RV speed reduction module for humanoid robot dexterous hand joint

Abstract

The invention provides an RV speed reduction module for a humanoid robot dexterous hand joint, and relates to the technical field of humanoid finger joints, the RV speed reduction module comprises a driving motor and an RV speed reducer which are coaxial, the driving motor comprises a motor shell, an input shaft, a permanent magnet rotor and two PCB stators located on the two sides of the permanent magnet rotor respectively; the RV speed reducer comprises two cycloidal gears, a main bearing and at least two eccentric shafts, and the main bearing is arranged between the two cycloidal gears; two first four-point ball bearings are arranged between the eccentric shaft true circle and the inner ring of the main bearing, and the motor shell is detachably connected with the outer ring of the main bearing; a second four-point ball bearing is arranged between the cam at the two ends of the eccentric shaft and the cycloidal gear; the outer wall of the cycloidal gear is meshed with inner hole teeth of the outer ring of the main bearing; one end of the eccentric shaft is provided with a planet wheel; one end of the input shaft is provided with an input gear meshed with the planet wheel; an end cover detachably connected with the main bearing inner ring is arranged on the side, away from the motor shell, of the main bearing outer ring. The axial size of the whole joint module is reduced while the transmission precision is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of humanoid finger joints, and in particular to an RV reduction module for the dexterous hand joints of a humanoid robot. Background Art

[0002] As an end effector, the dexterous hand of a humanoid robot needs to have a degree of freedom and load-bearing capacity close to that of a human hand. At the same time, with the development of humanoid robots, the requirements for lightweight and miniaturization of dexterity modules for dexterous hand joints are getting higher and higher. At present, the dexterity modules used in dexterous hand joints usually have bevel gears set at the joints, and the reducer and drive motor are set in the finger segments. The reducer and drive motor are directly connected, and the drive motor is usually a radial flux structure with a large axial length. This structure occupies a large space, resulting in the fingers of the dexterous hand being much larger than the actual human hand, and it is increasingly unable to meet the use requirements of lightweight, miniaturization and aesthetics of the finger joints. At the same time, due to the limitation of the size of the dexterous hand joints, the structures of the various components of the joint module are extremely small and difficult to manufacture, especially the poor precision and difficult assembly of the gears at the joints, which makes processing and manufacturing even more difficult, which easily leads to large transmission errors and low transmission accuracy of the entire joint module, and cannot achieve the same torque, accuracy and speed capabilities as human hands. Summary of the invention

[0003] The purpose of the present invention is to provide an RV reduction module for the dexterous hand joints of a humanoid robot, which realizes the direct connection between the drive motor and the reducer by simultaneously optimizing the structures of the drive motor and the reducer, effectively reduces the axial size of the entire joint module while ensuring the transmission accuracy, meets the use requirements of the dexterous hand joint module for lightweight, miniaturization and aesthetics, and provides finger segment space for installing other sensors and other components.

[0004] The above technical objectives of the present invention are achieved through the following technical solutions:

[0005] An RV reduction module for a dexterous hand joint of a humanoid robot comprises a driving motor and an RV reducer coaxially arranged at the joint, wherein the driving motor is a PCB motor with an axial magnetic flux, comprising a motor housing, wherein an input shaft and a permanent magnet rotor coaxially arranged with the input shaft and two PCB stators are installed in the motor housing, wherein the two PCB stators are respectively located on both sides of the permanent magnet rotor;

[0006] The RV reducer comprises two cycloid wheels, a main bearing and at least two eccentric shafts arranged in a circumferential array, wherein the main bearing is arranged between the two cycloid wheels; the eccentric shaft is mounted on the inner ring of the main bearing and the cycloid wheel, and two first four-point ball bearings are arranged in parallel along the axial direction between the true circle of each eccentric shaft and the inner ring of the main bearing, and the motor housing and the outer ring of the main bearing are detachably fixedly connected and a connecting partition is provided between them;

[0007] A second four-point ball bearing is installed between the cam and the cycloidal wheel at both ends of each eccentric shaft, and the outer wall of the cycloidal wheel is meshed with the inner hole of the outer ring of the main bearing; a planetary gear is installed at one end of each eccentric shaft away from the drive motor, and an input shaft away from the motor housing passes through two cycloidal wheels and the main bearing and is installed with an input gear that is synchronously meshed with multiple planetary gears;

[0008] An end cover is provided on the side of the outer ring of the main bearing away from the motor housing. The end cover is detachably fixedly connected to the inner ring of the main bearing. The end cover and the outer ring of the main bearing serve as a fixed end and an output end respectively.

