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 that the size of a joint module in the prior art is large. The joint module comprises a motor assembly, an output assembly, a sensed piece, a sensing piece and a distance measuring sensor. The motor assembly comprises a stator and a rotor, the output assembly comprises a rotating part and an executing part, the executing part is driven by the rotating part to move in the first direction, and the motor assembly is used for driving the executing part of the output assembly to do linear reciprocating motion in the first direction. The sensing piece only needs to sense the absolute position of the sensed piece, for example, the sensing piece can be a single-circle absolute value encoder. The distance measuring sensor only needs to detect the displacement of the execution part in the first direction, for example, the distance measuring sensor can be a laser distance measuring sensor. The sensing piece and the distance measuring sensor can be sensors with simple structures, so that the sensing piece and the distance measuring sensor are convenient to integrate, the occupied space is small, and the size of the joint module is reduced.

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 generally requires higher control accuracy. In order to improve the control accuracy of the joint module, it is necessary to achieve absolute position control in the full stroke of the joint module. In the related art, there are two ways to achieve absolute position control. One is to install a multi-turn absolute encoder at the motor end of the joint module, and the other is to install a single-turn absolute encoder at the motor end and install a linear sensor such as a sliding resistor and a magnetic grating encoder at the output end of the joint module.

[0003] However, the above two methods occupy a large space of the joint module, resulting in a larger volume 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 large size 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 relative to the stator around a central axis; an output assembly, comprising a rotating member and an actuator, the rotating member being sleeved on the inner ring of the rotor and rotating with the rotor relative to the stator around the central axis, the actuator being transmission-connected to the rotating member, the actuator moving along a first direction driven by the rotating member, the first direction being parallel to the central axis; a sensed member being connected to the first end of the rotating member and rotating with the rotating member around the central axis; a sensing member being fixedly arranged relative to the stator and adjacent to the sensed member in the first direction, the sensing member being configured to detect the absolute position of the sensed member; a ranging sensor being fixedly arranged relative to the stator and adjacent to the first end of the actuator in the first direction, the ranging sensor being configured to detect the displacement of the actuator in the first direction.

[0006] In some embodiments, the first end of the rotating member is arranged adjacent to the first end of the actuator, and the joint module also includes: a circuit board, which is fixedly arranged relative to the stator and is arranged adjacent to the first end of the actuator in the first direction; wherein the ranging sensor and the sensing member are both installed on a side of the circuit board close to the actuator.

[0007] In some embodiments, the first end of the actuator has a blind hole, and the distance measuring sensor corresponds to the bottom of the blind hole in the first direction.

[0008] In some embodiments, the first end of the rotating member has a first avoidance groove, and the sensed member is at least partially disposed in the first avoidance groove.

[0009] In some embodiments, the joint module also includes: a cylindrical shell, which is mounted on the outer ring of the stator; a rear end cover, which is connected to the cylindrical shell, and the rear end cover has a second avoidance groove, the circuit board is arranged in the second avoidance groove, and the ranging sensor and the sensing element are at least partially located in the second avoidance groove.

[0010] In some embodiments, the sensed element is magnetic, the sensing element includes a single-turn absolute encoder; and / or the distance measuring sensor includes a laser distance measuring sensor.

[0011] In some embodiments, the rotating member includes an annular structure, and the actuator includes a strip structure; wherein, the inner ring of the annular structure has an internal thread, and the outer side of the strip structure has an external thread, the annular structure is sleeved on the inner ring of the rotor, and rotates around the central axis with the rotor relative to the stator, and the strip structure is penetrated through the inner ring of the annular structure, and the annular structure and the strip structure are transmission-connected by the internal thread and the external thread, so that the strip structure moves along the extension direction of the central axis under the drive of the annular structure.

[0012] In some embodiments, the output component further includes: a plurality of balls, at least some of which are located between the bottom of the inner thread and the bottom of the outer thread, wherein the annular structure, the strip structure and the balls form a ball screw.

[0013] In some embodiments, the outer side surface of the annular structure 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 central 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 an annular groove, and the third annular protrusion and the annular groove are arranged at intervals along the extension direction of the central axis; a first bearing, the inner ring of the first bearing is sleeved on the outer ring of the annular structure, 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 annular groove; a second bearing, the inner ring of the second bearing is sleeved on the outer ring of the annular structure, 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 annular groove away from the third annular protrusion.

