Finger joint assembly, dexterous hand and humanoid robot

Abstract

The invention belongs to the technical field of humanoid robots, and particularly relates to a knuckle assembly, a dexterous hand and a humanoid robot. Wherein the near-end knuckle module (10) is thicker, the far-end knuckle module (20) is thinner, and in a projection plane perpendicular to the output shaft, the projections of the first support (1) and the second support (3) are both within the outer contour range of the projection of the near-end knuckle module (10), and the projection of the far-end knuckle module (20) is within the outer contour range of the projection of the second support (3). By means of the arrangement, driving connection between the near-end knuckle module (10) and the far-end knuckle module (20) can be achieved more easily in a narrow finger space.

Description

Technical Field

[0001] The present invention belongs to the technical field of humanoid robots, and in particular relates to a finger joint assembly, a dexterous hand and a humanoid robot. Background Art

[0002] Robotics is increasingly being applied in numerous fields, including industrial manufacturing, medical rehabilitation, lifestyle services, and space exploration. A robot's end effector is a device located at the end of the robot body that directly interacts with the environment or objects being manipulated. The dexterous hand is one of the most complex and powerful end effectors in humanoid robots, designed to mimic the delicate manipulation and grasping capabilities of the human hand.

[0003] Dexterous hands are a core component for enabling precise robotic manipulation. Their structure typically mimics that of the human hand, consisting of a palm and multiple fingers (typically three to five). Each finger is composed of multiple knuckles (usually two to four) connected by interdigital joints. The flexible movement of these joints is essential for complex movements such as grasping, pinching, and manipulating small objects. Of particular note is the "independent motor per joint" drive architecture. In this configuration, each joint is equipped with an independent micromotor (such as a micro DC motor, stepper motor, or coreless motor) as a direct or proximal actuator.

[0004] The internal space within the fingers of a dexterous hand is extremely limited. This requires the limited space to accommodate a motor (or motor + reducer), sensors (such as position encoders and torque sensors), wiring, and a connection structure that supports adjacent joints and ensures reliable transmission. Furthermore, developing a drive connection structure between adjacent joints that meets the spatial constraints of the fingers is a key technology in dexterous hand design. Summary of the Invention

[0005] In view of this, the present invention proposes a finger joint assembly, a dexterous hand and a humanoid robot, aiming to provide a driving connection structure of adjacent finger joints that meets the spatial limitations of the robot's fingers.

[0006] In a first aspect, the present invention provides a knuckle assembly comprising a proximal knuckle module, a distal knuckle module, and a transmission assembly. The proximal knuckle module has an output shaft at one axial end, and a first bracket is connected to its outer wall at the end proximal to the output shaft. The projection of the first bracket is within the outer contour of the proximal knuckle module in a projection plane perpendicular to the output shaft. The outer wall of the distal knuckle module is connected to a second bracket, which is hinged to the first bracket via a horizontal rotation axis. When the distal knuckle module and the proximal knuckle module are collinear, the projection of the second bracket is within the outer contour of the proximal knuckle module in a projection plane perpendicular to the output shaft, and the projection of the distal knuckle module is within the outer contour of the projection of the second bracket. The transmission assembly comprises a driving member and a driven member for meshing transmission, the driving member being connected to the output shaft, and the driven member being connected to the horizontal rotation axis.

[0007] In a preferred implementation manner of the above-mentioned finger joint assembly of this embodiment, the active member and the driven member are both bevel gears, and the extension line of the axis of the output shaft intersects the axis of the horizontal rotating shaft at right angles.

[0008] In a preferred implementation manner of the above-mentioned finger joint assembly of this embodiment, the active member is a worm, the driven member is a worm wheel, and the extension line of the axis of the output shaft is perpendicular to and does not intersect with the axis of the horizontal rotating shaft.

[0009] In a preferred implementation of the above-mentioned finger joint assembly of this embodiment, a limiting protrusion is provided on the outer side wall of the first bracket, and the limiting bottom of the second bracket is cooperated with the limiting protrusion to limit the rotation angle of the distal finger joint module, and the position where the limiting bottom contacts the limiting protrusion is the reference zero point position for the rotation control of the distal finger joint module.

