sub-stator 405 are all printed circuit board stators.

[0112] In the present application, please refer to Figure 5The housing 3 can be composed of a first shell 301, a second shell 302 and a third shell 303. The first shell 301 is provided with a first sub-stator 403, the second shell 302 is provided with a first sub-rotor 406, a second sub-stator 404 and a second sub-rotor 407, and the third shell 303 is provided with a third sub-stator 405; the first shell 301, the second shell 302 and the third shell 303 are detachably connected, so as to facilitate the subsequent three-phase line lead-out and assembly of the stator 401 winding.

[0113] In the embodiment of the present application, after positioning and connecting the first shell 301, the second shell 302 and the third shell 303, they can be connected by ultrasonic wave / laser welding / adhesive, etc., so as to ensure the positioning accuracy and structural strength. Since the three-phase lead-out accessories of the three stators 401 have been assembled before the shell is assembled, that is, the three-phase lead-out accessories are located on the outside of the second shell 302, when the first sub-stator 403 and the second sub-stator 404 are respectively installed with the corresponding three-phase lead-out accessories, the three-phase lead-out accessories can be easily seen, so as to connect them with the corresponding stator 401 windings, which can improve the assembly efficiency.

[0114] The first sub-stator 403 and the third sub-stator 405 can be symmetrically distributed on both sides of the second housing 302, so that during processing and manufacturing, the first sub-stator 403 and the third sub-stator 405 can adopt the same stator 401 structure, which reduces the processing cost of the entire motor and improves the processing efficiency.

[0115] By designing the shell to be spliced, it has a very high compactness and solves the problem that the three-phase lead-out accessories of the stator 401 winding are difficult to lead out. Subsequently, slots can be designed on the mounting surfaces of the first shell 301, the second shell 302 and the third shell 303 respectively so that the three-phase lead-out accessories can be led out from the slots, and interference with the rotor 402 when the motor is running can be avoided, which may cause the motor to fail.

[0116] In the embodiment of the present application, the first shell 301 is fixedly connected to the first sub-stator 403, the second shell 302 is fixedly connected to the second sub-stator 404, and the third shell 303 is fixedly connected to the third shell 303, thereby ensuring the stability and electrical reliability of the entire stator 401 assembly structure.

[0117] The first shell 301, the second shell 302 and the third shell 303 in the present application can be an integral cavity, that is, there is no step design inside, and the end faces of the first shell 301 and the third shell 303 can be used as positioning and mounting surfaces, thereby improving the radial accuracy of the shaft system structure, running more smoothly, and having better NVH.

[0118] In one possible implementation, see Figure 4, the second shell 302 is provided with heat dissipation holes 18, which effectively reduce the temperature rise. Optionally, the heat dissipation holes 18 can be specifically provided on the second shell 302, and in the area adjacent to the rotor 402, so as to have a better heat dissipation effect. The heat dissipation holes 18 can also be provided on the first shell 301 or the second shell 302 as needed, and can also be provided on any two of the three shells. The size and number of the specific heat dissipation holes 18 can be set as needed, and are not limited here.

[0119] The second housing 302 includes a first end surface and a second end surface opposite to each other; see Figure 5 In a feasible embodiment, a first notch is provided on the first end face, and the connecting end face of the first shell 301 is a flat surface, so that the first end face and the connecting end face of the first shell 301 can form a first notch 8 after being connected; a second notch is provided on the second end face, and the connecting end face of the third shell 303 is a flat surface, so that the second end face and the connecting end face of the third shell 303 can form a second notch 9 after being connected. In other embodiments, notches can also be provided on any three or two of the first end face, the second end face, the connecting end face of the first shell 301, and the connecting end face of the third shell 303, without limitation, as long as the first notch 8 and the second notch 9 can be formed in the end. The first notch 8 and the second notch 9 are both located on the mounting surfaces of the first shell 301, the second shell 302, and the third shell 303. Therefore, the three-phase line lead-out accessories can be centrally arranged on the mounting surface to avoid being led out through other peripheral surfaces of the shell, further improving the structural compactness of the motor and facilitating its miniaturization.