[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, an output assembly, a sensed part, a sensing part and a distance measuring sensor. The motor assembly includes a stator and a rotor, and the rotor is mounted on the inner ring of the stator and can rotate around the central axis relative to the stator. The output assembly includes a rotating part and an actuator, and the rotating part is mounted on the inner ring of the rotor and rotates around the central axis relative to the stator with the rotor. The actuator is transmission-connected to the rotating part, and the actuator moves along the first direction under the drive of the rotating part, thereby realizing the use of the motor assembly to drive the actuator of the output assembly to perform linear reciprocating motion along the first direction.

[0016] The sensing part and the sensed part are used to detect the absolute position of the rotating part, and the distance measuring sensor is used to detect the displacement of the actuator in the first direction. Then, according to the transmission ratio between the rotating part and the actuator, the number of rotations of the rotating part can be calculated, thereby determining the absolute position of the joint module in the full stroke.

[0017] The sensing element can be used as long as it can sense the absolute position of the sensed element, for example, the sensing element can be a single-turn absolute encoder. The distance sensor can be used as long as it can detect the displacement of the actuator in the first direction, for example, the distance sensor can be a laser distance sensor. Since both the sensing element and the distance sensor can be sensors with simple structures, the sensing element and the distance sensor are easy to integrate, occupy a small space, and reduce the volume of the joint module. 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 Shown is an exploded view of a joint module provided by an embodiment of the present disclosure.

[0024] Figure 6 Shown is a schematic diagram of the structure of an output component provided by an embodiment of the present disclosure.

[0025] Figure 7 Shown is a schematic structural diagram of a dexterous hand provided in one embodiment of the present disclosure.

[0026] Reference numerals:

[0027] 1. Dexterous hand; 10. Joint module; 100. Motor assembly; 110. Stator; 120. Rotor; 200. Output assembly; 210. Rotating part; 211. First avoidance groove; 212. Ring structure; 2120. Internal thread; 213. First annular protrusion; 214. Second annular protrusion; 220. Actuator; 221. Blind hole; 222. Strip structure; 2220. External thread; 230. Ball; 310. Sensing part; 320. Sensing part; 410. Distance measuring sensor; 510. Circuit board; 610. Cylindrical shell; 611. Third annular protrusion; 612. Annular groove; 620. Rear cover; 621. Second avoidance groove; 630. First bearing; 640. Second bearing; 650. Front cover; 20. Palm base plate; 30. Knuckle; L, center axis; X, first direction. DETAILED DESCRIPTION

[0028] 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.

[0029] The joint module of the dexterous hand of a humanoid robot generally requires higher control accuracy. In order to improve the control accuracy of the joint module, it is necessary to achieve absolute position control throughout the entire stroke of the joint module. In the related art, there are two ways to achieve absolute position control. One is to install a multi-turn absolute encoder at the motor end of the joint module, and the other is to install a single-turn absolute encoder at the motor end and install a linear sensor such as a sliding rheostat and a magnetic grating encoder at the output end of the joint module. However, the above two methods occupy a large space in the joint module, resulting in a larger volume of the joint module.

[0030] There are generally two solutions for multi-turn absolute encoders, one is the mechanical gear solution, and the other is the pulse counting solution with a battery. The mechanical gear solution is generally larger in size in the application scenario of a micro joint module, resulting in a larger axial dimension of the joint module. The pulse counting solution with a battery has the problem of losing the zero position when the power is off, resulting in a low absolute position detection accuracy of the joint module.

[0031] The single-turn absolute encoder is installed at the motor end, and the linear sensors such as sliding rheostat and magnetic encoder are installed at the output end of the joint module. This makes it difficult to integrate the single-turn absolute encoder and the linear sensor, and the space utilization rate is low. In addition, the sliding rheostat is a contact sensor with a short lifespan. The magnetic encoder is expensive and bulky.

[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 sensing member and a sensed member to detect the absolute position of a rotating member, and uses a distance measuring sensor to detect the displacement of an actuator in a first direction, and then according to the transmission ratio of the rotating member and the actuator, the number of rotations of the rotating member can be calculated, thereby determining the absolute position of the joint module in the full stroke.

