Joint module and dexterous hand

Abstract

The invention relates to the technical field of dexterous hands, in particular to a joint module and a dexterous hand, and solves the problem of low power density of a joint module in the prior art. The joint module comprises a stator and a rotor, and the rotor is sleeved on an inner ring of the stator and can rotate around a first axis relative to the stator. The output assembly comprises an annular piece and a strip-shaped piece, an inner ring of the annular piece is provided with internal threads, the outer side face of the strip-shaped piece is provided with external threads, the annular piece is sleeved with an inner ring of the rotor and rotates around the first axis relative to the stator along with the rotor, the strip-shaped piece penetrates through the inner ring of the annular piece, and the annular piece and the strip-shaped piece are in transmission connection through the internal threads and the external threads. And the strip-shaped piece is driven by the annular piece to move in the extending direction of the first axis. In other words, according to the joint module provided by the embodiment of the invention, the motor assembly is used for directly driving the output assembly to move, a planetary reducer with a high reduction ratio is not arranged, impact blocking is not needed, and the power density of the joint module is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of dexterous hands, and in particular to a joint module and a dexterous hand. Background Art

[0002] The joint module of the dexterous hand of a humanoid robot is generally composed of a coreless motor and a planetary reducer. The coreless motor has the characteristic of high speed, and a high-speed planetary reducer is needed to reduce the speed and increase the torque of the joint module in order to meet the low-speed high-thrust or low-speed high-torque requirements of the dexterous hand for the joint module. However, the high-speed planetary reducer has weak anti-reverse impact ability, and impact blocking is required at the output end of the joint module. Commonly used impact blocking methods include trapezoidal lead screws or worm gears, that is, impact blocking is achieved through reverse self-locking.

[0003] However, self-locking will cause the transmission efficiency of the joint module to drop significantly, resulting in low power density of the joint module. Summary of the invention

[0004] In view of this, the embodiments of the present disclosure provide a joint module and a dexterous hand, which solve the problem of low power density of the joint module in the related art.

[0005] In the first aspect, an embodiment of the present disclosure provides a joint module, comprising: a motor assembly, comprising a stator and a rotor, the rotor being sleeved on the inner ring of the stator and rotatable around a first axis relative to the stator; an output assembly, comprising an annular member and a strip member, the inner ring of the annular member having an internal thread, the outer side surface of the strip member having an external thread, the annular member being sleeved on the inner ring of the rotor and rotating around the first axis with the rotor relative to the stator, the strip member being inserted through the inner ring of the annular member, the annular member and the strip member being transmission connected to each other via the internal thread and the external thread, so that the strip member moves along the extension direction of the first axis driven by the annular member.

[0006] In some embodiments, the output component further includes: a plurality of balls, at least some of which are located between the bottom of the internal thread and the bottom of the external thread, wherein the annular member, the strip member and the balls form a ball screw.

[0007] In some embodiments, the annular member includes: a first annular body, which is sleeved on the inner ring of the rotor and rotates around the first axis with the rotor relative to the stator; a second annular body, which is connected to the inner ring of the first annular body, the inner ring of the second annular body has the internal thread, and the strip is passed through the inner ring of the second annular body; wherein a first dimension of the first annular body in the extension direction of the first axis is greater than a second dimension of the second annular body in the extension direction of the first axis.

[0008] In some embodiments, the outer side surface of the annular member has a first annular protrusion and a second annular protrusion, and the first annular protrusion and the second annular protrusion are arranged at intervals along the extension direction of the first axis; the joint module also includes: a cylindrical shell, which is sleeved on the outer ring of the stator, and the inner wall of the cylindrical shell has a third annular protrusion and a fourth annular protrusion, and the third annular protrusion and the fourth annular protrusion are arranged at intervals along the extension direction of the first axis; a first bearing, the inner ring of the first bearing is sleeved on the outer ring of the annular member, and abuts against the side of the first annular protrusion away from the second annular protrusion, and the outer ring of the first bearing is sleeved on the inner wall of the cylindrical shell, and abuts against the side of the third annular protrusion away from the fourth annular protrusion; a second bearing, the inner ring of the second bearing is sleeved on the outer ring of the annular member, and abuts against the side of the second annular protrusion away from the first annular protrusion, and the outer ring of the second bearing is sleeved on the inner wall of the cylindrical shell, and abuts against the side of the fourth annular protrusion away from the third annular protrusion.