[0120] In one possible implementation, see Figure 5 , a third notch 10 and a conductive member 11 are provided on the mounting surface of the second housing 302; the winding of the first sub-stator 403 is electrically connected to the conductive member 11 through the first flexible circuit board 12 through the first notch 8; the winding of the second sub-stator 404 is electrically connected to the conductive member 11 through the second flexible circuit board 13 through the third notch 10; the winding of the third sub-stator 405 is electrically connected to the conductive member 11 through the second notch 9 through the third flexible circuit board 14. Such an arrangement can greatly improve the axial compactness of the motor assembly.

[0121] The conductive member 11 can be formed integrally with the second housing 302 to ensure the connection strength between the two.

[0122] The winding of each stator 401 is led out through a corresponding flexible circuit board and then connected to the conductive member 11, so that the entire lead-out structure is compact and highly reliable. The flexible circuit board has good bending and stretching properties and a very narrow axial dimension, so that the three-phase line lead-out accessories (i.e., the flexible circuit board) can be designed into a flat structure, which reduces its axial dimension while ensuring its current-carrying capacity.

[0123] In the embodiment of the present application, the sizes of the first notch 8, the second notch 9 and the third notch 10 can be determined according to the size of the flexible circuit board. Optionally, the thickness d of the first, second and third flexible circuit boards 14 can be 0.1 to 0.3 mm, and the width L can be 3 to 10 mm; then the width of the first notch 8, the second notch 9 and the third notch 10 can be 0.2 to 0.5 mm, that is, the width can be d+0.1 to d+0.2 mm, and the length can be L+0.5 to L+1 mm, that is, it can be 3.5 to 11 mm. Thus, while ensuring the convenience of installation of the flexible circuit board, it can also avoid the interference of the flexible circuit board with the rotor 402 when the motor is running, and also improve the axial compactness of the motor, further improving the miniaturization of the motor.

[0124] For a feasible implementation, please continue to refer to Figure 5 , the shaft 1 is provided with a second channel 101; the plurality of rolling bodies 1603 are arranged in a concave channel formed by the first channel 1602 and the second channel 101. The rolling body 1603 is directly connected to the shaft 1 and the first housing 1601, and has the characteristics of simple structure and small radial dimension, so that the radial width of the shaft 1 can be designed to be larger, and the deflection of the shaft 1 and the stability of the overall motor are improved. Optionally, two rows of second channels 101 can be provided on the shaft 1, and the first housing 1601 is also provided with two rows of first channels 1602 that cooperate with the two rows of second channels 101, so as to further improve the shaft strength of the motor. Specifically, the number of the first channels 1602 and the number of the second channels 101 are related to the width of the second sub-stator 404 and the required strength requirements. The wider the width of the second sub-stator 404, the more rows of channels can be designed to improve the shaft strength of the motor.

[0125] In the embodiment of the present application, the structures of the first sub-rotor 406 and the second sub-rotor 407 may be the same, which is optional. Figure 6, which shows a schematic structural diagram of an exemplary rotor 402 of the present application. The first sub-rotor 406 and the second sub-rotor 407 may both include a magnetic steel frame 19 and a plurality of magnetic steels 20, the polarities of adjacent magnetic steels 20 are different, the magnetic steel frame 19 is a non-magnetic material, and an assembly hole is provided in the middle of the magnetic steel frame 19, and the assembly hole of the magnetic steel frame 19 is fixedly connected to the rotating shaft 1. Optionally, the magnetic steel frame 19 and the rotating shaft 1 may be interference fit or connected by bonding. Optionally, a groove is provided on the connecting side of the magnetic steel frame 19 and the magnetic steel 20, and the two are connected by bonding. The design of the groove can further improve the bonding strength between the two.