[0033] The sensing element can be used as long as it can sense the absolute position of the sensed element, for example, the sensing element can be a single-turn absolute encoder. The distance sensor can be used as long as it can detect the displacement of the actuator in the first direction, for example, the distance sensor can be a laser distance sensor. Since both the sensing element and the distance sensor can be sensors with simple structures, the sensing element and the distance sensor are easy to integrate, occupy a small space, reduce the volume of the joint module, and have low cost.

[0034] In addition, the induction element can sense the absolute position of the induced element, and there is no problem of losing the zero position when the power is off. The induction element does not need to contact the induced element, and has a longer service life.

[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 in one 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 Shown is an exploded view of a joint module provided by an embodiment of the present disclosure. Figure 6 Shown is a schematic diagram of the structure of an output component provided by an embodiment of the present disclosure. Figure 7 FIG. 1 is a schematic diagram of the structure of a dexterous hand provided by an embodiment of the present disclosure. Figures 1 to 7 As shown, the joint module 10 includes a motor assembly 100 , an output assembly 200 , a sensed component 310 , a sensing component 320 and a distance measuring sensor 410 .

[0036] The motor assembly 100 includes a stator 110 and a rotor 120. The rotor 120 is mounted on the inner ring of the stator 110 and is rotatable relative to the stator 110 around the central axis L. The output assembly 200 includes a rotating member 210 and an actuator 220. The rotating member 210 is mounted on the inner ring of the rotor 120 and rotates relative to the stator 110 around the central axis L with the rotor 120. The actuator 220 is transmission-connected to the rotating member 210. The actuator 220 moves along a first direction X driven by the rotating member 210, and the first direction X is parallel to the central axis L.

[0037] Exemplarily, the material of the rotor 120 includes magnetic steel. Exemplarily, the rotating member 210 is a nut, and the actuator 220 is a screw. Exemplarily, the rotating member 210 is a nut, and the actuator 220 is a screw. The output assembly 200 converts the rotation into a linear motion. In practical applications, the stator 110 can be fixed, the rotor 120 rotates around the central axis L relative to the stator 110, the rotor 120 drives the rotating member 210 to rotate around the central axis L relative to the stator 110, and the rotating member 210 drives the actuator 220 to move along the first direction X.

[0038] The sensed member 310 is connected to the first end of the rotating member 210 and rotates with the rotating member 210 around the central axis L. The sensing member 320 is fixedly arranged relative to the stator 110 and is arranged adjacent to the sensed member 310 in the first direction X. The sensing member 320 is configured to detect the absolute position of the sensed member 310. The distance sensor 410 is fixedly arranged relative to the stator 110 and is arranged adjacent to the first end of the actuator 220 in the first direction X. The distance sensor 410 is configured to detect the displacement of the actuator 220 in the first direction X.

[0039] Exemplarily, the sensing member 320 is a magnetoelectric encoder, a photoelectric encoder, etc. In the case where the sensing member 320 is a magnetoelectric encoder, the sensed member 310 is a magnetic member. In the case where the sensing member 320 is a photoelectric encoder, the sensed member 310 is a member with notches. In some embodiments, the sensed member 310 is magnetic, and the sensing member 320 includes a single-turn absolute encoder. The single-turn absolute encoder has a simple structure, low cost, small size, and is easy to integrate.

[0040] Exemplarily, the distance measuring sensor 410 is a laser distance measuring sensor, an infrared distance measuring sensor, etc. In some embodiments, the distance measuring sensor 410 includes a laser distance measuring sensor. The laser distance measuring sensor has a small size, high measurement accuracy, strong anti-interference ability, and fast response speed.

[0041] The sensing member 320 and the sensed member 310 are used to detect the absolute position of the rotating member 210, and the distance measuring sensor 410 is used to detect the displacement of the actuator 220 in the first direction X. Then, according to the transmission ratio between the rotating member 210 and the actuator 220, the number of rotations of the rotating member 210 can be calculated, thereby determining the absolute position of the joint module 10 in the full stroke.

[0042] For example, the displacement of the actuator 220 in the first direction X may be determined according to the distance value D detected by the distance measuring sensor 410 by using a time of flight (TOF) calculation method.