[0010] In a preferred implementation of the above-mentioned finger joint assembly of this embodiment, the first bracket has a pair of first support members arranged opposite to each other; the horizontal rotating shaft is rotatably provided on the pair of first support members and is perpendicular to the output shaft, and both ends of the horizontal rotating shaft extend out of the first support members and are both provided with a connecting portion; the second bracket has a pair of second support members arranged opposite to each other, and a pair of second support members are respectively connected to the two connecting portions of the horizontal rotating shaft.

[0011] In a preferred implementation manner of the above-mentioned finger joint assembly of this embodiment, an axial limiting surface and a radial limiting surface are respectively formed on opposite sides of the connecting part, and the axial limiting surface and the radial limiting surface on the same side are connected; wherein, the connecting part is also formed with a main pin hole, which passes through the two radial limiting surfaces; and, a notch is formed at the end of the second support member, the notch is for the connecting part to be inserted, and the two opposite inner side walls of the notch are limitedly matched with the two radial limiting surfaces of the connecting part; and, the second support member is respectively provided with an auxiliary pin hole on both sides of the notch, and is configured to meet the needs of a pin passing through the two auxiliary pin holes of the second support member and a main pin hole of the connecting part.

[0012] In a preferred implementation of the above-mentioned finger joint assembly of this embodiment, a motor is arranged in the first shell of the proximal finger joint module, and the axial outer end of the first shell is connected to a reducer, and the reducer is driven by the motor; wherein, the first bracket also includes four support blocks, the inner wall of the support block is adapted to the circumferential outer wall of the reducer, and one end of each of the support blocks is connected to the axial outer end of the first shell of the motor, and two support blocks are connected to the bottom end of the same first support member; or, at least two pins are provided at the bottom end of the first support member, and the two pins are connected to the top surface of the second shell of the reducer.

[0013] In a preferred implementation of the above-mentioned finger joint assembly of this embodiment, the ends of a pair of second support members of the second bracket facing away from the connecting portion are connected to an end cover, and the end cover is part of the shell assembly of the distal finger joint module.

[0014] In a preferred implementation of the above-mentioned finger joint assembly of this embodiment, the outer wall of the first support member forms a first plane, the inner wall of the second support member forms a second plane, and the first plane is opposite to the second plane and parallel to each other.

[0015] In a preferred embodiment of the finger joint assembly of this embodiment, a mounting groove for a support bearing is provided on the first support member, wherein an inner end of the mounting groove is adapted for entry of a support bearing, and an outer end of the mounting groove is formed with a retaining ring wall to prevent the support bearing from moving outward. The horizontal shaft is connected to the support bearings mounted on the two first support members.

[0016] In a second aspect, in a dexterous hand provided by the present invention, the dexterous hand comprises at least one finger joint assembly as described in any embodiment of the first aspect.

[0017] In a third aspect, in a humanoid robot provided by the present invention, the humanoid robot is equipped with the dexterous hand as described in the second aspect.

[0018] Beneficial technical effects of the present invention: In a finger joint assembly, dexterous hand and humanoid robot provided by the present invention, the output shaft of the proximal finger joint module drives the active part to rotate, and the active part engages with the driven part to drive the horizontal rotating shaft to rotate, thereby driving the distal finger joint module to swing around the horizontal rotating shaft, thereby realizing the bending function of the fingers of the dexterous hand. Among them, the proximal finger joint module is thicker, and the distal finger joint module is thinner, and in the projection plane perpendicular to the output shaft, the projections of the first bracket and the second bracket are both within the outer contour range of the projection of the proximal finger joint module, and the projection of the distal finger joint module is within the outer contour range of the projection of the second bracket. With this arrangement, the drive connection between the proximal finger joint module and the distal finger joint module is realized in the narrow space of the finger. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so that those skilled in the art will understand the above and other features and advantages of the present invention more clearly. In the accompanying drawings:

[0020] Figure 1 This is a schematic structural diagram of a preferred implementation of the finger joint assembly of this embodiment.

[0021] Figure 2 This is a schematic diagram of the structure of the finger joint assembly of this embodiment through the worm and worm gear transmission.