[0009] In some embodiments, the joint module also includes: a magnetic part connected to the first end of the annular part; an encoder connected to the cylindrical shell and coaxially arranged with the magnetic part, and the encoder is configured to detect the position of the magnetic part to determine the position of the annular part.

[0010] In some embodiments, the encoder is disposed at the first end of the cylindrical shell; the joint module also includes: a driver, which is disposed on the outer wall of the cylindrical shell and extends to the first end of the cylindrical shell, and the encoder is electrically connected to the area of ​​the driver close to the first end of the cylindrical shell.

[0011] In some embodiments, the joint module also includes: a first end cover, which is detachably connected to the first end of the cylindrical shell, the first end cover has a through hole, and the strip member passes through the through hole; a second end cover, which is detachably connected to the second end of the cylindrical shell, the second end cover is close to the first end of the annular member; the strip member includes: an axial structure, which passes through the inner ring of the annular member, and the outer side surface of the axial structure has the external thread; a fifth annular protrusion, which is connected to one end of the axial structure close to the second end cover, and the outer diameter of the fifth annular protrusion is larger than the diameter of the inner ring of the annular member.

[0012] In some embodiments, the outer ring of the annular member has an annular groove, and the rotor includes: a plurality of arc-shaped portions, each of which extends along the extension direction of the first axis and is arranged sequentially along the circumference of the annular member, and a side of the plurality of arc-shaped portions close to the annular member is located in the annular groove, so that the side walls of the annular groove are used to limit the two ends of the arc-shaped portions in the extension direction of the first axis; and / or one end of the stator in the extension direction of the first axis abuts against a side of the first annular protrusion close to the second annular protrusion.

[0013] In some embodiments, the motor assembly includes a brushless DC motor.

[0014] In a second aspect, an embodiment of the present disclosure provides a dexterous hand, comprising: a palm base plate; at least one finger joint, at least one of the finger joints being movably connected to the palm base plate; the joint module mentioned in the first aspect; wherein the joint module is arranged on the palm base plate and connected to the finger joint, and is configured to drive the finger joint to move; or, there are multiple finger joints, and the joint module is arranged on one of the finger joints and connected to another finger joint to drive the other finger joint to move.

[0015] The joint module provided by the embodiment of the present disclosure includes a motor assembly and an output assembly. The motor assembly includes a stator and a rotor, and the rotor is sleeved on the inner ring of the stator and can rotate relative to the stator around a first axis. The output assembly includes a ring and a strip, the inner ring of the ring has an internal thread, and the outer side of the strip has an external thread. The ring is sleeved on the inner ring of the rotor and rotates with the rotor relative to the stator around the first axis. The strip is inserted into the inner ring of the ring, and the ring and the strip are connected by internal and external threads so that the strip moves along the extension direction of the first axis under the drive of the ring. In other words, the joint module provided by the embodiment of the present disclosure uses the motor assembly to directly drive the output assembly to move, and there is no planetary reducer with a high reduction ratio, and there is no need to do impact blocking, which improves the power density of the joint module, the current loop of the motor assembly has small fluctuations, and the current loop force control effect is good. There is no need to add an additional force sensor at the output end of the joint module, which reduces the cost of the joint module, simplifies the structure of the joint module, and improves the stability of the joint module.