[0009] By adopting the above technical scheme, the drive motor and the RV reducer are directly connected, the end cover and the outer ring of the main bearing are used as the fixed end and the output end respectively, the finger joints of the dexterous hand rotate directly around the axis of the input shaft, and the drive motor is an axial flux PCB motor including a permanent magnet rotor and two PCB stators. Compared with the radial flux motor used in the prior art, its axial thickness is greatly reduced, and the RV harmonic reducer directly sets the main bearings on the two cycloid wheels for support, and uses the outer ring of the main bearing directly as the fixed end or the output end, which can directly cancel the output shaft, output disc frame, needle gear housing and the mounting bearings therebetween in the existing RV reducer. At the same time, the first four-point ball bearing and the second four-point ball bearing replace the needle roller and retainer bearings in the prior art, which greatly reduces the axial thickness of the RV reducer while ensuring the overall performance of the RV reducer.

[0010] The present invention optimizes the structures of the drive motor and the RV reducer, thereby reducing the axial length of the joint module from two aspects at the same time, thereby realizing direct connection between the drive motor and the RV reducer, effectively ensuring the transmission accuracy of the joint module, and meeting the use requirements of the dexterous hand joint module for lightweight, miniaturization and aesthetics. At the same time, the finger segment space of the dexterous hand can be used to install other sensors and other components. Also, since there is no need to install a reducer and a motor structure in the finger segment, the fingers of the dexterous hand are closer to the size of an actual human hand. Due to the improvement in transmission accuracy, the torque, accuracy, speed and other capabilities of the dexterous hand are closer to those of a human hand.

[0011] Furthermore, support bearings are respectively provided between the outer wall of the input shaft and the inner holes of the two PCB stators, and the motor housing and the connecting partition are provided with limit steps respectively cooperating with the two support bearings, and the input shaft is provided with a limit convex ring located on the side of the two support bearings away from the corresponding limit steps, and the support bearings are installed between the corresponding limit steps and the limit convex ring.

[0012] By adopting the above technical solution, since the input shaft directly passes through the RV reducer to drive the planetary gear to rotate, the length of the input shaft will be relatively lengthened. Therefore, two support bearings are arranged outside the input shaft to support it, and the corresponding support bearings are axially limited by limiting steps and limiting cams to ensure the stability of the overall installation of the input shaft, avoid the end of the input shaft close to the planetary gear from tilting up, affecting the meshing of the input gear and the planetary gear, ensuring transmission accuracy while reducing noise, abnormal noise and vibration, etc., thereby increasing the service life of the entire joint module.

[0013] Furthermore, the inner and outer rings of the two first four-point ball bearings are respectively fixed on the true circle of the eccentric shaft and the inner ring of the main bearing, and the second four-point ball bearing is a flange-type four-point ball bearing.

[0014] By adopting the above technical solution, the outer ring and inner ring of the first four-point ball bearing are fixedly connected to the inner ring of the main bearing and the true circle of the eccentric shaft, and the second four-point ball bearing is a flange-type four-point ball bearing, so that the eccentric shaft is axially limited. There is no need to set other structures at both ends of the eccentric shaft to limit the axial position, which can further shorten the axial thickness of the RV reducer.

[0015] Furthermore, there is no meshing of needle roller teeth between the outer circle of the cycloid wheel and the inner hole of the outer ring of the main bearing.

[0016] By adopting the above technical solution, the outer circle of the cycloid wheel and the inner hole of the outer ring of the main bearing are directly meshed with each other, and no needle roller is provided. Therefore, there is no need to provide a structure for axially limiting the needle roller, and the axial thickness of the RV reducer can be further shortened.

[0017] Furthermore, the motor housing, connecting partition, outer ring of the main bearing and end cover constitute a spherical structure with a flat end face of the end cover, and the outer diameters of the PCB stator close to the RV reducer, the permanent magnet rotor and the PCB stator far from the RV reducer decrease successively.

[0018] By adopting the above technical solution, the entire joint module is set to a spherical structure, which can ensure that the entire joint module is closer to the shape of human finger joints and improve the aesthetics of the entire dexterous hand. Among them, the outer diameters of the PCB stator close to the RV reducer, the permanent magnet rotor, and the PCB stator far from the RV reducer are reduced in sequence, so that the internal structure of the drive motor is adapted to the overall spherical structure of the joint module while ensuring the capacity of the drive motor.