[0126] In one possible implementation, see Figure 7 and Figure 8 The printed circuit board stator includes a stator yoke 408, a plurality of magnetic conductive parts 409 and a stacked printed circuit board 410; a first mounting hole 2071 is provided in the middle of the stator yoke 408, and the mounting hole is connected to the rotating shaft 1 through a sleeve 23; a plurality of sixth mounting holes 4082 surrounding the fifth mounting hole 4081 are also provided on the stator yoke 408, and each of the sixth mounting holes 4082 is connected to one end of a corresponding magnetic conductive part 409; an epitaxial wafer 412 is provided at the other end of the magnetic conductive part 409; a plurality of seventh mounting holes 411 are provided on the printed circuit board 410; each of the through holes is sleeved with a corresponding magnetic conductive part 409; three-phase conductors are arranged on the printed circuit to form a stator 401 winding; the gap distance between adjacent epitaxial wafers 412 is smaller than the gap distance between adjacent magnetic conductive parts 409. Thus, not only can the magnetic leakage problem be avoided, but also the jitter problem during the operation of the motor can be effectively reduced.

[0127] In the embodiment of the present application, the design of the epitaxial wafer 412 makes the interval between adjacent magnetic conductive parts 409 smaller, so that the change of the magnetic field therebetween is gradual, and the change of the force is also gradual, thereby reducing the jitter of the motor during operation.

[0128] The structure of the magnetic conductive member 409 with the epitaxial wafer 412 is relatively complex, and the processing is relatively complex. Therefore, in order to further simplify the structure of the stator 401, after the multilayer printed circuit board 410 is installed on the multiple magnetic conductive members 409, the magnetic conductive sheet 22 can be covered on the surface of the printed circuit board 410, which can also reduce the jitter during the operation of the motor. Since the magnetic conductive member 409 can be a columnar structure, it has the advantages of simple processing and simple installation. Optionally, the magnetic conductive sheet 22 is provided with a plurality of mounting holes that are sleeved with the magnetic conductive member 409. Optionally, the mounting holes of the magnetic conductive sheet 22 and the magnetic conductive member 409 can be fixedly connected by filling glue. Optionally, the through hole on the printed circuit board 410 and the magnetic conductive member 409 can be an interference fit, or can be bonded by glue.

[0129] The above-mentioned axial flux motor provided in the embodiment of the present application adopts an ultra-high-order printed circuit board 410 as the stator 401 winding and a magnetic conductive part 409 as the magnetic circuit component to ensure the minimum air gap and reduce the magnetic circuit loss, which can increase the torque / power density by more than 2.5 times compared with motors of the same size; the shaft system design, the rotor 402 structure design, and the three-phase lead wire 21 structure design have been optimized to make the product more feasible, reliable, and miniaturized; the motor provides driving force for the drive assembly.

[0130] It should be noted that when the drive device 4 includes a plurality of stators 401, the structures of the stators 401 may be different. For example, the stator 401 may be a stator 401 having an epitaxial sheet 412 or a stator 401 having a magnetic conductive sheet 22. Figure 5 In the configuration shown, in order to further reduce the motor tooth torque and achieve a very small torque amplitude, the first sub-stator 403 and the third sub-stator 405 can be set as a stator 401 with an epitaxial sheet 412, and the second sub-stator 404 can be set as a stator 401 with a magnetic conductive sheet 22, and then the slots of the three can be optimized.

[0131] In the present application, please refer to Fig. 9 The fifth mounting hole 4081 of the printed circuit board stator is connected to the rotating shaft 1 through the sleeve 23. The sleeve 23 is made of non-magnetic material, so as to avoid the magnetic field from magnetizing the bearing steel material inside the bearing and the magnetic field from interfering with the magnetic encoding signal. Compared with designing the sleeve 23 and the stator yoke 408 as an integrated structure, the sleeve 23 and the stator yoke 408 in this solution are separated structures, which can reduce the difficulty of processing. Optional, please refer to Fig.10 The side wall of the sleeve 23 is provided with a glue guide groove 2301 to enhance the bonding strength between the sleeve 23 and the printed circuit board 410, and improve the anti-torsion and anti-pulling performance of the entire stator 401. The installation gaps of the printed circuit stator 401 can be filled with high thermal conductivity glue 25 to achieve solid sealing, and ensure the reliability of strength. The use of glue eliminates tolerance accumulation and ensures assembly accuracy.