[0016] In addition, the motor assembly is used to directly drive the output assembly to move, and there is no need to set a planetary reducer with a high reduction ratio, which shortens the transmission chain and improves the transmission accuracy of the joint module. There is no need to add an additional position sensor at the output end of the joint module, which further reduces the cost of the joint module, simplifies the structure of the joint module, and improves the stability of the joint module.

[0017] In addition, the ring part and the strip part are connected through internal and external threads, so that the strip part moves along the extension direction of the first axis driven by the ring part. In the process of converting the rotation of the ring part into the linear motion of the strip part, the deceleration effect of the motor assembly is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and other purposes, features and advantages of the present disclosure will become more apparent by describing the embodiments of the present disclosure in more detail in conjunction with the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not constitute a limitation of the present disclosure. In the drawings, the same reference numerals generally represent the same components.

[0019] Figure 1 Shown is a schematic structural diagram of a joint module provided in one embodiment of the present disclosure.

[0020] Figure 2 Shown is a front view of a joint module provided by an embodiment of the present disclosure.

[0021] Figure 3 The present invention provides an embodiment of the present invention. Figure 2 The cross-sectional view of the joint module shown is in the AA direction.

[0022] Figure 4 The present invention provides an embodiment of the present invention. Figure 3 An enlarged view of the layout of the joint module in area B is shown.

[0023] Figure 5 The present invention provides an embodiment of the present invention. Figure 3 An enlarged view of the layout of the joint module in area C is shown.

[0024] Figure 6 Shown is an exploded view of a joint module provided by an embodiment of the present disclosure.

[0025] Figure 7 Shown is a schematic diagram of the structure of an output component provided by an embodiment of the present disclosure.

[0026] Figure 8 Shown is a schematic structural diagram of a rotor and an output assembly provided in one embodiment of the present disclosure.

[0027] Fig. 9 Shown is a schematic structural diagram of a dexterous hand provided in one embodiment of the present disclosure.

[0028] Reference numerals:

[0029] 1. Dexterous hand; 10. Joint module; 100. Motor assembly; 110. Stator; 120. Rotor; 121. Arc-shaped component; 200. Output assembly; 210. Ring member; 211. Internal thread; 212. First ring body; 213. Second ring body; 214. First annular protrusion; 215. Second annular protrusion; 216. Annular groove; 220. Strip member; 221. External thread; 222. Axial structure; 223, fifth annular protrusion; 230, ball; 310, cylindrical shell; 311, third annular protrusion; 312, fourth annular protrusion; 320, first bearing; 330, second bearing; 410, magnetic member; 420, encoder; 510, driver; 610, first end cover; 611, through hole; 620, second end cover; 20, palm base plate; 30, knuckle; L1, first axis. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0031] The joint module of the dexterous hand of a humanoid robot is generally composed of a hollow cup motor and a planetary reducer. The hollow cup motor has the characteristics of high speed, and it is necessary to use a high-speed ratio planetary reducer to achieve the speed reduction and torque increase of the joint module in order to meet the low-speed high thrust or low-speed high torque requirements of the joint module of the dexterous hand. However, the high-speed ratio planetary reducer has weak anti-reverse impact ability, and it is necessary to do impact blocking at the output end of the joint module. Commonly used impact blocking methods include trapezoidal screws or worm gears, that is, impact blocking is achieved by reverse self-locking. However, self-locking will cause a significant decrease in the transmission efficiency of the joint module, resulting in low power density of the joint module, large fluctuations in the current loop of the hollow cup motor, and inability to achieve current loop force control, requiring additional end (i.e., output end of the joint module) force sensor. In addition, the transmission chain of the joint module composed of the hollow cup motor and the planetary reducer is too long, and the end transmission accuracy is low, resulting in a decrease in the transmission accuracy of the joint module. It is necessary to add an additional end position sensor to ensure the transmission accuracy, which ultimately makes the overall complexity of the dexterous hand including the joint module high, the price high, and the stability poor.

