Rotary joint, finger joint, humanoid robot finger and humanoid robot

Abstract

The invention discloses a rotary joint, a finger joint, a humanoid robot finger and a humanoid robot, which can reduce the use of connecting pieces and the occupation of space by integrating a plurality of components into a whole, so that the finger joint has the characteristics of small size and light weight, and can meet more application scenes. A first-stage planetary reduction mechanism, a second-stage planetary reduction mechanism and a miniature frameless motor are arranged in a modularized mode, the miniature frameless motor is installed in a joint shell, a magnetic encoder is connected with the miniature frameless motor, the first-stage planetary reduction mechanism is connected with the joint shell, the output end of the miniature frameless motor is connected with the first-stage planetary reduction mechanism, and the output end of the miniature frameless motor is connected with the second-stage planetary reduction mechanism. The first-stage planetary speed reducing mechanism is connected with the second-stage planetary speed reducing mechanism, limiting gaskets are arranged between the first-stage planetary speed reducing mechanism and the joint and between the first-stage planetary speed reducing mechanism and the second-stage planetary speed reducing mechanism, and the second-stage planetary speed reducing mechanism is connected with the output planet carrier.

Description

Technical Field

[0001] The present application relates to the field of intelligent mechanical technology, and in particular to a rotary joint, a finger joint, a humanoid machine finger and a humanoid robot. Background Art

[0002] With the rapid development of robotics technology, humanoid robots have shown broad application prospects in many fields such as service, industry, and medical care. As an important actuator for interacting with the external environment, the flexibility and precision of humanoid robot fingers are essential for completing various complex tasks. In order for humanoid robots to simulate the fine movements of human fingers, such as grasping, holding, and operating tools, finger joints need to have high precision, high torque output, and compact structural design to adapt to different application scenarios and task requirements. At present, the differences in the technical routes of electric-driven fingers of humanoid robots are mainly reflected in the structural form and transmission method of the fingers. Among them, according to the position of the finger driver, the driver can be divided into external, internal and hybrid locations.

[0003] Among them, the external driver has advantages such as anthropomorphic design, larger drive motors, and easy multi-degree-of-freedom design, but it has disadvantages such as the distance between the driver and the finger body, the need for tendon rope connection, and poor maintainability; the internal driver is conducive to replacement and maintenance and modular design of fingers, but the size of fingers is generally large, and the flexibility of finger joints is easily reduced; the hybrid driver can increase the output torque of the finger and control the size of the volume, but it still needs tendon rope transmission. That is, the existing finger transmission methods have the problems of complex transmission mechanism, low impact resistance of fingers, and difficulty in electric drive control, which cannot meet market demand. Summary of the invention

[0004] The present application provides a rotary joint, a finger joint, a humanoid machine finger and a humanoid robot, which are used to solve the above-mentioned technical problems.

[0005] In a first aspect, the present application provides a rotary joint, comprising: a joint housing, a limit washer, a primary planetary reduction mechanism, a secondary planetary reduction mechanism, a micro frameless motor, an output planetary carrier, and a magnetic encoder; The primary planetary reduction mechanism, the secondary planetary reduction mechanism and the micro frameless motor are modularly arranged, the micro frameless motor is installed in the joint housing, the magnetic encoder is connected to the micro frameless motor, the primary planetary reduction mechanism is connected to the joint housing, the output end of the micro frameless motor is connected to the primary planetary reduction mechanism, the primary planetary reduction mechanism is connected to the secondary planetary reduction mechanism, the limiting gasket is arranged between the primary planetary reduction mechanism and the joint housing and between the primary planetary reduction mechanism and the secondary planetary reduction mechanism, and the secondary planetary reduction mechanism is connected to the output planet carrier; The micro frameless motor is used to drive the first-stage planetary reduction mechanism to rotate, the first-stage planetary reduction mechanism is used to drive the second-stage planetary reduction mechanism to rotate, the second-stage planetary reduction mechanism is used to drive the output planetary carrier to rotate, and the output planetary carrier is used to connect and drive the finger connecting rod of the humanoid robot to rotate.

[0006] Optionally, the micro frameless motor includes a frameless motor stator, a motor shaft and a motor magnet; The frameless motor stator is arranged inside the joint housing and connected to the joint housing. The motor shaft is arranged in the frameless motor stator through a supporting bearing assembly. The motor magnetic steel is installed on the motor shaft.

[0007] Optionally, the support bearing assembly includes a front micro bearing and a rear micro bearing; The outer ring of the front end micro bearing is connected to the joint housing, one end of the motor shaft is connected to the inner ring of the front end micro bearing, the outer ring of the rear end micro bearing is connected to the rear end cover, the other end of the motor shaft is connected to the inner ring of the rear end micro bearing, the rear end cover is concentrically connected and fixed to the joint housing, and the magnetic encoder is installed in the joint housing.

[0008] Optionally, the primary planetary reduction mechanism includes a primary sun gear, a primary planetary gear, a primary planetary pin, a primary planetary carrier and an outer gear ring; The outer gear ring is connected to the joint housing, the first-stage sun gear is connected to the motor shaft, the first-stage sun gear is meshed with the first-stage planetary gear, the first-stage planetary gear is arranged on the first-stage planetary pin shaft, and the first-stage planetary gear is meshed with the outer gear ring, and the first-stage planetary shaft pin is connected to the first-stage planet carrier.