[0043] For example, taking the output assembly 200 as a ball screw, the absolute position of the joint module 10 in the full stroke is calculated. First, the sensing element 320 and the distance sensor 410 are initialized. Then, it is determined whether the calibration is completed. If the calibration is not completed, the zero position D of the distance sensor 410 is calibrated. 0 and the zero position θ of the induction element 320 0 If the calibration is completed, the distance value D of the distance measuring sensor 410 and the position θ of the sensing element 320 can be read. Specifically, the zero position D of the distance measuring sensor 410 0 That is, the distance value from the sensing part of the distance sensor 410 to the sensed part of the actuator 220 when the distance sensor 410 is at zero position. The distance value D of the distance sensor 410 is the distance value from the sensing part of the distance sensor 410 to the sensed part of the actuator 220 at any time point in the full stroke of the joint module 10. Zero position θ of the sensing part 320 0 The position θ of the sensing element 320 is the angle between the sensing part of the sensing element 320 and the sensed part of the sensed element 310 at any time point in the full stroke of the joint module 10.

[0044] According to the distance value D of the distance measuring sensor 410 and the zero position D of the distance measuring sensor 410 0 The number of rotations N of the rotating member 210 can be calculated by the lead d of the ball screw, and the calculation method is as follows: formula (1).

[0045] N=(DD 0 ) / d (1)

[0046] According to the position θ of the sensing element 320 and the zero position θ of the sensing element 320 0 , the number of rotations N of the rotating member 210 and the lead d of the ball screw, the multi-turn position Pos, that is, the absolute position of the joint module 10 at any time node in the entire stroke, can be calculated using the following formula (2).

[0047] Pos=N*d+(θ-θ 0 ) (2)

[0048] The sensing member 320 only needs to be able to sense the absolute position of the sensed member 310, for example, the sensing member 320 can be a single-turn absolute encoder. The distance sensor 410 only needs to be able to detect the displacement of the actuator 220 in the first direction X, for example, the distance sensor 410 can be a laser distance sensor. Since both the sensing member 320 and the distance sensor 410 can be sensors with simple structures, the sensing member 320 and the distance sensor 410 are small in size, easy to integrate, and occupy a small space, thereby reducing the volume of the joint module 10 and having low cost.

[0049] In addition, the sensing element 320 can sense the absolute position of the sensed element 310, and there is no problem of losing the zero position when the power is off. The sensing element 320 does not need to contact the sensed element 310, and has a longer service life.

[0050] In some embodiments, the first end of the rotating member 210 is disposed adjacent to the first end of the actuator 220. The joint module 10 also includes a circuit board 510. The circuit board 510 is fixedly disposed relative to the stator 110, and is disposed adjacent to the first end of the actuator 220 in the first direction X. The ranging sensor 410 and the induction member 320 are both installed on a side of the circuit board 510 close to the actuator 220, that is, the sensor 410 and the induction member 320 are integrated into the circuit board 510, which further reduces the volume of the joint module 10, improves space utilization, and reduces costs.

[0051] In some embodiments, Figure 3 and Figure 4As shown, the first end of the actuator 220 has a blind hole 221. The distance sensor 410 corresponds to the bottom of the blind hole 221 in the first direction X, that is, the distance sensor 410 can detect the displacement of the bottom of the blind hole 221, rather than detecting the displacement of the end face of the first end of the actuator 220, so that the distance sensor 410 can be infinitely close to the end face of the first end of the actuator 220, as long as the actuator 220 does not damage the distance sensor 410 during movement, thereby reducing the axial size of the joint module 10.

[0052] Exemplarily, the distance measuring sensor 410 can also extend into the blind hole 221 to further reduce the axial dimension of the joint module 10 .

[0053] In some embodiments, the first end of the rotating member 210 has a first avoidance groove 211. The sensed member 310 is at least partially disposed in the first avoidance groove 211. Exemplarily, the sensed member 310 is completely disposed in the first avoidance groove 211, thereby reducing the space occupied by the sensed member 310 in the first direction X, and further reducing the axial length of the joint module 10.

[0054] In addition, the sensed component 310 is at least partially disposed in the first avoidance groove 211 , and the sensed component 310 can be installed on the rotating component 210 by interference connection, gluing, etc., which facilitates the installation of the sensed component 310 .