[0032] In order to solve at least one of the above technical problems, the present disclosure is proposed. The joint module provided by the embodiment of the present disclosure uses a motor assembly to directly drive the output assembly to move, and does not set a planetary reducer with a high reduction ratio, does not need to do impact blocking, improves the power density of the joint module, the current loop fluctuation of the motor assembly is small, the current loop force control effect is good, and there is no need to add an additional force sensor at the output end of the joint module, which reduces the cost of the joint module, simplifies the structure of the joint module, and improves the stability of the joint module.

[0033] In addition, the motor assembly is used to directly drive the output assembly to move, and there is no need to set a planetary reducer with a high reduction ratio, which shortens the transmission chain and improves the transmission accuracy of the joint module. There is no need to add an additional position sensor at the output end of the joint module, which further reduces the cost of the joint module, simplifies the structure of the joint module, and improves the stability of the joint module, making the overall complexity of the dexterous hand including the joint module low, the price low, and the stability good.

[0034] In addition, the ring part and the strip part are connected through internal and external threads, so that the strip part moves along the extension direction of the first axis driven by the ring part. In the process of converting the rotation of the ring part into the linear motion of the strip part, the deceleration effect of the motor assembly is achieved.

[0035] Figure 1 Shown is a schematic structural diagram of a joint module provided in one embodiment of the present disclosure. Figure 2 Shown is a front view of a joint module provided by an embodiment of the present disclosure. Figure 3 The present invention provides an embodiment of the present invention. Figure 2 The cross-sectional view of the joint module shown is in the AA direction. Figure 4 The present invention provides an embodiment of the present invention. Figure 3 An enlarged view of the layout of the joint module in area B is shown. Figure 5 The present invention provides an embodiment of the present invention. Figure 3 An enlarged view of the layout of the joint module in area C is shown. Figure 6 Shown is an exploded view of a joint module provided by an embodiment of the present disclosure. Figure 7 Shown is a schematic diagram of the structure of an output component provided by an embodiment of the present disclosure. Figure 8 FIG. 1 is a schematic diagram of the structure of a rotor and an output assembly provided in an embodiment of the present disclosure. Figures 1 to 8 As shown, the joint module 10 includes a motor assembly 100 and an output assembly 200 .

[0036] The motor assembly 100 includes a stator 110 and a rotor 120. The rotor 120 is sleeved on the inner ring of the stator 110 and is rotatable relative to the stator 110 around a first axis L1.

[0037] The output assembly 200 includes a ring member 210 and a strip member 220. The inner ring of the ring member 210 has an internal thread 211, and the outer side of the strip member 220 has an external thread 221. The ring member 210 is sleeved on the inner ring of the rotor 120 and rotates around the first axis L1 with the rotor 120 relative to the stator 110. The strip member 220 is penetrated through the inner ring of the ring member 210. The ring member 210 and the strip member 220 are transmission-connected via the internal thread 211 and the external thread 221, so that the strip member 220 moves along the extension direction of the first axis L1 driven by the ring member 210.

[0038] Exemplarily, the annular member 210 is a nut, and the strip member 220 is a screw. Exemplarily, the annular member 210 is a nut, and the strip member 220 is a screw. Exemplarily, the cross-sectional shapes of the internal thread 211 and the external thread 221 can be set according to actual needs, and the present disclosure does not specifically limit them. The output assembly 200 converts rotation into linear motion.

[0039] In practical applications, the stator 110 can be fixed, the rotor 120 rotates relative to the stator 110 around the first axis L1, the rotor 120 drives the annular member 210 to rotate relative to the stator 110 around the first axis L1, and the annular member 210 drives the strip member 220 to move along the extension direction of the first axis L1.

[0040] The joint module 10 utilizes the motor assembly 100 to directly drive the output assembly 200 to move. There is no planetary reducer with a high reduction ratio, and no impact blocking is required, which improves the power density of the joint module 10. The current loop fluctuation of the motor assembly 100 is small, and the current loop force control effect is good. There is no need to add an additional force sensor at the output end of the joint module 10, which reduces the cost of the joint module 10, simplifies the structure of the joint module 10, and improves the stability of the joint module 10.