[0009] Optionally, the secondary planetary reduction mechanism includes a secondary planetary gear, a secondary sun gear, a secondary planet carrier and a secondary planet pin shaft; The secondary planetary gear is arranged on one side of the primary planetary carrier, the secondary sun gear is connected to the primary planetary carrier, the secondary planetary gear is connected to the secondary sun gear, the secondary planetary gear is arranged on the secondary planetary pin shaft, the secondary planetary carrier is connected to the secondary planetary pin shaft, and the secondary planetary pin shaft is connected to the output planetary carrier.

[0010] Optionally, the output planet carrier and the outer gear ring are supported by a miniature bearing and a bearing end cover, the bearing end cover is connected to the outer gear ring, and bushings are provided on the outer surfaces of the outer gear ring and the bearing end cover.

[0011] Optionally, a concentric step is provided at one end of the motor shaft close to the rear end cover, a connecting piece is placed in the concentric step, the connecting piece is connected to the magnet, and the magnetic encoder is provided on one side of the magnet.

[0012] The second aspect of the present application provides a finger joint, which includes a three-stage planetary reduction mechanism, a pin retainer assembly and a rotary joint as described in the first aspect and any one of the first aspects, wherein the three-stage planetary reduction mechanism is installed in the rotary joint, and the pin retainer assembly is arranged on the outside of the rotary joint.

[0013] A third aspect of the present application provides a humanoid robot finger, comprising: a first finger link, a second finger link, a third finger link, a rotary joint as described in the first aspect and any one of the first aspects, and a finger joint as described in the second aspect; The first finger link is connected to the finger joint, one end of the second finger link is connected to the finger joint and the other end is connected to the rotary joint, and the third finger link is connected to the rotary joint.

[0014] A fourth aspect of the present application provides a humanoid robot, comprising a humanoid robot body and the humanoid robot finger as described in the third aspect, wherein the humanoid robot body is mounted with the humanoid robot finger.

[0015] It can be seen from the above technical solutions that this application has the following advantages: 1. The modular setting of the first-stage planetary reduction mechanism, the second-stage planetary reduction mechanism and the micro frameless motor enables the internal components of the rotary joint to cooperate closely, reduce transmission energy loss, improve transmission efficiency, and facilitate independent production and maintenance, reduce costs, and ensure high torque output performance.

[0016] 2. By integrating multiple components into one, the use of connectors and space occupation can be reduced, making the finger joints small in size and light in weight, which can meet more application scenarios.

[0017] 3. By making full use of the space of the joint shell, efficient functional integration can be achieved, effectively improving space utilization, which is conducive to the miniaturization and lightweight design of the robot.

[0018] 4. The rotary joint of the present application is small in size and volume, and can be directly stored in the finger structure of a humanoid robot, eliminating many disadvantages of tendon transmission. The planetary reducer and micro frameless motor in the rotary joint adopt a modular design, and most parts can be used universally, reducing the difficulty of processing and manufacturing and production costs.

[0019] 5. The finger joints can be reverse-driven, which effectively enhances the impact resistance of the humanoid robot fingers and reduces the difficulty of electric drive control of the humanoid robot fingers. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solution in 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 paying any creative work.

[0021] Figure 1 It is a three-dimensional schematic diagram of the overall mechanism of the rotary joint provided by the present application; Figure 2 It is a side view schematic diagram of the overall mechanism of the rotary joint provided by the present application; Figure 3 for Figure 2 Cross-sectional view of the middle BB part; Figure 4 It is a three-dimensional schematic diagram of the overall structure of the finger joint provided by the present application; Figure 5 It is a side view schematic diagram of the overall mechanism of the finger joint provided by the present application; Figure 6 yes Figure 5 Cross-sectional view of the AA section; Figure 7 It is a schematic diagram of the overall structure of the humanoid robot finger of the present application. DETAILED DESCRIPTION

[0022] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inside", "outside", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only used to illustrate the relative positional relationships between the various components or components, and do not particularly limit the specific installation orientations of the various components or components.

[0023] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.

[0024] In addition, the terms "installed", "set", "provided with", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0025] In addition, the structures, proportions, sizes, etc. drawn in the drawings in the present application are only used to match the contents disclosed in the specification for the technical personnel in this field to understand and read, and are not used to limit the restrictive conditions under which the present application can be implemented. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in the present application without affecting the effects and purposes that can be achieved by the present application.

[0026] The following will be combined with the drawings in this application to clearly and completely describe the technical solutions in this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0027] Among them, the external driver has advantages such as anthropomorphic design, larger drive motors, and easy multi-degree-of-freedom design, but it has disadvantages such as the distance between the driver and the finger body, the need for tendon rope connection, and poor maintainability; the internal driver is conducive to replacement and maintenance and modular design of fingers, but the size of fingers is generally large, and the flexibility of finger joints is easily reduced; the hybrid driver can increase the output torque of the finger and control the size of the volume, but it still needs tendon rope transmission. That is, the existing finger transmission methods have the problems of complex transmission mechanism, low impact resistance of fingers, and difficulty in electric drive control, which cannot meet market demand.

[0028] Based on this, the present application provides a rotary joint, a finger joint, a humanoid machine finger and a humanoid robot. The rotary joint is small in size and volume and can be directly stored in the finger structure of the humanoid robot, eliminating many shortcomings of tendon transmission. The planetary reducer and micro frameless motor in the rotary joint adopt a modular design, and most parts can be used interchangeably, reducing the difficulty of processing and manufacturing and production costs.