[0019] Furthermore, the outer wall of the outer ring of the main bearing and the outer wall of the end cover are respectively provided with a mounting lug extending outward, and the two mounting lugs are respectively located on both sides of the input shaft.

[0020] By adopting the above technical solution, the outer ring and end cover of the main bearing, i.e., the fixed end and output end of the joint module and the dexterous finger segment are installed and connected by means of mounting lugs, thereby reducing the overall volume of the joint module while ensuring the connection effect.

[0021] Furthermore, an encoder is installed at one end of the input shaft having an input gear, a connecting plate is provided on the end face of the end cover away from the motor housing, a reading head corresponding to the encoder is installed on the connecting plate, and a clearance hole cooperating with the reading head is provided on the end cover.

[0022] By adopting the above technical solution, the encoder is directly set on the input shaft and located at the end of the input shaft close to the planetary gear. The encoder and the drive motor rationally utilize the space of the entire joint module, maximize the capacity of the joint module and minimize the volume, thereby ensuring the compactness of the structure of the joint module.

[0023] Furthermore, the planetary gear is mounted on the end of the eccentric shaft by means of screws, and the end of the eccentric shaft and the inner hole of the planetary gear are in a polygonal plug-in fit.

[0024] By adopting the above technical solution, the planetary gear is installed by screws and is polygonally plug-in matched with the end of the eccentric shaft, which ensures the synchronous rotation accuracy of the planetary gear and the eccentric shaft. At the same time, there is no need to use structures such as retaining springs to limit the axial position of the planetary gear, and the axial length of the RV reducer can be further shortened.

[0025] In summary, the present invention has the following beneficial effects:

[0026] 1. The present invention adopts a driving motor of an axial flux PCB motor and an RV reducer with optimized structure. The axial thickness of the driving motor is greatly reduced. The RV reducer omits the traditional output shaft, output disc frame, pin gear housing and the mounting bearings, needle roller and cage bearings therebetween. The axial thickness of the RV reducer is greatly reduced while ensuring the overall performance of the RV reducer. In this way, the axial length of the joint module is reduced from two aspects at the same time, thereby realizing the direct connection between the driving motor and the RV reducer, effectively ensuring the transmission accuracy of the joint module, and meeting the lightweight, miniaturized and aesthetic use requirements of the dexterous hand joint module. At the same time, the finger segment space of the dexterous hand can be used to install other sensors and other components. Since there is no need to install the reducer and motor structure in the finger segment, the fingers of the dexterous hand are closer to the size of the actual human hand. Due to the improvement of transmission accuracy, the torque, accuracy, speed and other capabilities of the dexterous hand are closer to those of the human hand.

[0027] 2. In the present invention, the inner and outer rings of the first four-point ball bearing are respectively fixed on the inner ring of the main bearing and the true circle of the eccentric shaft. There is no needle roller between the outer circle of the cycloid wheel and the inner hole of the outer ring of the main bearing. The planetary wheel is installed by screws and is polygonally plug-fitted with the end of the eccentric shaft. In this way, there is no need to set an additional axial limit structure for the eccentric shaft, needle roller, and planetary wheel, and the axial thickness of the RV reducer can be further reduced.

[0028] 3. In the present invention, the motor housing, connecting partition, outer ring of the main bearing and end cover constitute a spherical structure with a flat end face of the end cover. In this way, the entire joint module is set to a spherical structure, which can ensure that the entire joint module is closer to the shape of the finger joints of the human hand and improve the aesthetics of the entire dexterous hand. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 The present invention is a schematic diagram of the overall structure of an RV reduction module for the dexterous hand joints of a humanoid robot.

[0030] In the figure, 1. drive motor; 2. motor housing; 21. limit step; 3. input shaft; 31. input gear; 32. support bearing; 33. limit cam; 4. permanent magnet rotor; 5. PCB stator; 6. RV reducer; 7. cycloid wheel; 8. main bearing; 81. outer ring; 82. inner ring; 9. eccentric shaft; 91. first four-point ball bearing; 92. second four-point ball bearing; 93. planetary gear; 10. end cover; 11. mounting lug; 12. encoder; 13. connecting plate; 14. reading head; 15. clearance hole; 16. connecting partition. DETAILED DESCRIPTION

[0031] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0032] An RV deceleration module for a dexterous hand joint of a humanoid robot, such as Figure 1 As shown, it includes a driving motor 1 and an RV reducer 6 coaxially arranged at a joint. The driving motor 1 is a PCB motor with axial magnetic flux, including a motor housing 2. An input shaft 3 and a permanent magnet rotor 4 coaxially arranged with the input shaft 3 and two PCB stators 5 are installed in the motor housing 2. The two PCB stators 5 are respectively located on both sides of the permanent magnet rotor 4.