[0041] In addition, the motor assembly 100 is used to directly drive the output assembly 200 to move without providing a reducer, which also improves the impact resistance of the joint module 10.

[0042] In addition, the motor assembly 100 is used to directly drive the output assembly 200 to move, and a planetary reducer with a high reduction ratio is not set, which shortens the transmission chain and improves the transmission accuracy of the joint module 10. There is no need to add an additional position sensor at the output end of the joint module 10, which further reduces the cost of the joint module 10, simplifies the structure of the joint module 10, and improves the stability of the joint module 10, so that the overall complexity of the dexterous hand including the joint module 10 is low, the price is low, and the stability is good.

[0043] In addition, the ring member 210 and the strip member 220 are connected via an internal thread 211 and an external thread 221, so that the strip member 220 moves along the extension direction of the first axis L1 driven by the ring member 210. In the process of converting the rotation of the ring member 210 into the linear motion of the strip member 220, a deceleration effect on the motor assembly 100 is achieved.

[0044] In some embodiments, Figure 7 As shown, the output component 200 also includes a plurality of balls 230. At least part of the balls 230 are located between the root of the internal thread 211 and the root of the external thread 221. The annular member 210, the strip member 220 and the balls 230 form a ball screw. In other words, the output component 200 can be a ball screw, which has high efficiency characteristics, low friction loss, and can improve the power density of the joint module 10.

[0045] By utilizing the ball bearings 230 to transmit force, sliding friction is converted into rolling friction, thereby reducing the friction force during the transmission process and further improving the current loop force control effect of the motor assembly 100 .

[0046] In some embodiments, Figure 3 As shown, the annular member 210 includes a first annular body 212 and a second annular body 213. The first annular body 212 is sleeved on the inner ring of the rotor 120, and rotates with the rotor 120 relative to the stator 110 around the first axis L1. The second annular body 213 is connected to the inner ring of the first annular body 212, and the inner ring of the second annular body 213 has an internal thread 211, and the strip 220 is inserted into the inner ring of the second annular body 213. The first dimension of the first annular body 212 in the extension direction of the first axis L1 is greater than the second dimension of the second annular body 213 in the extension direction of the first axis L1, thereby reducing the transmission distance of the annular member 210 and the strip 220 in the extension direction of the first axis L1, further reducing the transmission friction, and improving the current loop force control effect of the motor assembly 100.

[0047] Exemplarily, the first annular body 212 and the second annular body 213 may be integrally formed or may be separately provided. Figure 3 An integrally formed first annular body 212 and second annular body 213 are shown.

[0048] In some embodiments, the outer side surface of the ring member 210 has a first annular protrusion 214 and a second annular protrusion 215. The first annular protrusion 214 and the second annular protrusion 215 are arranged at intervals along the extending direction of the first axis L1.

[0049] The joint module 10 further includes a cylindrical housing 310, a first bearing 320 and a second bearing 330. The cylindrical housing 310 is sleeved on the outer ring of the stator 110, and the inner wall of the cylindrical housing 310 has a third annular protrusion 311 and a fourth annular protrusion 312, which are spaced apart along the extension direction of the first axis L1.

[0050] The inner ring of the first bearing 320 is mounted on the outer ring of the ring 210 and abuts against the side of the first annular protrusion 214 away from the second annular protrusion 215. The outer ring of the first bearing 320 is mounted on the inner wall of the cylindrical housing 310 and abuts against the side of the third annular protrusion 311 away from the fourth annular protrusion 312. The inner ring of the second bearing 330 is mounted on the outer ring of the ring 210 and abuts against the side of the second annular protrusion 215 away from the first annular protrusion 214. The outer ring of the second bearing 330 is mounted on the inner wall of the cylindrical housing 310 and abuts against the side of the fourth annular protrusion 312 away from the third annular protrusion 311, thereby realizing axial and radial positioning of the ring 210.