[0022] Figure 3 Schematic diagram of the limiting structure of the reference zero point position in the finger joint assembly of this embodiment.

[0023] Figure 4 Schematic diagram of the connection structure between the first bracket and the second bracket in the finger joint assembly of this embodiment.

[0024] Figure 5 This is a schematic diagram of a connection structure between the first bracket and the proximal knuckle module in the knuckle assembly of this embodiment.

[0025] Figure 6 This is a schematic diagram of another connection structure between the first bracket and the proximal knuckle module in the knuckle assembly of this embodiment.

[0026] Figure 7 Schematic diagram of the connection structure between the support bearing and the first bracket in the finger joint assembly of this embodiment.

[0027] Figure 8 Schematic diagram of the structure of the joint module of this embodiment.

[0028] Figure 9 Schematic cross-section of the joint module of this embodiment.

[0029] Figure 10Schematic diagram of the connection structure of the transmission shaft in the joint module of this embodiment.

[0030] Figure 11 Schematic diagram of the position of the first bearing in the joint module of this embodiment.

[0031] Figure 12 Schematic diagram of the position of magnetic beads in the joint module of this embodiment.

[0032] Figure 13 Schematic diagram of the relative positions of the magnetic beads and magnetic sensors in the joint module of this embodiment.

[0033] Figure 14 Schematic diagram of the polarity regions of the magnetic beads in the joint module of this embodiment.

[0034] The accompanying drawings are numerals as follows:

[0035] 10-proximal knuckle module; 101-first shell; 102-second shell;

[0036] 20-distal knuckle module;

[0037] 1-first bracket; 11-first support member; 111-first plane; 112-mounting groove; 1121-limiting ring wall; 113 pin; 114-limiting protrusion; 12-support block;

[0038] 2- horizontal rotating shaft; 21- connecting portion; 211- axial limiting surface; 212- radial limiting surface; 213- main pin hole;

[0039] 3-second bracket; 31-second support member; 311-second plane; 312-notch; 313-auxiliary pin hole; 314-limiting bottom; 32-end cover;

[0040] 4- driving part; 5- driven part; 6- supporting bearing;

[0041] 103-motor; 1031-external stator; 1032-inner rotor;

[0042] 104-first bearing; 105-wave generator; 106-second bearing;

[0043] 107- transmission shaft; 1071- first annular step; 1072- second annular step;

[0044] 108-magnetic beads; 1081-upper magnetic segment; 1082-lower magnetic segment;

[0045] 109-driver; 1091-magnetic sensor. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is further described in detail with reference to the following examples.

[0047] In the description of this application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0048] The finger joint assembly provided in this embodiment is used for the dexterous hands of a humanoid robot. The humanoid robot has two dexterous hands, each of which can have a palm and five fingers like a human, with the thumb having two joints and the other four fingers having three joints each.

[0049] The knuckle assembly provided in this embodiment includes a proximal knuckle module 10, a distal knuckle module 20, and a transmission assembly. The proximal knuckle module 10 has an output shaft at one axial end, and a first bracket 1 is connected to the outer wall near the output shaft. Within a projection plane perpendicular to the output shaft, the projection of the first bracket 1 falls within the outer contour of the projection of the proximal knuckle module 10.

[0050] For example, in the knuckle assembly of this embodiment, the proximal knuckle module 10 includes a first housing 101, a motor, and a reducer. The motor is housed within the first housing 101, and the reducer is connected to the axially outer end of the first housing 101, which is driven by the motor. An output shaft is located at one axial end of the proximal knuckle module 10, which can be understood as the output shaft of the reducer.

[0051] The distal knuckle module 20 is located further away from the palm of the dexterous hand than the proximal knuckle module 10. A second bracket 3 is connected to the outer wall of the distal knuckle module 20. The second bracket 3 is hinged to the first bracket 1 via a horizontal rotation axis 2. When the distal knuckle module 20 and the proximal knuckle module 10 are collinear, the projection of the second bracket 3 is within the outer contour of the projection of the proximal knuckle module 10, and the projection of the distal knuckle module 20 is within the outer contour of the projection of the second bracket 3, within a projection plane perpendicular to the output axis.