[0033] like Figure 1As shown, the axial thickness of the drive motor 1 is greatly reduced compared to the radial flux motor used in the prior art. Among them, the drive motor 1 is a double-stator single-rotor structure, and the two PCB stators 5 are located on both sides of the permanent magnet rotor 4. It can output higher output power and torque under the same volume, that is, under the premise of meeting the use requirements, its axial thickness can be smaller. At the same time, the drive motor 1 has good heat dissipation performance, and there is no need to set up other additional heat dissipation structures, and its axial thickness can be further reduced.

[0034] like Figure 1 As shown, the RV reducer 6 includes two cycloid wheels 7, a main bearing 8, and at least two eccentric shafts 9 arranged in a circumferential array. The main bearing 8 is arranged between the two cycloid wheels 7. The inner ring 82 of the main bearing 8 and the cycloid wheel 7 are provided with a plurality of mounting holes corresponding to the eccentric shaft 9 in a circumferential array. The eccentric shaft 9 is installed in the inner ring 82 of the main bearing 8 and the mounting hole on the cycloid wheel 7. Two first four-point ball bearings 91 arranged in parallel along the axial direction are arranged between the true circle of each eccentric shaft 9 and the mounting hole of the inner ring 82 of the main bearing 8. Second four-point ball bearings 92 are respectively installed between the cams at both ends of each eccentric shaft 9 and the mounting hole of the cycloid wheel 7. Among them, the inner and outer rings of the two first four-point ball bearings 91 are respectively fixed on the inner ring 82 of the main bearing 8 and the true circle of the eccentric shaft 9, and the second four-point ball bearing 92 is a flange-type four-point ball bearing.

[0035] like Figure 1 As shown, the motor housing 2 and the outer ring 81 of the main bearing 8 are detachably fixedly connected by screws, and a connecting partition 16 is provided between them. The outer wall of the cycloid wheel 7 and the inner hole of the outer ring 81 of the main bearing 8 are toothed without needle rollers. A planetary wheel 93 is installed at the end of each eccentric shaft 9 away from the driving motor 1, and the planetary wheel 93 is installed at the end of the eccentric shaft 9 by screws, and the end of the eccentric shaft 9 and the inner hole of the planetary wheel 93 are polygonal plug-in fit; the input shaft 3 passes through two cycloid wheels 7 and the main bearing 8 at the end away from the motor housing 2, and an input gear 31 that is synchronously meshed with multiple planetary wheels 93 is installed. An end cover 10 is provided on the side of the outer ring 81 of the main bearing 8 away from the motor housing 2, and the end cover 10 is detachably fixedly connected to the inner ring 82 of the main bearing 8, and the end cover 10 and the outer ring 81 of the main bearing 8 serve as a fixed end and an output end respectively.

[0036] like Figure 1As shown, in the RV reducer 6, a main bearing 8 is arranged between two cycloid wheels 7, and the outer ring 81 of the main bearing 8 is directly used as a pin gear housing to mesh with the cycloid wheel 7. The outer ring 81 of the main bearing 8 and the end cover 10 are respectively used as the fixed end and the output end, so that the output shaft, output disc frame, pin gear housing and the mounting bearings therebetween in the existing RV reducer can be directly eliminated. At the same time, the first four-point ball bearing 91 and the second four-point ball bearing 92 replace the needle roller and retainer bearings in the prior art, which greatly reduces the axial thickness of the RV reducer 6 while ensuring the overall performance of the RV reducer 6. At the same time, the inner and outer rings of the first four-point ball bearing 91 are respectively fixed on the inner ring 82 of the main bearing 8 and the true circle of the eccentric shaft 9, and there is no needle roller between the outer circle of the cycloid wheel 7 and the inner hole of the outer ring 81 of the main bearing 8. The planetary wheel 93 is installed by screws and is in a polygonal plug-in fit with the end of the eccentric shaft 9. In this way, there is no need to set an additional axial limit structure for the eccentric shaft 9, the planetary wheel 93 and the needle roller, and the axial thickness of the RV reducer 6 can be further reduced.