[0051] Exemplarily, the first bearing 320 and the second bearing 330 may both be deep groove ball bearings, roller bearings, etc., which are not specifically limited in the present disclosure.

[0052] In some embodiments, Figure 3 As shown, the joint module 10 also includes a magnetic member 410 and an encoder 420. The magnetic member 410 is connected to the first end of the ring member 210. The encoder 420 is connected to the cylindrical shell 310 and is coaxially arranged with the magnetic member 410. The encoder 420 is configured to detect the position of the magnetic member 410 to determine the position of the ring member 210.

[0053] Exemplarily, the encoder 420 is an absolute position encoder, so that the absolute position of the magnetic member 410 can be detected to determine the absolute position of the ring member 210. The ring member 210 and the strip member 220 have a transmission ratio, so the extension length of the strip member 220 can be calculated according to the absolute position of the ring member 210.

[0054] In some embodiments, Figure 3 , Figure 5 and Figure 6 As shown, the joint module 10 further includes a blocking cover 430. The encoder 420 can be first installed on the blocking cover 430, and then the blocking cover 430 is installed on the cylindrical housing 310.

[0055] In some embodiments, the encoder 420 is disposed at the first end of the cylindrical shell 310. The joint module 10 further includes a driver 510. The driver 510 is disposed on the outer wall of the cylindrical shell 310 and extends to the first end of the cylindrical shell 310. The encoder 420 is electrically connected to the area of ​​the driver 510 close to the first end of the cylindrical shell 310, which shortens the connection distance between the encoder 420 and the driver 510, further improving the reliability of the joint module 10.

[0056] Exemplarily, the encoder 420 is electrically connected to the driver 510 via a wire.

[0057] In some embodiments, the joint module 10 further includes a first end cap 610 and a second end cap 620. The first end cap 610 is detachably connected to the first end of the cylindrical shell 310, and the first end cap 610 has a through hole 611, through which the strip 220 passes. The second end cap 620 is detachably connected to the second end of the cylindrical shell 310, and the second end cap 620 is close to the first end of the ring 210. The first end cap 610 and the second end cap 620 can close the cylindrical shell 310, reduce dust and impurities, etc., which pollute the structure inside the cylindrical shell 310, and maintain the transmission efficiency of the ring 210 and the strip 220.

[0058] The strip 220 includes a shaft-like structure 222 and a fifth annular protrusion 223. The shaft-like structure 222 is inserted into the inner ring of the ring 210, and the outer side of the shaft-like structure 222 has an external thread 221. The fifth annular protrusion 223 is connected to one end of the shaft-like structure 222 close to the second end cover 620, and the outer diameter of the fifth annular protrusion 223 is greater than the diameter of the inner ring of the ring 210, so that the fifth annular protrusion 223 can be used to prevent the strip 220 from being separated from the ring 210.

[0059] In some embodiments, the outer ring of the annular member 210 has an annular groove 216. The rotor 120 includes a plurality of arc-shaped components 121. The plurality of arc-shaped components 121 all extend along the extension direction of the first axis L1 and are sequentially arranged along the circumference of the annular member 210. The plurality of arc-shaped components 121 are located near the annular groove 216 on one side of the annular member 210, so that the sidewall of the annular groove 216 is used to limit the two ends of the arc-shaped components 121 in the extension direction of the first axis L1.

[0060] In practical applications, the plurality of arc-shaped components 121 may be attached to the bottom of the annular groove 216 to facilitate installation of the rotor 120 .

[0061] In some embodiments, one end of the stator 110 in the extension direction of the first axis L1 abuts against a side of the first annular protrusion 214 close to the second annular protrusion 215 , thereby achieving axial limitation of the stator 110 .