[0052] Furthermore, the transmission assembly includes an active member 4 and a driven member 5 of meshing transmission, the active member 4 is connected to the output shaft, and the driven member 5 is connected to the horizontal rotating shaft 2.

[0053] In the above-mentioned finger joint assembly, the output shaft of the proximal finger joint module 10 drives the active member 4 to rotate, and the active member 4 engages with the driven member 5 to drive the horizontal rotation axis 2 to rotate, thereby driving the distal finger joint module 20 to swing around the horizontal rotation axis 2, thereby realizing the bending function of the fingers of the dexterous hand. Among them, the proximal finger joint module 10 is relatively thick, and the distal finger joint module 20 is relatively thin. In the projection plane perpendicular to the output shaft, the projections of the first bracket 1 and the second bracket 3 are both within the outer contour range of the projection of the proximal finger joint module 10, and the projection of the distal finger joint module 20 is within the outer contour range of the projection of the second bracket 3. This arrangement makes it easier to achieve a drive connection between the proximal finger joint module 10 and the distal finger joint module 20 in the narrow space of the finger.

[0054] exist Figure 1 In the illustrated embodiment, both the driving element 4 and the driven element 5 of the transmission assembly are bevel gears, and the extended axis of the output shaft of the proximal phalanx module 10 intersects perpendicularly with the axis of the horizontal rotation axis 2. The two bevel gears change the transmission direction, converting the rotation of the output shaft of the proximal phalanx module 10 into the oscillation of the distal phalanx module about the horizontal rotation axis 2.

[0055] exist Figure 2 In another embodiment, the driving element 4 of the transmission assembly is a worm, and the driven element 5 is a worm gear. The extended axis of the output shaft of the distal phalanx module is perpendicular and does not intersect the axis of the horizontal rotation axis 2. The worm and worm gear change the transmission direction, converting the rotation of the output shaft of the proximal phalanx module 10 into the swing of the distal phalanx module about the horizontal rotation axis 2.

[0056] Reference Figure 3 A limiting protrusion 114 is provided on the outer wall of the first bracket 1, and the limiting bottom 314 of the second bracket 3 is cooperated with the limiting protrusion 114 to limit the rotation angle of the distal knuckle module 20, and the position where the limiting bottom 314 contacts the limiting protrusion 114 is the reference zero point position for the rotation control of the distal knuckle module 20.

[0057] For example, the distal knuckle module 20 can rotate from a position aligned with the proximal knuckle module 10 to a position perpendicular to the axis of the proximal knuckle module 10's output shaft. The cooperation between the limiting protrusion 114 of the first bracket 1 and the limiting bottom 314 of the second bracket 3 can restrict the proximal knuckle module 10 from further rotation at this position. Thus, when controlling the rotation of the distal knuckle module 20, when the distal knuckle module 20 rotates to a position perpendicular to the axis of the proximal knuckle module 10's output shaft, further rotation of the distal knuckle module 20 will result in stalling. By detecting the current during stalling, it can be determined that the distal knuckle module 20 has rotated to the reference zero position, thereby calibrating the motion control of the distal knuckle module 20.

[0058] Reference Figure 1 and Figure 4 In a preferred embodiment of the above-mentioned finger joint assembly, the first bracket 1 has a pair of first support members 11 arranged opposite to each other. The horizontal shaft 2 is rotatably mounted on the pair of first support members 11 and is perpendicular to the output shaft. Both ends of the horizontal shaft 2 extend out of the first support members 11 and are each provided with a connecting portion 21. The second bracket 3 has a pair of second support members 31 arranged opposite to each other, and the pair of second support members 31 are respectively connected to the two connecting portions 21 of the horizontal shaft 2.