[0029] See also Figures 1 to 7 In a first aspect, the present application provides a rotary joint, comprising: a joint housing 1, a limit washer 9, a primary planetary reduction mechanism, a secondary planetary reduction mechanism, a miniature frameless motor, an output planetary carrier 17 and a magnetic encoder 23; The primary planetary reduction mechanism, the secondary planetary reduction mechanism and the micro frameless motor are modularly arranged, the micro frameless motor is installed in the joint housing 1, the magnetic encoder 23 is connected to the micro frameless motor, the primary planetary reduction mechanism is connected to the joint housing 1, the output end of the micro frameless motor is connected to the primary planetary reduction mechanism, the primary planetary reduction mechanism is connected to the secondary planetary reduction mechanism, the limiting gasket 9 is arranged between the primary planetary reduction mechanism and the joint housing 1 and between the primary planetary reduction mechanism and the secondary planetary reduction mechanism, and the secondary planetary reduction mechanism is connected to the output planet carrier 17; The micro frameless motor is used to drive the first-stage planetary reduction mechanism to rotate, the first-stage planetary reduction mechanism is used to drive the second-stage planetary reduction mechanism to rotate, the second-stage planetary reduction mechanism is used to drive the output planetary carrier 17 to rotate, and the output planetary carrier 17 is used to connect and drive the finger connecting rod of the humanoid robot to rotate.

[0030] First, the role and function of each component in this application are explained: Joint housing 1: As the overall supporting structure of the rotary joint 100, it provides installation space and protects internal components. A miniature frameless motor, a primary planetary reduction mechanism and a secondary planetary reduction mechanism are placed in the joint housing 1. The joint housing 1 can ensure the relative position stability between the components.

[0031] Limiting gasket 9: placed between the first-stage planetary reduction mechanism and the joint housing 1, and between the first-stage planetary reduction mechanism and the second-stage planetary reduction mechanism, used to prevent movement during high-speed operation, ensure the smooth operation of the first-stage planetary reduction mechanism and the second-stage planetary reduction mechanism, and can reduce the friction between the planetary gear and the joint housing 1, reduce energy loss, and improve transmission efficiency.

[0032] The first-stage planetary reduction mechanism: as the first-stage reduction device, it reduces the output speed of the micro frameless motor and transmits it to the second-stage planetary reduction mechanism. The first-stage planetary reduction mechanism includes an input end sun gear, several first-stage planetary gears 10, several first-stage planetary pins 11, a first-stage planetary carrier 12 and an outer gear ring 13. The input end sun gear is connected to the output end of the micro frameless motor, and the first-stage planetary gear 10 is meshed with the outer gear ring 13. It rotates and revolves under the drive of the motor, driving the first-stage planetary carrier 12 to rotate.

[0033] Secondary planetary reduction mechanism: as the second-stage reduction device, it further reduces the rotation speed transmitted by the primary planetary reduction mechanism and transmits it to the output planet carrier 17. The secondary planetary reduction mechanism is similar to the primary planetary reduction mechanism, including a secondary sun gear 14, a secondary planetary gear and a secondary planetary pin 16. The secondary sun gear 14 is connected to the primary planet carrier 12. The secondary planetary gear rotates under the drive of the secondary sun gear 14, driving the output planet carrier 17 to rotate.

[0034] Micro frameless motor: As the power source of the rotary joint 100, it provides rotational driving force. The micro frameless motor is installed in the joint housing 1, and the output end is connected to the first-stage planetary reduction mechanism. The micro frameless motor drives the input end sun gear of the first-stage planetary reduction mechanism to drive the entire rotary joint 100 to operate.

[0035] Output planetary carrier 17: As the final output component of the rotary joint 100, it connects and drives the finger connecting rod of the humanoid robot to rotate. The output planetary carrier 17 is connected to the secondary planetary reduction mechanism, receives the rotational motion transmitted by the secondary planetary reduction mechanism, and an outward boss is provided on the output planetary carrier 17, and the outward boss is used to connect the finger connecting rod. The outward boss is provided with a flat position 171, and the outward boss cooperates with the flat position 171 to connect the finger connecting rod.

[0036] Magnetic encoder 23: used to detect the rotation angle and speed of the rotary joint 100 to achieve closed-loop control. The magnetic encoder 23 is connected to the micro frameless motor and installed in the concentric step of the motor shaft 3. The rotation angle and speed of the motor are detected through the interaction between the magnet 22 and the encoder stator.

[0037] Overall working principle: The micro frameless motor starts, and its output end drives the input end sun gear of the first-stage planetary reduction mechanism to rotate. Then the first-stage planetary gear 10 in the first-stage planetary reduction mechanism rotates under the drive of the input end sun gear, and drives the first-stage planetary carrier 12 to rotate. Due to the meshing action of the first-stage planetary gear 10 and the outer ring gear 13, the rotation speed of the first-stage planetary carrier 12 is lower than the rotation speed of the input end sun gear, realizing the first stage reduction.

[0038] The rotation of the primary planet carrier 12 drives the secondary sun gear 14 of the secondary planetary reduction mechanism to rotate, and the secondary planetary gear rotates under the drive of the secondary sun gear 14, driving the output planet carrier 17 to rotate. Similarly, due to the meshing action between the secondary planetary gear and the outer ring gear 13, the speed of the output planet carrier 17 is lower than that of the secondary sun gear 14, realizing the second stage of reduction.

[0039] The rotational motion of the output planet carrier 17 is transmitted to the connected humanoid robot finger connecting rod through the outwardly extending boss, driving the finger connecting rod to rotate.