[0062] In some embodiments, the motor assembly 100 includes a brushless DC motor. The brushless DC motor has a high power density, which further improves the power density of the joint module 10. Exemplarily, the motor assembly 100 can also be a brushed DC motor, a permanent magnet synchronous motor, etc.

[0063] The interior of the brushless DC motor is a hollow structure, and the output component 200 is mounted on the inner ring of the motor component 100, which effectively utilizes the space of the inner ring of the rotor 120 and improves the space utilization of the motor component 100. The size of the joint module 10 in the extension direction of the first axis L1 can be less than 45 mm, which is convenient for integration into compact structures such as dexterous hands.

[0064] Fig. 9 FIG. 1 is a schematic diagram of the structure of a dexterous hand provided by an embodiment of the present disclosure. Fig. 9 As shown, the dexterous hand 1 includes: a palm base plate 20, at least one finger joint 30 and the joint module 10 in the above embodiment.

[0065] Exemplarily, the palm substrate 20 is a plate-like structure or a frame structure. Exemplarily, the finger joint 30 is a rod-like structure, a column-like structure or a block-like structure.

[0066] Exemplarily, at least one finger joint 30 is movably connected to the palm base plate 20. The joint module 10 is disposed on the palm base plate 20 and connected to the finger joint 30. The joint module 10 is configured to drive the finger joint 30 to move.

[0067] Exemplarily, there are multiple knuckles 30 , and the joint module 10 is disposed on one knuckle 30 and connected to another knuckle 30 to drive the other knuckle 30 to move.

[0068] Since the dexterous hand 1 includes the joint module 10 , the dexterous hand 1 has all the technical features and technical effects of the joint module 10 , which will not be elaborated here.

[0069] In the embodiments of the present disclosure, if the connection form is not clearly defined, the connection form may be a detachable connection form such as bolts and nuts, screws, buckles, magnets, etc. If there is no special requirement for a non-detachable connection form in some connections, a non-detachable connection may be made by welding, bonding, etc.

[0070] The phrases "one embodiment", "an embodiment", etc. mentioned in the specification indicate that the embodiment described may include a specific feature, structure or characteristic, but not every embodiment may include the specific feature, structure or characteristic. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when a specific feature, structure or characteristic is described in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such feature, structure or characteristic in conjunction with other embodiments, whether explicitly or not explicitly described.

[0071] It should be understood that “on,” “above,” and “over” in this disclosure should be interpreted in the broadest manner, so that “on” not only means “directly on something,” but also includes the meaning of “on something” with intervening features or layers therebetween, and “above” or “over” not only includes the meaning of “above” or “over,” but also may include the meaning of “above” or “over something” with no intervening features or layers therebetween (i.e., directly on something).

[0072] Additionally, spatially relative terms, such as "below," "below," "beneath," "above," "above," etc., may be used herein for ease of description to describe the relationship of one component or feature to other components or features as shown in the figures. The spatially relative terms are intended to encompass different orientations of the component in use or operation in addition to the orientation depicted in the figures. The device may be otherwise oriented (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein may likewise be interpreted accordingly.

[0073] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0074] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A joint module, characterized in that: include: A motor assembly, comprising a stator and a rotor, wherein the rotor is sleeved on an inner ring of the stator and is rotatable around a first axis relative to the stator; The output component includes a ring-shaped member and a strip-shaped member, the inner ring of the ring-shaped member has an internal thread, the outer side surface of the strip-shaped member has an external thread, the ring-shaped member is sleeved on the inner ring of the rotor, and rotates around the first axis with the rotor relative to the stator, the strip-shaped member is penetrated through the inner ring of the ring-shaped member, and the ring-shaped member and the strip-shaped member are transmission-connected by the internal thread and the external thread, so that the strip-shaped member moves along the extension direction of the first axis under the drive of the ring-shaped member.

2. The joint module according to claim 1, characterized in that: The output component also includes: A plurality of balls, at least some of which are located between the root of the internal thread and the root of the external thread, wherein the annular member, the strip member and the balls form a ball screw.