[0059] In this embodiment, the second support member 31 is on the outside of the first support member 11, the second bracket 3 is fixedly connected to the two connecting parts 21 of the horizontal rotation shaft 2, and the horizontal rotation shaft 2 is rotatably connected to the first bracket 1. In this way, the function of the second bracket 3 rotating relative to the first bracket 1 can be realized. At the same time, since the projection of the first bracket 1 is within the outer contour of the projection surface of the proximal knuckle module 10 in the projection plane perpendicular to the output shaft, and after the second bracket 3 is connected to the first bracket 1, the projection of the second bracket 3 can still be within the outer contour of the projection surface of the proximal knuckle module 10, it is ensured that in the narrow space of the fingers, the connection structure can realize the drive connection between the proximal knuckle module 10 and the distal knuckle module 20.

[0060] Continue to refer to Figure 4 The connecting portion 21 of the horizontal rotating shaft 2 is formed with an axial limiting surface 211 and a radial limiting surface 212 on opposite sides of the horizontal rotating shaft 2. The axial limiting surface 211 is perpendicular to the axis of the horizontal rotating shaft 2, and the radial limiting surface 212 is parallel to the axis of the horizontal rotating shaft 2. The axial limiting surface 211 and the radial limiting surface 212 on the same side are connected. The connecting portion 21 also has a main pin hole 213 formed therein. The main pin hole 213 passes through the two radial limiting surfaces 212 and is perpendicular to the axis of the horizontal rotating shaft 2.

[0061] A notch 312 is formed at the end of the second support member 31. The notch 312 receives the connecting portion 21 of the horizontal shaft 2. The two inner sidewalls of the notch 312 engage with the two radial limiting surfaces 212 of the connecting portion 21. Furthermore, the second support member 31 has an auxiliary pin hole 313 on either side of the notch 312. The holes are configured to allow a pin to sequentially pass through one auxiliary pin hole 313, the main pin hole 213, and another auxiliary pin hole 313 of the second support member 31.

[0062] In this way, the notch 312 of the second support member 31 can be limitedly engaged with the connecting portion 21 of the horizontal rotation shaft 2, and the second support member 31 can be connected to the connecting portion 21 at one end of the horizontal rotation shaft 2 via a pin. In this way, the connection between the second bracket 3 and the horizontal rotation shaft 2 is more compact and strong.

[0063] Continue to refer to Figure 4 In a preferred embodiment of the finger joint assembly of this embodiment, the ends of the pair of second support members 31 of the second bracket 3, facing away from the connection portion 21, are connected to an end cap 32, which is part of the shell assembly of the distal finger joint module 20. This reduces the number of steps required to connect the second bracket 3 and the distal finger joint module 20, improves the assembly efficiency of the finger joint assembly, and helps save space within the fingers of the dexterous hand occupied by the second bracket 3.

[0064] In a preferred embodiment of the finger joint assembly of this embodiment, continue to refer to Figure 4 The outer wall of the first support member 11 is formed with a first flat surface 111, and the inner wall of the second support member 31 is formed with a second flat surface 311. The first flat surface 111 and the second flat surface 311 are opposite and parallel to each other. The arrangement of the first support member 11 and the second support member 31 with their flat surfaces facing each other not only facilitates the rotational connection between the first bracket 1 and the second bracket 3, but also helps save space within the fingers of the dexterous hand.

[0065] Reference Figure 5 In one connection method between the first bracket 1 and the proximal knuckle module 10, the first bracket 1 also includes four support blocks 12, the inner wall of the support block 12 is adapted to the circumferential outer wall of the second shell 102 of the reducer, and one end of each support block 12 is connected to the axial outer end of the first shell 101 of the motor, and the two support blocks 12 are connected to the bottom end of the same first support member 11.

[0066] In this embodiment, the lateral dimension of the first bracket 1 is larger than that of the reducer, but the projection of the first bracket 1 is within the outer contour of the projection of the first housing 101 in which the motor is arranged in a projection plane perpendicular to the output shaft.

[0067] Reference Figure 6 In another connection method between the first bracket 1 and the proximal knuckle module 10, at least two pins 113 are provided at the bottom end of the first support member 11. The two pins 113 are connected to the top surface of the second housing 102 of the reducer. In this connection method, the lateral dimensions of the reducer are smaller than those of the first housing 101 containing the motor. By being connected to the reducer, the first bracket 1 can be even smaller than the reducer, thereby further reducing the lateral dimensions of the first bracket 1 and better utilizing the narrow space within the fingers of the dexterous hand.