[0040] It should be noted that the magnetic encoder 23 detects the rotation angle and speed of the micro frameless motor in real time, and feeds back the detected signal to the corresponding control system. The control system adjusts the output of the motor according to the feedback signal to achieve precise rotation control.

[0041] Therefore, the rotary joint 100 of the present application integrates the miniature frameless motor, the first-stage planetary reduction mechanism, the second-stage planetary reduction mechanism and the magnetic encoder 23 components through a modular setting, thereby achieving a compact structure and efficient deceleration performance, reducing connecting parts and occupied space, making the finger joint 101 small in size and light in weight, enhancing the ability to move in a small space, and meeting more application scenarios.

[0042] Optionally, the micro frameless motor comprises a frameless motor stator 2, a motor shaft 3 and a motor magnetic steel 7; The frameless motor stator 2 is arranged inside the joint housing 1 and connected to the joint housing 1 . The motor shaft 3 is arranged in the frameless motor stator 2 through a supporting bearing assembly. The motor magnetic steel 7 is installed on the motor shaft 3 .

[0043] In the embodiment of the present application, the frameless motor stator 2 is a fixed part of the micro frameless motor, which generates a magnetic field to drive the motor shaft 3 to rotate, and the frameless motor stator 2 is arranged inside the joint housing 1 and is tightly connected to the joint housing 1 to form a stable support foundation. The frameless motor stator 2 generates a rotating magnetic field by energizing, interacts with the motor magnet 7, and drives the motor shaft 3 to rotate.

[0044] The motor shaft 3 is the rotating part of the micro frameless motor, which is used to transmit power to the first-stage planetary reduction mechanism. The motor shaft 3 is arranged in the frameless motor stator 2 through the support bearing assembly to ensure the smooth rotation of the shaft. The motor shaft 3 receives the rotating magnetic field generated by the frameless motor stator 2, drives the motor magnet 7 installed thereon to rotate, and then transmits power to the first-stage planetary reduction mechanism.

[0045] The motor magnet 7 is the rotating part of the micro frameless motor, interacting with the frameless motor stator 2 to generate a rotational torque. The motor magnet 7 is installed on the motor shaft 3. Under the action of the magnetic field generated by the frameless motor stator 2, the motor magnet 7 is subjected to the magnetic force to drive the motor shaft 3 to rotate.

[0046] In actual applications, after the micro frameless motor is started, the frameless motor stator 2 generates a magnetic field, driving the motor magnet 7 on the motor shaft 3 to rotate, and the motor shaft 3 drives the sun gear at the input end of the first-stage planetary reduction mechanism to rotate. After a large reduction ratio is achieved through the first-stage planetary reduction mechanism and the second-stage planetary reduction mechanism, the finger connecting rod is finally driven to rotate by the output planetary carrier 17.

[0047] Through the compact design of the micro frameless motor, combined with the primary planetary reduction mechanism and the secondary planetary reduction mechanism, the miniaturization and lightweight of the rotary joint 100 can be achieved.

[0048] Optionally, the supporting bearing assembly includes a front-end micro-bearing 4 and a rear-end micro-bearing 5; the outer ring of the front-end micro-bearing 4 is connected to the joint housing 1, one end of the motor shaft 3 is connected to the inner ring of the front-end micro-bearing 4, the outer ring of the rear-end micro-bearing 5 is connected to the rear-end cover 6, the other end of the motor shaft 3 is connected to the inner ring of the rear-end micro-bearing 5, the rear-end cover 6 is concentrically connected and fixed to the joint housing 1, and the magnetic encoder 23 is installed in the joint housing 1.

[0049] In the embodiment of the present application, the front end micro-bearing 4 serves as the front end support of the motor shaft 3 to ensure the stability and accuracy of the front end of the motor shaft 3 during rotation, wherein the outer ring of the front end micro-bearing 4 is connected to the joint housing 1, and one end of the motor shaft 3 is connected to the inner ring of the front end micro-bearing 4. The front end micro-bearing 4 can withstand the radial and axial loads generated by the motor shaft 3 during rotation, thereby reducing the vibration and deviation of the motor shaft 3 and ensuring the smooth rotation of the motor shaft 3.

[0050] Similarly, the rear end micro-bearing 5 serves as the rear end support of the motor shaft 3 and works together with the front end micro-bearing 4 to ensure the overall stability and accuracy of the motor shaft 3, wherein the outer ring of the rear end micro-bearing 5 is connected to the rear end cover 6, the other end of the motor shaft 3 is connected to the inner ring of the rear end micro-bearing 5, and the rear end cover 6 is concentrically connected and fixed to the joint housing 1.

[0051] The rear end micro bearing 5 also bears the radial and axial loads generated by the motor shaft 3 during rotation, and works in conjunction with the front end micro bearing 4 to further improve the rotation accuracy and stability of the motor shaft 3 .

[0052] Among them, the rear end cover 6 serves as a support seat for the rear end micro-bearing 5, is concentrically connected and fixed to the joint housing 1 to form a closed support structure, and the rear end cover 6 and the joint housing 1 are concentrically connected and fixed by bolts or welding, etc., which can provide stable support for the rear end micro-bearing 5, prevent the bearing from shifting or loosening during operation, and ensure the stable rotation of the rear end of the motor shaft 3.