[0055] In some embodiments, the joint module 10 further includes a cylindrical shell 610 and a rear end cover 620. The cylindrical shell 610 is sleeved on the outer ring of the stator 110. The rear end cover 620 is connected to the cylindrical shell 610, and the rear end cover 620 has a second avoidance groove 621, the circuit board 510 is arranged in the second avoidance groove 621, and the distance sensor 410 and the induction member 320 are at least partially located in the second avoidance groove 621, thereby reducing the space occupied by the circuit board 510, the distance sensor 410 and the induction member 320 in the first direction X, and further reducing the axial length of the joint module 10.

[0056] Exemplarily, the distance sensor 410 and the sensing element 320 are completely located in the second avoidance groove 621. Exemplarily, the rear end cover 620 is sealed with the cylindrical housing 610 to prevent the second bearing 640, the sensed element 310, the sensing element 320, the distance sensor 410, etc. in the cylindrical housing 610 from being contaminated.

[0057] In some embodiments, the joint module 10 further includes a front end cover 650. The front end cover 650 has a through hole, and the actuator 220 is disposed through the through hole.

[0058] In some embodiments, the rotating member 210 includes an annular structure 212. The actuator 220 includes a strip structure 222. The inner ring of the annular structure 212 has an internal thread 2120. The outer side of the strip structure 222 has an external thread 2220. The annular structure 212 is sleeved on the inner ring of the rotor 120, and rotates with the rotor 120 relative to the stator 110 around the central axis L. The strip structure 222 is penetrated through the inner ring of the annular structure 212, and the annular structure 212 is transmission-connected with the strip structure 222 through the internal thread 2120 and the external thread 2220, so that the strip structure 222 moves along the extension direction of the central axis L under the drive of the annular structure 212.

[0059] Exemplarily, the cross-sectional shapes of the internal thread 2120 and the external thread 2220 may be set according to actual needs, and the present disclosure does not specifically limit them.

[0060] The annular structure 212 and the strip structure 222 are connected via an internal thread 2120 and an external thread 2220 so that the strip structure 222 moves along the first direction X driven by the annular structure 212. In the process of converting the rotation of the annular structure 212 into the linear motion of the strip structure 222, a deceleration effect on the motor assembly 100 is achieved.

[0061] 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.

[0062] In addition, the motor assembly 100 is used to directly drive the output assembly 200 to move, and no reducer is provided, which also improves the impact resistance of the joint module 10. In addition, the motor assembly 100 is used to directly drive the output assembly 200 to move, and no planetary reducer with a high reduction ratio is provided, which shortens the transmission chain, improves the transmission accuracy of the joint module 10, and does not require an additional position sensor at the output end of the joint module 10, 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.

[0063] In some embodiments, the output component 200 also includes a plurality of balls 230. At least some of the balls 230 are located between the bottom of the internal thread 2120 and the bottom of the external thread 2220. The annular structure 212, the strip structure 222 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 and low friction loss, and can improve the power density of the joint module 10. By using the balls 230 to transmit force, sliding friction is converted into rolling friction, which reduces the friction in the transmission process and further improves the current loop force control effect of the motor assembly 100.

[0064] In some embodiments, the outer side of the annular structure 212 has a first annular protrusion 213 and a second annular protrusion 214. The first annular protrusion 213 and the second annular protrusion 214 are arranged at intervals along the extension direction of the central axis L. The joint module 10 also includes a cylindrical shell 610, a first bearing 630 and a second bearing 640. The cylindrical shell 610 is sleeved on the outer ring of the stator 110, and the inner wall of the cylindrical shell 610 has a third annular protrusion 611 and an annular groove 612. The third annular protrusion 611 and the annular groove 612 are arranged at intervals along the extension direction of the central axis L. The inner ring of the first bearing 630 is sleeved on the outer ring of the annular structure 212, and abuts against the side of the first annular protrusion 213 away from the second annular protrusion 214. The outer ring of the first bearing 630 is sleeved on the inner wall of the cylindrical shell 610, and abuts against the side of the third annular protrusion 611 away from the annular groove 612. The inner ring of the second bearing 640 is mounted on the outer ring of the annular structure 212, and abuts against the side of the second annular protrusion 214 away from the first annular protrusion 213. The outer ring of the second bearing 640 is mounted on the inner wall of the cylindrical housing 610, and abuts against the side of the annular groove 612 away from the third annular protrusion 611. In other words, the first bearing 630 and the second bearing 640 are arranged back to back, constraining the stator 110, the rotor 120, the rotating member 210 and the actuator 220 to the cylindrical housing 610, thereby achieving axial fixation of the stator 110, the rotor 120, the rotating member 210 and the actuator 220.