[0037] like Figure 1 As shown, the present invention optimizes the structure of the drive motor 1 and the RV reducer 6, and reduces the axial length of the joint module, thereby realizing direct connection between the drive motor 1 and the RV reducer 6, effectively ensuring the transmission accuracy of the joint module, and meeting the requirements of lightweight, miniaturized and aesthetically pleasing joint modules of the dexterous hand. At the same time, the finger segment space of the dexterous hand can be used to install other sensors and other components. Also, since there is no need to install a reducer and a motor structure in the finger segment, the fingers of the dexterous hand are closer to the size of an actual human hand. Due to the improvement in transmission accuracy, the torque, accuracy, speed and other capabilities of the dexterous hand are closer to those of a human hand.

[0038] like Figure 1 As shown, in this embodiment, support bearings 32 are respectively provided between the outer wall of the input shaft 3 and the inner holes of the two PCB stators 5, and the motor housing 2 and the connecting partition 16 are provided with limiting steps 21 respectively matched with the two support bearings 32, and the input shaft 3 is provided with limiting convex rings 33 located on the side of the two support bearings 32 away from the corresponding limiting steps 21, and the support bearings 32 are installed between the corresponding limiting steps 21 and the limiting convex rings 33. The support bearings 32 are used to support the input shaft 3 to ensure the stability of the overall installation of the input shaft 3, to prevent the end of the input shaft 3 close to the planetary gear 93 from tilting, affecting the meshing of the input gear 31 and the planetary gear 93, to ensure the transmission accuracy, and to reduce noise, abnormal sound and vibration, etc., to improve the service life of the entire joint module.

[0039] like Figure 1As shown, in order to facilitate the installation and connection between the fixed end and the output end and the dexterous finger segment, the outer wall of the outer ring 81 of the main bearing 8 and the outer wall of the end cover 10 are respectively provided with an outwardly extending mounting lug 11, and the two mounting lugs 11 are respectively located on both sides of the input shaft 3. The mounting lugs 11 are used to realize the installation connection between the outer ring 81 of the main bearing 8 and the end cover 10 and the dexterous finger segment, thereby reducing the overall volume of the joint module while ensuring the connection effect.

[0040] like Figure 1 As shown, in the present embodiment, the motor housing 2, the connecting partition 16, the outer ring 81 of the main bearing 8 and the end cover 10 constitute a spherical structure with a flat end face of the end cover 10. In this way, the entire joint module is set to a spherical structure, which can ensure that the entire joint module is closer to the shape of the finger joints of the human hand and improve the aesthetics of the entire dexterous hand. In this case, the outer diameters of the PCB stator 5, the permanent magnet rotor 4 close to the RV reducer 6 and the PCB stator 5 far away from the RV reducer 6 are successively reduced, so that the internal structure of the drive motor 1 is adapted to the overall spherical structure of the joint module while ensuring the capacity of the drive motor 1. Of course, in other embodiments, when the space and the capacity of the joint module are sufficient, the joint module as a whole can also be a conventional cylindrical shape, which does not highlight the dexterous hand and maintains its beauty. In this case, the sizes of the two PCB stators 5 and the permanent magnet rotor 4 can be the same or different.

[0041] like Figure 1 As shown, in order to further reasonably utilize the internal space of the joint module and monitor the input accuracy in real time, an encoder 12 is installed at one end of the input shaft 3 provided with an input gear 31, and a connecting plate 13 is provided on the end face of the end cover 10 away from the motor housing 2, and a reading head 14 corresponding to the encoder 12 is installed on the connecting plate 13, and a clearance hole 15 cooperating with the reading head 14 is provided on the end cover 10. The encoder 12 is directly set on the input shaft 3 and is located at one end of the input shaft 3 close to the planetary gear 93. The encoder 12 and the drive motor 1 reasonably utilize the space of the entire joint module, maximize the capacity of the joint module and minimize the volume, and ensure the compactness of the structure of the joint module.

[0042] The above description shows and describes the preferred embodiments of the present invention. As mentioned above, it should be understood that the present invention is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the invention concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art do not depart from the spirit and scope of the present invention, and should be within the scope of protection of the claims attached to the present invention.