[0053] In practical applications, after the micro frameless motor is started, the frameless motor stator 2 generates a magnetic field, driving the motor magnet 7 on the motor shaft 3 to rotate. The motor shaft 3 rotates smoothly under the support of the front micro bearing 4 and the rear micro bearing 5. The rear end cover 6 provides stable support for the rear micro bearing 5 to ensure the stable rotation of the rear end of the motor shaft 3. The motor shaft 3 drives the input end sun gear of the first-stage planetary reduction mechanism, and a large reduction ratio is achieved through the two-stage planetary reduction mechanism. Finally, the finger connecting rod is driven by the output planet carrier 17.

[0054] The double bearing support structure of the front micro bearing 4 and the rear micro bearing 5 improves the rotation accuracy and stability of the motor shaft 3 .

[0055] Optionally, the first-stage planetary reduction mechanism includes a first-stage sun gear 8, a first-stage planetary gear, a first-stage planetary pin 11, a first-stage planetary carrier 12 and an outer ring gear 13; the outer ring gear 13 is connected to the joint housing 1, the first-stage sun gear 8 is connected to the motor shaft 3, the first-stage sun gear 8 is meshed with the first-stage planetary gear, the first-stage planetary gear 10 is arranged on the first-stage planetary pin 11, and the first-stage planetary gear is meshed with the outer ring gear 13, and the first-stage planetary shaft pin is connected to the first-stage planetary carrier 12.

[0056] In the embodiment of the present application, the outer ring gear 13 serves as a fixed housing of the first-stage planetary reduction mechanism, providing stable support and meshing reference, wherein the outer ring gear 13 is tightly connected to the joint housing 1 to form a closed transmission space, and the inner surface of the outer ring gear 13 is used to mesh with the first-stage planetary gear. The outer ring gear 13 bears the radial and tangential forces from the first-stage planetary gear to maintain the stability of the transmission.

[0057] The primary sun gear 8 serves as the input end of the planetary reduction mechanism, receives power from the motor shaft 3, and is directly connected to the motor shaft 3. The primary sun gear 8 transmits the rotational power of the motor shaft 3 to the primary planetary gear, and achieves a reduction effect through gear meshing. The primary planetary gear serves as a transmission medium of the primary planetary reduction mechanism, and realizes the transmission of power from the primary sun gear 8 to the primary planet carrier 12.

[0058] The primary planetary gear is installed on the primary planet carrier 12 through the primary planetary pin 11. Each planetary gear can rotate freely around the pin. The inner surface of the primary planetary gear cooperates with the primary planetary pin 11, and the outer surface of the primary planetary gear meshes with the primary sun gear 8 and the outer gear ring 13. Driven by the primary sun gear 8, the primary planetary gear rotates around its own axis while also revolving around the axis of the primary sun gear 8. The deceleration and power transmission are achieved through the meshing of the planetary gear and the outer gear ring 13.

[0059] The first-stage planetary pin 11 serves as the support and rotation axis of the first-stage planetary gear to ensure the stable operation of the first-stage planetary gear. The first-stage planetary pin 11 is connected to the first-stage planetary carrier 12 to ensure the accuracy and stability of the first-stage planetary gear during the meshing transmission process.

[0060] The primary planet carrier 12 is the output end of the primary planetary reduction mechanism, and transmits the decelerated power to the secondary planetary reduction mechanism, wherein the primary planet carrier 12 is connected with the primary planetary pin 11 to form an integral structure. After receiving the rotational power from the primary planetary gear, the power is transmitted to the secondary planetary reduction mechanism through the rotation of the primary planet carrier 12.

[0061] In practical applications, the motor shaft 3 drives the primary sun gear 8 to rotate, and the primary sun gear 8 drives the primary planetary gear to rotate through gear meshing. The primary planetary gear rotates around its own axis and revolves around the axis of the primary sun gear 8 to form a planetary motion. The revolving motion of the primary planetary gear is transmitted to the secondary planetary reduction mechanism through the primary planet carrier 12, thereby achieving a reduction effect.

[0062] Optionally, the secondary planetary reduction mechanism includes a secondary planetary gear, a secondary sun gear 14, a secondary planet carrier 15 and a secondary planetary pin 16; the secondary planetary gear is arranged on one side of the primary planet carrier 12, the secondary sun gear 14 is connected to the primary planet carrier 12, the secondary planetary gear is connected to the secondary sun gear 14, the secondary planetary gear is arranged on the secondary planetary pin 16, the secondary planet carrier 15 is connected to the secondary planetary pin 16, and the secondary planetary pin 16 is connected to the output planet carrier 17.

[0063] In the embodiment of the present application, the secondary planetary gear is used as a transmission element of the secondary planetary reduction mechanism to realize the power transmission from the secondary sun gear 14 to the secondary planet carrier 15, wherein the secondary planetary gear is arranged on the secondary planetary pin 16, each secondary planetary gear can rotate freely around the secondary planetary pin 16, the inner surface of the secondary planetary gear cooperates with the secondary planetary pin 16, and the outer surface of the secondary planetary gear meshes with the inner gear ring of the secondary sun gear 14 and the output planet carrier 17. Driven by the secondary sun gear 14, the secondary planetary gear rotates around its own axis while also revolving around the axis of the secondary sun gear 14, and the speed reduction and power transmission are realized through gear meshing.

[0064] The secondary planetary pin 16 serves as the support and rotation axis of the secondary planetary gear to ensure the stable operation of the secondary planetary gear. The secondary planetary pin 16 is connected to the secondary planetary carrier 15 to ensure the accuracy and stability of the secondary planetary gear during the meshing transmission process.