[0132] In the embodiment of the present application, the inner ring of the fourth bearing 15 is connected to the rotating shaft 1; the outer ring of the second bearing 204 is connected to the first sub-stator 403. Thus, the load strength of the shaft system can be further improved. Optionally, the fourth bearing 15 includes an inner shell, a plurality of rolling elements 1603 and a second outer shell, a rolling channel is formed between the second outer shell and the inner shell, a plurality of rolling elements 1603 are assembled in the rolling channel, and the inner shell and the rotating shaft 1 are interference fit or bonded, so that the rotating shaft 1 can rotate relative to the first sub-stator 403.

[0133] The embodiment of the present application significantly improves the performance of the assembly by adopting an optimized design of an axial flux motor, an eccentric wheel reduction assembly, and a transmission bracket. Specifically, the axial dimension of the assembly is controlled within 20 mm, which is about 70% smaller than the traditional design (such as DYNAM IXEL XC330-M288-T), achieving higher structural compactness and lightness. At the same time, the reduction ratio is designed to be within 1:20, which can optimize the transparency of the transmission system, reduce the impact of reflected inertia on the dynamic performance of the system, and enable the dexterous hand joints to achieve more sensitive and consistent force control performance in complex operations.

[0134] This design effectively avoids the problem of decreased control accuracy caused by the amplification of reflected inertia in the traditional low reduction ratio transmission system. In the collimated drive mode, the motor moderately adjusts the torque and speed through a reducer with a low reduction ratio (such as 1:10), and then efficiently converts the rotational motion of the motor into the bending motion of the finger through the transmission device. The drive system consists of a motor and a low reduction ratio reducer, which has the following significant advantages: 1. Small reflected inertia: Due to the low reduction ratio design, the influence of reflected inertia is significantly reduced, making the system respond faster and the dynamic performance better; 2. Independent joint control: Each joint can be driven and controlled independently, avoiding complex dynamic coupling between multiple joints; 3. Larger workspace: The low reduction ratio combined with the high dynamic response design significantly expands the workspace of the dexterous hand; 4. High precision: The collimated drive reduces the influence of nonlinear problems such as backlash and friction, ensuring high-precision operation; 5. Support force control algorithm: The drive joint has low friction and high dynamic performance, can stably run the force control algorithm, and realize sensitive force feedback and torque control.

[0135] The embodiment of the present application also discloses a robot hand, which includes at least one finger joint; the finger joint is provided with the above-mentioned motor drive assembly. The motor drive assembly simulates the joint mechanism on the human finger by using a high-power density axial flux motor in combination with a reduction assembly 205 and a plurality of shaft systems of a transmission bracket 201. The reduction assembly 205 is driven by a motor, and the reduction assembly 205 and the bearing friction installed on the transmission bracket 201 transmit torque, and then drive the transmission bracket 201 to rotate. The transmission bracket 201 is installed with a joint mechanism simulating another finger, so that the bending and straightening of the human finger can be simulated by driving the motor, and the dexterous hand function with multiple degrees of freedom can be realized; through the coordination design of multiple shaft systems in the structure, the motor rotor 402, the reduction assembly 205, and the transmission bracket 201 can be realized in different directions and at different speeds. And the whole assembly has the characteristics of high torque density, small axial size and low reduction ratio.

[0136] The above description is only an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A motor drive assembly, characterized in that: It includes a rotating shaft, a transmission device, a casing and a driving device arranged in the casing; The driving device comprises a stator and a rotor which are sequentially arranged at intervals along the axial direction of the rotating shaft; The transmission device comprises a transmission bracket, an eccentric wheel, a first bearing, a second bearing and a reduction assembly; the second bearing, the eccentric wheel and the driving device are arranged in sequence along the axial direction of the rotating shaft; the outer ring of the reduction assembly is fixedly connected to the inner wall of the housing, and the inner ring of the reduction member is sleeved with the eccentric wheel through the first bearing; The end of the rotating shaft passes through the housing and is provided with the transmission bracket, the transmission bracket is connected to the second bearing, the transmission bracket is linked to the reduction assembly; the transmission bracket is connected to the linkage motor; When the driving device drives the rotating shaft to rotate, the rotation of the rotating shaft can drive the rotation of the eccentric wheel connected to the rotating shaft, and then in turn drive the reduction assembly connected to the eccentric wheel to perform eccentric movement, and the rotation of the transmission bracket linked to the reduction assembly.