Claims

1. An RV deceleration module for a dexterous hand joint of a humanoid robot, characterized in that: The invention comprises a driving motor (1) and an RV reducer (6) coaxially arranged at a joint, wherein the driving motor (1) is a PCB motor with an axial magnetic flux, comprising a motor housing (2), wherein an input shaft (3) and a permanent magnet rotor (4) coaxially arranged with the input shaft (3), and two PCB stators (5) are installed in the motor housing (2), and the two PCB stators (5) are respectively located on both sides of the permanent magnet rotor (4); The RV reducer (6) comprises two cycloid wheels (7), a main bearing (8) and at least two eccentric shafts (9) arranged in a circumferential array, wherein the main bearing (8) is arranged between the two cycloid wheels (7); the eccentric shaft (9) is mounted on the inner ring (82) of the main bearing (8) and the cycloid wheel (7), and two first four-point ball bearings (91) arranged in parallel along the axial direction are arranged between the true circle of each eccentric shaft (9) and the inner ring (82) of the main bearing (8); the motor housing (2) and the outer ring (81) of the main bearing (8) are detachably fixedly connected and a connecting partition (16) is provided between them; A second four-point ball bearing (92) is respectively installed between the cams and the cycloidal wheel (7) at both ends of each eccentric shaft (9), and the outer wall of the cycloidal wheel (7) is meshed with the inner hole of the outer ring (81) of the main bearing (8); a planetary wheel (93) is installed at one end of each eccentric shaft (9) away from the drive motor (1), and an input shaft (3) at one end away from the motor housing (2) passes through the two cycloidal wheels (7) and the main bearing (8) and is installed with an input gear (31) that is synchronously meshed with the plurality of planetary wheels (93); An end cover (10) is provided on a side of the outer ring (81) of the main bearing (8) away from the motor housing (2); the end cover (10) is detachably fixedly connected to the inner ring (82) of the main bearing (8); the end cover (10) and the outer ring (81) of the main bearing (8) serve as a fixed end and an output end, respectively.

2. The RV deceleration module for the dexterous hand joint of a humanoid robot according to claim 1, characterized in that: Support bearings (32) are respectively arranged between the outer wall of the input shaft (3) and the inner holes of the two PCB stators (5), and the motor housing (2) and the connecting partition (16) are respectively provided with limiting steps (21) which are matched with the two support bearings (32), and the input shaft (3) is provided with limiting convex rings (33) which are located on the side of the two support bearings (32) away from the corresponding limiting steps (21), and the support bearings (32) are installed between the corresponding limiting steps (21) and the limiting convex rings (33).

3. The RV deceleration module for the dexterous hand joint of a humanoid robot according to claim 1, characterized in that: The inner and outer rings of the two first four-point ball bearings (91) are respectively fixed on the true circle of the eccentric shaft (9) and the inner ring (82) of the main bearing (8), and the second four-point ball bearing (92) is a flange-type four-point ball bearing.

4. The RV deceleration module for the dexterous hand joint of a humanoid robot according to claim 1, characterized in that: There is no needle roller tooth meshing between the outer circle of the cycloid wheel (7) and the inner hole of the outer ring (81) of the main bearing (8).

5. The RV deceleration module for the dexterous hand joint of a humanoid robot according to claim 1, characterized in that: The motor housing (2), the connecting partition (16), the outer ring (81) of the main bearing (8) and the end cover (10) form a spherical structure with a flat end surface of the end cover (10), and the outer diameters of the PCB stator (5) close to the RV reducer (6), the permanent magnet rotor (4) and the PCB stator (5) far from the RV reducer (6) decrease in sequence.

6. The RV deceleration module for the dexterous hand joint of a humanoid robot according to claim 1, characterized in that: The outer wall of the outer ring (81) of the main bearing (8) and the outer wall of the end cover (10) are respectively provided with a mounting lug (11) extending outwards, and the two mounting lugs (11) are respectively located on both sides of the input shaft (3).

7. The RV deceleration module for the dexterous hand joint of a humanoid robot according to claim 1, characterized in that: An encoder (12) is mounted on one end of the input shaft (3) provided with an input gear (31); a connecting plate (13) is mounted on the end surface of the end cover (10) away from the motor housing (2); a reading head (14) corresponding to the encoder (12) is mounted on the connecting plate (13); and a clearance hole (15) cooperating with the reading head (14) is provided on the end cover (10).

8. The RV deceleration module for the dexterous hand joint of a humanoid robot according to claim 1, characterized in that: The planetary wheel (93) is mounted on the end of the eccentric shaft (9) by means of screws, and the end of the eccentric shaft (9) and the inner hole of the planetary wheel (93) are in a polygonal plug-in fit.

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