[0065] The secondary sun gear 14 serves as the input end of the secondary planetary reduction mechanism, receiving the power transmitted from the primary planet carrier 12, wherein the secondary sun gear 14 is connected to the primary planet carrier 12, and the secondary sun gear 14 transmits the rotational power of the primary planet carrier 12 to the secondary planetary gear, and realizes the secondary reduction effect through gear meshing. The number of teeth and the module of the secondary sun gear 14 are set according to the reduction ratio and transmission efficiency, and are not specifically limited here.

[0066] The secondary planetary carrier 15 serves as the output end of the secondary planetary reduction mechanism, and transmits the decelerated power to the output planetary carrier 17, wherein the secondary planetary carrier 15 is connected to the secondary planetary pin 16 to form an integral structure. The secondary planetary carrier 15 receives the rotational power from the secondary planetary gear, and transmits the power to the output planetary carrier 17 through the rotation of the secondary planetary carrier 15, thereby realizing the final power output.

[0067] In actual application, the rotational power of the primary planet carrier 12 is transmitted to the secondary planetary gears through the secondary sun gear 14. The secondary sun gear 14 drives the secondary planetary gears to rotate through gear meshing. The secondary planetary gears rotate around their own axes and revolve around the axis of the secondary sun gear 14, forming a secondary planetary motion. The revolving motion of the secondary planetary gears is transmitted to the secondary planetary pin 16 through the secondary planet carrier 15, and the secondary planetary pin 16 is then connected to the output planet carrier 17 to achieve the final output of power.

[0068] Optionally, the output planet carrier 17 and the outer gear ring 13 are supported by a miniature bearing 18 and a bearing end cover 19 , the bearing end cover 19 is connected to the outer gear ring 13 , and bushings 20 are provided on the outer surfaces of the outer gear ring 13 and the bearing end cover 19 .

[0069] In the embodiment of the present application, the miniature bearing 18 serves as a supporting element of the output planetary carrier 17 , bearing radial and axial loads to ensure smooth rotation of the output planetary carrier 17 . The inner ring of the miniature bearing 18 cooperates with the output planetary carrier 17 , and the outer ring cooperates with the bearing end cover 19 .

[0070] During the rotation process, the micro bearing 18 reduces energy loss through rolling friction and improves transmission efficiency, while ensuring the smooth operation of the rotary joint 100. The bearing end cover 19 serves as the outer ring support of the micro bearing 18 and is connected to the outer gear ring 13 to form a closed support space.

[0071] The bearing end cover 19 is made of high-strength metal material, and the specific type of the metal material is not specifically limited here. The inner surface of the bearing end cover 19 is matched with the outer ring of the miniature bearing 18, and the outer surface of the bearing end cover 19 is connected to the outer gear ring 13. Among them, the bearing end cover 19 not only provides stable support for the miniature bearing 18, but also protects the bearing from the influence of the external environment through the sealing design.

[0072] Optionally, a concentric step is provided at one end of the motor shaft 3 close to the rear end cover 6 , a connecting piece is placed in the concentric step, the connecting piece is connected to the magnet 22 , and the magnetic encoder 23 is provided on one side of the magnet 22 .

[0073] In the embodiment of the present application, a concentric step is provided at one end of the motor shaft 3 near the rear end cover 6, and the step is coaxial with the motor shaft 3. By providing the concentric step, the stability and accuracy of the connection can be ensured. The setting of the concentric step facilitates the installation of subsequent components.

[0074] The concentric steps serve as the installation basis for the connector and the magnet 22, ensuring the accuracy of the signal acquisition of the magnetic encoder 23, so that the magnet 22 can be accurately installed on the rotation axis of the motor shaft 3, thereby ensuring that the magnetic encoder 23 can accurately collect the rotation angle signal of the motor shaft 3, and the connector serves as the connection medium between the magnet 22 and the motor shaft 3. The connector is the magnet bracket 21, which ensures the stable installation and signal transmission of the magnet 22.

[0075] The connecting piece is fixed on the concentric step by means of fasteners or adhesives, and the magnet 22 is firmly connected thereto. The connecting piece can withstand the dynamic load generated during the rotation of the motor shaft 3.

[0076] The magnet 22 is used as the signal source of the magnetic encoder 23. It reflects the rotation angle of the motor shaft 3 through the change of the magnetic field. The magnet 22 is installed on the connecting piece and rotates coaxially with the motor shaft 3. During the rotation process, the magnetic field generated by the magnet 22 changes with the rotation of the motor shaft 3. These changes are captured by the magnetic encoder 23 and converted into electrical signals for output. The magnetic encoder 23 accurately measures the rotation angle of the motor shaft 3 by detecting the change in the magnetic field generated by the magnet 22 .

[0077] In actual applications, the motor shaft 3 receives the rotational power from the motor and starts to rotate. As the motor shaft 3 rotates, the magnet 22 installed on the connecting part also rotates, generating a changing magnetic field. The magnetic encoder 23 detects the changes in the magnetic field generated by the magnet 22 in real time and converts these changes into electrical signal outputs.

[0078] After being processed by the signal processing circuit, the electrical signal is converted into parameters such as the rotation angle and speed of the motor shaft 3. These parameters are fed back to the control system of the rotary joint 100 to adjust the output of the motor and achieve precise control.