[0068] Reference Figure 7In one connection method between the first bracket 1 and the horizontal shaft 2, a mounting groove 112 for a support bearing 6 is provided on the first support member 11. The inner end of the mounting groove 112 allows a support bearing 6 to enter, while the outer end of the mounting groove 112 is formed with a retaining ring wall 1121 to prevent the support bearing 6 from moving outward. The horizontal shaft 2 is connected to the support bearings 6 mounted on the two first support members 11. This embodiment achieves both positional fixation of the support bearings 6 and rotational connection of the horizontal shaft 2. Preferably, the support bearing 6 is a self-lubricating support bearing 6.

[0069] In this embodiment, the proximal knuckle module may include a Figure 8 and Figure 9 The joint module shown includes a power component, a harmonic reducer and a transmission shaft 107.

[0070] The power assembly includes a first housing 101, a motor 103, and a first bearing 104. The motor 103 is disposed in a chamber of the first housing 101, and the first bearing 104 is mounted in a first mounting groove on the inner top wall of the first housing 101. The harmonic reducer includes a second housing 102, a wave generator 105, and a second bearing 106. For example, the second bearing 106 is preferably a thin-walled bearing to ensure the weight reduction and assembly space of the harmonic reducer.

[0071] The second housing 102 is connected to the top outer wall of the first housing 101, and the wave generator 105 is connected to the interior of the second housing 102 via the second bearing 106. A mounting hole is provided at the bottom of the wave generator 105. For example, the annular outer wall of the wave generator 105 is connected to the inner ring of the second bearing 106. The lower section of the transmission shaft 107 is connected to the inner rotor 1032 of the motor 103, while the middle section of the transmission shaft 107 is supported and connected to the first bearing 104. The upper section of the transmission shaft 107 extends from the first housing 101 into the second housing 102 and is supported and connected to the mounting hole of the wave generator 105.

[0072] In the joint module provided in this embodiment, a first bearing 104 is disposed in the first mounting slot of the first housing 101 of the power assembly, and a second bearing 106 is disposed in the second housing 102 of the harmonic reducer. The transmission shaft 107 utilizes the first bearing 104 of the power assembly and the second bearing 106 of the harmonic reducer to achieve rotational support. This eliminates the need for a bearing assembly in the power assembly and effectively shortens the axial length of the transmission shaft 107, thereby reducing the volume of the joint module of the finger joint assembly of the dexterous humanoid robot hand and making the joint module structure more compact.

[0073] In a preferred embodiment of the joint module of this embodiment, Figure 9 and Figure 10Transmission shaft 107 is sequentially provided with a first annular step 1071 and a second annular step 1072 toward its output end. The diameter of first annular step 1071 is larger than that of second annular step 1072. First annular step 1071 abuts one end of first bearing 104, while second annular step 1072 abuts the outer end of the mounting hole of wave generator 105. Thus, first annular step 1071 and second annular step 1072 effectively limit the length of transmission shaft 107 extending from the power assembly and into the harmonic reducer, facilitating a reliable connection between transmission shaft 107, the power assembly, and the harmonic reducer.

[0074] In a preferred embodiment of the joint module of this embodiment, Figure 7 and Figure 11 Motor 103 is a frameless motor 103, comprising an outer stator 1031 and an inner rotor 1032. Both axial ends of the outer stator 1031 extend axially beyond the inner rotor 1032. The first bearing 104 and at least a portion of the sidewall of its corresponding first mounting slot extend into the interior of the axial top side of the outer stator 1031. This structure of the frameless motor 103 allows the first bearing 104 to extend therein, further reducing the axial length of the power assembly.

[0075] In a preferred embodiment of the joint module of this embodiment, Figure 7 、 Figure 12 and Figure 13 A driver 109 is provided at the bottom of the first housing 101 of the power assembly. The driver 109 is used to control the motion parameters of the motor 103. The magnetic sensor 1091 of the encoder assembly is also integrated into the driver 109. The encoder assembly includes the magnetic sensor 1091 and the magnetic beads 108.