2. The motor drive assembly according to claim 1, characterized in that: The deceleration assembly includes external teeth, internal teeth, a plurality of transmission pins and a plurality of third bearings; The outer ring of the outer teeth is fixedly connected to the inner wall of the housing, and the inner ring of the outer teeth is sawtooth-shaped and can mesh with the outer ring of the inner teeth; A first mounting hole is provided in the middle of the inner tooth, and the first mounting hole is sleeved with the first shaft; The inner teeth are also provided with a plurality of second mounting holes surrounding the first mounting holes; One end of each of the plurality of transmission pins is connected to the transmission bracket, and the other end of each of the transmission pins is arranged in a corresponding second mounting hole through a third bearing; the aperture of the second mounting hole is larger than the diameter of the third bearing; When the inner teeth are driven by the rotating shaft to rotate to a preset angle, each of the third bearings can abut against the corresponding second mounting hole.

3. The motor drive assembly according to claim 2, characterized in that: The transmission bracket includes a first transmission structure and a second transmission structure connected to each other; A third mounting hole is provided in the middle of the first transmission structure, and the third mounting hole is connected to the second bearing; The first transmission structure is also provided with a plurality of fourth mounting holes surrounding the third mounting hole; Each of the fourth mounting holes is connected to a corresponding transmission pin; The second transmission structure is located outside the housing, and a length extension direction of the second transmission structure is parallel to the axial direction of the rotating shaft; The second transmission structure is connected to the linkage motor.

4. The motor drive assembly according to claim 3, characterized in that: The transmission pin comprises a first connecting section and a second connecting section connected to each other; the diameter of the first connecting section is greater than the diameter of the second connecting section; The first connecting section is connected to the first transmission structure through the corresponding fourth mounting hole; The second connecting section is connected to the corresponding third bearing.

5. The motor drive assembly according to claim 2, characterized in that: The reduction ratio of the reduction assembly is less than or equal to 1 / 20.

6. The motor drive assembly according to any one of claims 1 to 5, characterized in that: Also included are dowel pins; The positioning pin is arranged at the connection between the speed reduction assembly and the housing; The positioning pin includes a first side surface and a second side surface that are opposite to each other; The first side surface is connected to the housing; The second side surface is connected to the outer wall of the reduction assembly and a part of the stator.

7. The motor drive assembly according to claim 1, characterized in that: Also includes a connecting frame and a magnet member; The connecting frame includes a through-hole member and a groove member, and the connecting frame is made of a non-magnetic conductive material; A through hole is provided at the bottom of the groove member, and the through hole is connected to the end surface of the through hole member to form an installation cavity that passes through the through hole member and the groove member; The first end of the rotating shaft is inserted into the through-hole member and connected to the through-hole member; the first end is the end of the rotating shaft away from the reduction assembly; The magnet member is arranged in the groove member.

8. The motor drive assembly according to claim 7, characterized in that: Also includes a control unit; The control unit is arranged in the housing at an end close to the magnet member; The control unit is used to determine the rotation angle of the rotating shaft by collecting the magnetic field changes of the magnet component, thereby realizing the control of the rotation of the driving device.

9. The motor drive assembly according to claim 1, characterized in that: The driving device comprises a first sub-stator, a first sub-rotor, a second sub-stator, a second sub-rotor and a third sub-stator which are sequentially arranged at intervals along the axial direction of the rotating shaft; the first sub-stator, the second sub-stator and the third sub-stator are respectively connected to the rotating shaft through a fourth bearing, a fifth bearing and a sixth bearing; the fifth bearing comprises a first housing; a first channel surrounding the rotating shaft is provided in the first housing; a plurality of rolling bodies are provided in the first channel; the first bearing is rollingly connected to the rotating shaft through the plurality of rolling bodies; the outer wall of the first housing is sleeved with the second sub-stator; The first sub-stator, the second sub-stator and the third sub-stator are all printed circuit board stators.

10. A robot hand, characterized in that: Include at least one finger joint; The finger joint is provided with a motor drive assembly as described in any one of claims 1-9.

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