[0065] Exemplarily, the first bearing 630 and the second bearing 640 may both be deep groove ball bearings, roller bearings, etc., which are not specifically limited in the present disclosure.

[0066] 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.

[0067] The interior of the brushless DC motor is a hollow structure, and the output assembly 200 is mounted on the inner ring of the motor assembly 100, which effectively utilizes the space of the inner ring of the rotor 120, improves the space utilization of the motor assembly 100, and facilitates integration into compact structures such as dexterous hands.

[0068] Figure 7 FIG. 1 is a schematic diagram of the structure of a dexterous hand provided by an embodiment of the present disclosure. Figure 7 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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).

[0076] 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.

[0077] 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.

[0078] 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 central axis relative to the stator; An output assembly, comprising a rotating member and an actuator, wherein the rotating member is sleeved on the inner ring of the rotor and rotates with the rotor relative to the stator around the central axis, the actuator is transmission-connected with the rotating member, and the actuator moves along a first direction under the drive of the rotating member, and the first direction is parallel to the central axis; The sensed member is connected to the first end of the rotating member and rotates around the central axis along with the rotating member; A sensing element, fixedly arranged relative to the stator and arranged adjacent to the sensed element in the first direction, wherein the sensing element is configured to detect an absolute position of the sensed element; The distance measuring sensor is fixedly arranged relative to the stator and is arranged adjacent to the first end of the actuator in the first direction. The distance measuring sensor is configured to detect the displacement of the actuator in the first direction.

2. The joint module according to claim 1, characterized in that: The first end of the rotating member is disposed adjacent to the first end of the actuator, and the joint module further comprises: A circuit board is fixedly arranged relative to the stator and is arranged adjacent to the first end of the actuator in the first direction; Wherein, the distance measuring sensor and the inductive element are both installed on a side of the circuit board close to the actuator.

3. The joint module according to claim 2, characterized in that: The first end of the actuator has a blind hole, and the distance measuring sensor corresponds to the bottom of the blind hole in the first direction.

4. The joint module according to claim 2, characterized in that: The first end of the rotating member has a first avoidance groove, and the sensed member is at least partially disposed in the first avoidance groove.

5. The joint module according to claim 2, characterized in that: Also includes: A cylindrical housing, sleeved on the outer ring of the stator; The rear end cover is connected to the cylindrical shell, the rear end cover has a second avoidance groove, the circuit board is arranged in the second avoidance groove, and the distance sensor and the induction element are at least partially located in the second avoidance groove.

6. The joint module according to any one of claims 1 to 5, characterized in that: The induced part is magnetic, and the inductive part includes a single-turn absolute encoder; and / or, The distance measuring sensor comprises a laser distance measuring sensor.

7. The joint module according to any one of claims 1 to 5, characterized in that: The rotating member comprises an annular structure, and the executing member comprises a bar structure; Among them, the inner ring of the annular structure has an internal thread, and the outer side surface of the strip structure has an external thread. The annular structure is sleeved on the inner ring of the rotor and rotates around the central axis with the rotor relative to the stator. The strip structure is penetrated by the inner ring of the annular structure. The annular structure and the strip structure are transmission-connected by the internal thread and the external thread, so that the strip structure moves along the extension direction of the central axis under the drive of the annular structure.

8. The joint module according to claim 7, 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 structure, the strip structure and the balls form a ball screw.

9. The joint module according to claim 7, characterized in that: The outer side surface of the annular structure 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 central axis; The joint module also includes: A cylindrical shell, which is sleeved on the outer ring of the stator, wherein the inner wall of the cylindrical shell has a third annular protrusion and an annular groove, and the third annular protrusion and the annular groove are arranged at intervals along the extension direction of the central axis; A first bearing, wherein the inner ring of the first bearing is sleeved on the outer ring of the annular structure and abuts against a 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 a side of the third annular protrusion away from the annular groove; A second bearing, the inner ring of the second bearing is sleeved on the outer ring of the annular structure 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 wall of the annular groove close to the third annular protrusion.

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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