[0076] The end of the transmission shaft 107 facing away from its output end is provided with a second mounting groove, which is used to install the magnetic bead 108 of the encoder assembly. The magnetic bead 108 and the end of the transmission shaft 107 are both located inside the axial bottom side of the outer stator 1031. This design is also conducive to further reducing the axial length of the power assembly.

[0077] For example, the magnetic bead 108 is facing the magnetic sensor 1091. When the motor 103 drives the transmission shaft 107 to rotate, the magnetic bead 108 also rotates synchronously. Since the magnetic sensor 1091 detects the change of magnetic pole when the magnetic bead 108 rotates, it can determine the rotation angle and rotation speed of the motor 103, and then feed back the detection information to the driver 109 to improve the accuracy of the driver 109 in controlling the motor 103.

[0078] In a preferred embodiment of the joint module of this embodiment, the transmission shaft 107 can be a magnetic shielding shaft. In another embodiment, a magnetic shielding layer can be provided between the second mounting groove of the transmission shaft 107 and the magnetic bead 108, and the magnetic shielding layer surrounds the top wall and annular side wall of the magnetic bead 108.

[0079] For example, the magnetic shield shaft or magnetic shield layer can be made of a high-permeability material such as Permalloy, μ-metal, an iron-nickel alloy, high-silicon steel, or grain-oriented silicon steel. This high permeability provides a low-reluctance "bypass" for the magnetic flux generated by the stator windings of the power assembly's motor 103, attracting and confining most of the magnetic flux within the shielding material. This prevents the magnetic field generated by the stator windings of the external stator 1031 from affecting the encoder assembly's detection process.

[0080] In a preferred embodiment of the joint module of this embodiment, Figure 14 The magnetic bead 108 has an upper magnetic segment 1081 and a lower magnetic segment 1082 that are equidistant in the axial direction and have opposite polarities. The upper magnetic segment 1081 and the lower magnetic segment 1082 are also divided into two magnetic regions with opposite polarities in the radial direction. Thus, compared to the magnetic bead 108 having the same magnetic polarity in the axial direction, a closed curve is formed between the partial magnetic flux lines of the S-pole magnetic region of the lower magnetic segment 1082 of the magnetic bead 108 provided in this embodiment and the N-pole magnetic region of the upper magnetic segment 1081. Similarly, a closed curve is also formed between the partial magnetic flux lines of the N-pole magnetic region of the lower magnetic segment 1082 of the magnetic bead 108 and the S-pole magnetic region of the upper magnetic segment 1081. This effectively weakens the magnetic field between the S-pole magnetic region of the lower magnetic segment 1082 and the N-pole magnetic region of the lower magnetic segment 1082. This effectively weakens the magnetic field of the magnetic bead 108 in the radial direction, thereby preventing the magnetic field generated by the stator winding of the outer stator 1031 from affecting the detection process of the encoder assembly.

[0081] It should be understood that although this specification is described according to various embodiments, not every embodiment or implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0082] The above description is only an illustrative embodiment of the present invention and is not intended to limit the scope of the present invention. Any equivalent changes, modifications, and combinations made by any person skilled in the art without departing from the concept and principle of the present invention should fall within the scope of protection of the present invention.

Claims

1. A finger joint assembly, characterized in that: include: A proximal knuckle module (10) has an output shaft at one axial end thereof, and an outer wall thereof is connected to a first bracket (1) at an end close to the output shaft; wherein, in a projection plane perpendicular to the output shaft, a projection of the first bracket (1) is within the outer contour of a projection of the proximal knuckle module (10); A distal knuckle module (20) is provided with a second bracket (3) connected to its outer wall, and the second bracket (3) is hinged to the first bracket (1) via a horizontal rotation axis (2); wherein, when the distal knuckle module (20) and the proximal knuckle module (10) are on the same straight line, in a projection plane perpendicular to the output shaft, the projection of the second bracket (3) is within the outer contour of the projection of the proximal knuckle module (10), and the projection of the distal knuckle module (20) is within the outer contour of the projection of the second bracket (3); A transmission assembly comprises an active member (4) and a driven member (5) of meshing transmission, wherein the active member (4) is connected to the output shaft, and the driven member (5) is connected to the horizontal rotating shaft (2).