3. The joint module according to claim 1, characterized in that: The annular member comprises: A first annular body, which is sleeved on the inner ring of the rotor and rotates with the rotor relative to the stator around the first axis; A second annular body connected to the inner ring of the first annular body, the inner ring of the second annular body having the internal thread, and the strip-shaped member passing through the inner ring of the second annular body; Wherein, a first dimension of the first annular body in the extending direction of the first axis is greater than a second dimension of the second annular body in the extending direction of the first axis.

4. The joint module according to any one of claims 1 to 3, characterized in that: The outer side surface of the annular member has a first annular protrusion and a second annular protrusion, and the first annular protrusion and the second annular protrusion are arranged at intervals along the extension direction of the first axis; The joint module also includes: A cylindrical shell, sleeved on the outer ring of the stator, the inner wall of the cylindrical shell having a third annular protrusion and a fourth annular protrusion, the third annular protrusion and the fourth annular protrusion are arranged at intervals along the extension direction of the first axis; a first bearing, wherein the inner ring of the first bearing is sleeved on the outer ring of the annular member and abuts against the side of the first annular protrusion away from the second annular protrusion, and the outer ring of the first bearing is sleeved on the inner wall of the cylindrical shell and abuts against the side of the third annular protrusion away from the fourth annular protrusion; A second bearing, the inner ring of the second bearing is mounted on the outer ring of the annular member and abuts against the side of the second annular protrusion away from the first annular protrusion, and the outer ring of the second bearing is mounted on the inner wall of the cylindrical shell and abuts against the side of the fourth annular protrusion away from the third annular protrusion.

5. The joint module according to claim 4, characterized in that: Also includes: A magnetic member connected to the first end of the annular member; An encoder is connected to the cylindrical shell and is coaxially arranged with the magnetic member. The encoder is configured to detect the position of the magnetic member to determine the position of the annular member.

6. The joint module according to claim 5, characterized in that: The encoder is disposed at the first end of the cylindrical housing; The joint module also includes: The driver is arranged on the outer wall of the cylindrical shell and extends to the first end of the cylindrical shell. The encoder is electrically connected to the area of ​​the driver close to the first end of the cylindrical shell.

7. The joint module according to claim 5, characterized in that: Also includes: A first end cover, detachably connected to the first end of the cylindrical shell, the first end cover having a through hole, the strip passing through the through hole; a second end cover, detachably connected to the second end of the cylindrical shell, the second end cover being close to the first end of the annular member; The strip comprises: An axial structure is inserted into the inner ring of the annular member, and the outer side surface of the axial structure has the external thread; A fifth annular protrusion is connected to one end of the shaft-like structure close to the second end cover, and an outer diameter of the fifth annular protrusion is greater than a diameter of an inner ring of the annular member.

8. The joint module according to claim 4, characterized in that: The outer ring of the annular member has an annular groove, and the rotor comprises: a plurality of arc-shaped components, the plurality of arc-shaped components all extend along the extension direction of the first axis and are arranged in sequence along the circumference of the annular member, and a side of the plurality of arc-shaped components close to the annular member is located in the annular groove, so that the side walls of the annular groove are used to limit the two ends of the arc-shaped components in the extension direction of the first axis; and / or, One end of the stator in the extending direction of the first axis abuts against a side of the first annular protrusion close to the second annular protrusion.

9. The joint module according to any one of claims 1 to 3, characterized in that: The motor assembly includes a brushless DC motor.

10. A dexterous hand, characterized in that: include: Palm baseplate; at least one finger joint, at least one of the finger joints being movably connected to the palm base plate; The joint module according to any one of claims 1 to 9; Wherein, the joint module is arranged on the palm base plate and connected to the knuckles, and is configured to drive the knuckles to move; or, there are multiple knuckles, and the joint module is arranged on one knuckle and connected to another knuckle to drive the other knuckle to move.

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