[0079] In the rotary joint 100 of the present application, a concentric step is provided at one end of the motor shaft 3 close to the rear end cover 6, and a connector, a magnet 22 and a magnetic encoder 23 are integrated to achieve high-precision rotation angle measurement and feedback control of the rotary joint 100. This not only improves the control accuracy and reliability of the rotary joint 100, but also saves space through a compact design, providing strong support for the wide application of the rotary joint 100.

[0080] The second aspect of the present application provides a finger joint 101, which includes a three-stage planetary reduction mechanism 24, a pin retaining frame assembly 201 and a rotary joint 100 as described in the first aspect and any one of the first aspects, wherein the three-stage planetary reduction mechanism 24 is installed in the rotary joint 100, and the pin retaining frame assembly 201 is arranged on the outside of the rotary joint 100.

[0081] In the embodiment of the present application, the finger joint 101 is composed of a three-stage planetary reduction mechanism 24, a pin holder assembly 201, and the rotary joint 100 described in the first aspect. The three-stage planetary reduction mechanism 24 is a component for power transmission and deceleration, installed inside the rotary joint 100; the pin holder assembly 201 is an external support and connection structure, arranged outside the rotary joint 100, and they work together to realize the complex movement of the finger joint 101.

[0082] Among them, the rotary joint 100 serves as the basic support and rotation center of the finger joint 101, provides a stable installation platform for the three-stage planetary reduction mechanism 24 and the pin retainer assembly 201, and realizes the rotation movement of the finger joint 101.

[0083] Through the rotation drive of the motor shaft 3 and the deceleration effect of the three-stage planetary reduction mechanism 24, high torque and low speed output of the finger joint 101 can be achieved. At the same time, the magnetic encoder 23 feeds back the rotation angle information in real time to provide data support for the precise control of the finger joint 101.

[0084] The three-stage planetary reduction mechanism 24 is modularly configured and can be used in conjunction with the rotary joint 100 . Through the three-stage reduction design, the output torque can be significantly increased and the rotation speed can be reduced to meet the movement requirements of the finger joint 101 .

[0085] The pin holder assembly 201 serves as an external support and connection structure of the finger joint 101, provides additional stability and flexibility for the finger joint 101, and realizes connection with other finger joints 101 or a robotic arm.

[0086] The third aspect of the present application provides a humanoid robot finger, comprising: a first finger link 25, a second finger link 26, a third finger link 27, a rotation joint 100 as described in the first aspect and any one of the first aspects, and a finger joint 101 as described in the second aspect; the first finger link 25 is connected to the finger joint 101, one end of the second finger link 26 is connected to the finger joint 101, and the other end is connected to the rotation joint 100, and the third finger link 27 is connected to the rotation joint 100.

[0087] In the embodiment of the present application, the humanoid robot finger is a highly integrated, bionic mechanical structure designed to simulate the complex movements and flexible operation capabilities of human fingers. The humanoid robot finger is mainly composed of a first finger link 25, a second finger link 26, a third finger link 27, a rotary joint 100 and a finger joint 101. These components are precisely mechanically connected and work together to achieve complex movements such as flexible bending, stretching and grasping of the humanoid robot finger.

[0088] Among them, the rotary joint 100 serves as a driving component for finger movement, providing rotational power and realizing flexible rotation of the finger joint 101. The rotary joint 100 integrates supporting structures such as the motor shaft 3, micro bearing 18, bearing end cover 19, bushing 20, and feedback elements such as magnetic encoder 23 to ensure high-precision rotation and stable operation of the finger joint 101.

[0089] The finger joint 101 serves as a driving component of the finger, realizing flexible rotation between the connecting rods of the finger and simulating the complex movement of the human finger joint 101. The finger joint 101 includes a three-stage planetary reduction mechanism 24, which is installed in the rotary joint 100 or works with the rotary joint 100 as an independent unit, and is also provided with a pin holder assembly 201 to provide external support and connection functions.

[0090] The three-stage planetary reduction mechanism 24 further amplifies the output torque of the rotary joint 100 and reduces the rotation speed to adapt to the movement requirements of the finger joint 101; the pin retainer assembly 201 ensures the stability and flexibility of the finger joint 101 during movement.

[0091] Specifically, the first finger link 25 is the outermost link of the finger, directly in contact with the external environment, to achieve operations such as grasping and pinching. The connecting end of the first finger link 25 is closely matched with the finger joint 101 to ensure the accuracy and stability of the movement.

[0092] The second finger link 26 serves as the middle link of the finger, connecting the finger joint 101 and the rotary joint 100 to realize the transmission and coordination of the finger movement. The length and shape of the second finger link 26 are determined according to the overall design of the finger to ensure the coordination and flexibility of the finger during the movement. Driven by the finger joint 101 and the rotary joint 100, the second finger link 26 realizes complex bending and stretching movements to provide support and coordination for the overall movement of the finger.

[0093] The third finger link 27 serves as another link of the finger and is directly connected to the rotary joint 100. Driven by the rotary joint 100, the third finger link 27 realizes precise rotation and bending movements and works in coordination with the first and second finger links 26 to complete complex finger movements.

[0094] In actual application, the motor shaft 3 in the rotary joint 100 receives a rotational power signal from the control system and starts to rotate. The rotational power of the rotary joint 100 and the finger joint 101 is transmitted to the finger link. The three-stage planetary reduction mechanism 24 in the finger joint 101 further amplifies the torque and reduces the rotation speed to adapt to the movement requirements of the finger joint 101.