2. The finger joint assembly according to claim 1, characterized in that: The active member (4) and the driven member (5) are both bevel gears, and the extended line of the axis of the output shaft intersects the axis of the horizontal rotating shaft (2) at right angles; or, The active member (4) is a worm, the driven member (5) is a worm wheel, and the extended line of the axis of the output shaft is perpendicular to and does not intersect the axis of the horizontal rotating shaft (2).

3. The finger joint assembly according to claim 1, characterized in that: A limiting protrusion (114) is provided on the outer side wall of the first bracket (1), and the limiting bottom (314) of the second bracket (3) cooperates with the limiting protrusion (114) to limit the rotation angle of the distal finger joint module (20), and the position where the limiting bottom (314) contacts the limiting protrusion (114) is the reference zero point position for the rotation control of the distal finger joint module (20).

4. The finger joint assembly according to claim 1, characterized in that The first bracket (1) has a pair of first support members (11) arranged opposite to each other; The horizontal rotating shaft (2) is rotatably arranged on the pair of first supporting members (11) and is perpendicular to the output shaft, and both ends of the horizontal rotating shaft (2) extend out of the first supporting member (11) and are both provided with a connecting portion (21); The second bracket (3) has a pair of second support members (31) arranged opposite to each other, and the pair of second support members (31) are respectively and correspondingly connected to the two connecting parts (21) of the horizontal rotating shaft (2).

5. The finger joint assembly according to claim 4, characterized in that: An axial limiting surface (211) and a radial limiting surface (212) are respectively formed on opposite sides of the connecting portion (21), and the axial limiting surface (211) and the radial limiting surface (212) on the same side are connected; wherein the connecting portion (21) is further formed with a main pin hole (213), and the main pin hole (213) passes through the two radial limiting surfaces (212); and, A notch (312) is formed at the end of the second support member (31), the notch (312) is for the connection portion (21) to be inserted into, and two opposite inner side walls of the notch (312) are limitedly engaged with two radial limiting surfaces (212) of the connection portion (21); and the second support member (31) is provided with an auxiliary pin hole (313) on both sides of the notch (312), respectively, and is configured to allow a pin to pass through the two auxiliary pin holes (313) of the second support member (31) and a main pin hole (213) of the connection portion (21).

6. The finger joint assembly according to claim 4, characterized in that: A motor is provided in the first housing (101) of the proximal knuckle module (10), and a reducer is connected to the axial outer end of the first housing (101), and the reducer is driven by the motor; wherein, The first bracket (1) further comprises four support blocks (12), the inner walls of the support blocks (12) being adapted to the circumferential outer walls of the second housing (102) of the reducer, and one end of each support block (12) being connected to the axial outer end of the first housing (101) of the motor, and two support blocks (12) being connected to the bottom end of the same first support member (11); or, At least two pins (113) are provided at the bottom end of the first support member (11), and the two pins (113) are connected to the top surface of the second housing (102) of the reducer.

7. The finger joint assembly according to claim 4, characterized in that: The ends of a pair of second support members (31) of the second bracket (3) facing away from the connecting portion (21) are connected to an end cover (32), and the end cover (32) is part of the shell component of the distal knuckle module (20); or, The outer side wall of the first support member (11) is formed with a first plane (111), and the inner side wall of the second support member (31) is formed with a second plane (311), and the first plane (111) and the second plane (311) are opposite to and parallel to each other.

8. The finger joint assembly according to claim 4, characterized in that: The first support member (11) is provided with a mounting groove (112) for a support bearing (6), and an inner end of the mounting groove (112) is provided for a support bearing (6) to enter, and an outer end of the mounting groove (112) is formed with a limiting ring wall (1121) for preventing the support bearing (6) from moving outward; wherein the horizontal rotation shaft (2) is connected to the support bearings (6) mounted on the two first support members (11).

9. A dexterous hand, characterized in that: The dexterous hand comprises at least one finger joint assembly according to any one of claims 1 to 8.

10. A humanoid robot, characterized in that: It is equipped with the dexterous hand as claimed in claim 9.

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