[0095] Under the coordinated driving of the rotary joint 100 and the finger joint 101 , the first, second and third finger links 27 realize complex bending, stretching and rotating movements, simulating the grasping, pinching and other movements of human fingers.

[0096] The humanoid robot finger provided in the third aspect of the present application realizes complex movement and flexible operation of the finger by integrating key components such as the rotary joint 100, the finger joint 101 and multiple finger connecting rods, thereby improving the overall performance and application range of the finger.

[0097] A fourth aspect of the present application provides a humanoid robot, comprising a humanoid robot body and the humanoid robot finger as described in the third aspect, wherein the humanoid robot body is mounted with the humanoid robot finger.

[0098] It should be noted that the above description of the disclosed embodiments enables professionals and technicians in the field to implement or use the present application. Various modifications to these embodiments will be apparent to professionals and technicians in the field, and the general principles defined herein can be implemented in other embodiments without departing from the scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A rotary joint, characterized in that: include: Joint housing, limit gasket, primary planetary reduction mechanism, secondary planetary reduction mechanism, micro frameless motor, output planetary carrier and magnetic encoder; The primary planetary reduction mechanism, the secondary planetary reduction mechanism and the micro frameless motor are modularly arranged, the micro frameless motor is installed in the joint housing, the magnetic encoder is connected to the micro frameless motor, the primary planetary reduction mechanism is connected to the joint housing, the output end of the micro frameless motor is connected to the primary planetary reduction mechanism, the primary planetary reduction mechanism is connected to the secondary planetary reduction mechanism, the limiting gasket is arranged between the primary planetary reduction mechanism and the joint housing and between the primary planetary reduction mechanism and the secondary planetary reduction mechanism, and the secondary planetary reduction mechanism is connected to the output planet carrier; The micro frameless motor is used to drive the first-stage planetary reduction mechanism to rotate, the first-stage planetary reduction mechanism is used to drive the second-stage planetary reduction mechanism to rotate, the second-stage planetary reduction mechanism is used to drive the output planetary carrier to rotate, and the output planetary carrier is used to connect and drive the finger connecting rod of the humanoid robot to rotate.

2. The rotary joint according to claim 1, characterized in that: The micro frameless motor comprises a frameless motor stator, a motor shaft and a motor magnetic steel; The frameless motor stator is arranged inside the joint housing and connected to the joint housing. The motor shaft is arranged in the frameless motor stator through a supporting bearing assembly. The motor magnetic steel is installed on the motor shaft.

3. The rotary joint according to claim 2, characterized in that: The support bearing assembly includes a front micro bearing and a rear micro bearing; The outer ring of the front end micro bearing is connected to the joint housing, one end of the motor shaft is connected to the inner ring of the front end micro bearing, the outer ring of the rear end micro bearing is connected to the rear end cover, the other end of the motor shaft is connected to the inner ring of the rear end micro bearing, the rear end cover is concentrically connected and fixed to the joint housing, and the magnetic encoder is installed in the joint housing.

4. The rotary joint according to claim 2, characterized in that: The primary planetary reduction mechanism comprises a primary sun gear, a primary planetary gear, a primary planetary pin shaft, a primary planetary carrier and an outer gear ring; The outer gear ring is connected to the joint housing, the first-stage sun gear is connected to the motor shaft, the first-stage sun gear is meshed with the first-stage planetary gear, the first-stage planetary gear is arranged on the first-stage planetary pin shaft, and the first-stage planetary gear is meshed with the outer gear ring, and the first-stage planetary shaft pin is connected to the first-stage planet carrier.

5. The rotary joint according to claim 4, characterized in that: The secondary planetary reduction mechanism comprises a secondary planetary gear, a secondary sun gear, a secondary planet carrier and a secondary planetary pin shaft; The secondary planetary gear is arranged on one side of the primary planetary carrier, the secondary sun gear is connected to the primary planetary carrier, the secondary planetary gear is connected to the secondary sun gear, the secondary planetary gear is arranged on the secondary planetary pin shaft, the secondary planetary carrier is connected to the secondary planetary pin shaft, and the secondary planetary pin shaft is connected to the output planetary carrier.

6. The rotary joint according to claim 5, characterized in that: The output planet carrier and the outer gear ring are supported by a miniature bearing and a bearing end cover. The bearing end cover is connected to the outer gear ring. Bushings are provided on the outer surfaces of the outer gear ring and the bearing end cover.

7. The rotary joint according to claim 2, characterized in that: A concentric step is arranged at one end of the motor shaft close to the rear end cover, a connecting piece is placed in the concentric step, the connecting piece is connected to a magnet, and the magnetic encoder is arranged on one side of the magnet.

8. A finger joint, characterized in that: The finger joint includes a three-stage planetary reduction mechanism, a pin retainer assembly and a rotary joint as described in any one of claims 1 to 7, the three-stage planetary reduction mechanism is installed in the rotary joint, and the pin retainer assembly is arranged outside the rotary joint.

9. A humanoid robot finger, characterized in that: include: A first finger link, a second finger link, a third finger link, a rotary joint as claimed in any one of claims 1 to 7, and a finger joint as claimed in claim 8; The first finger link is connected to the finger joint, one end of the second finger link is connected to the finger joint and the other end is connected to the rotary joint, and the third finger link is connected to the rotary joint.

10. A humanoid robot, characterized in that: It comprises a humanoid robot body and the humanoid robot finger as claimed in claim 9, wherein the humanoid robot body is mounted with the humanoid robot finger.

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