Magnetic deceleration direct drive type finger joint module
By designing an axial flux motor and a two-stage magnetic coupling reducer, the stability and space occupation issues of the finger joint module in the transmission mechanism are solved, achieving efficient energy utilization and precise control, and increasing the range of motion and flexibility of the finger joints.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SUZHOU HEARTHILL MEDICAL CO LTD
- Filing Date
- 2026-04-24
- Publication Date
- 2026-07-21
AI Technical Summary
Existing finger joint modules suffer from high stability and precision but poor degrees of freedom due to rigid connections in the transmission mechanism. Furthermore, the reducer of the drive motor occupies a large space, making it difficult to compress the module space.
An axial flux motor and a two-stage magnetic coupling reducer are used. By rationally arranging the reducer structure, direct drive is achieved to increase output torque, avoid mechanical loss, and simplify module size.
It improves energy efficiency, increases the range of motion and flexibility of finger joints, reduces module size, provides more precise control, eliminates actual contact between parts, and reduces mechanical wear.
Smart Images
Figure CN122437307A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of robotic finger joint technology, and in particular to a magnetically decelerated direct-drive finger joint module. Background Technology
[0002] Existing finger joint modules can be categorized based on their transmission mechanisms into: linkage-driven joint modules, tendon-driven joint modules, and gear-driven joint modules. Linkage and gear drives offer high stability and precision due to rigid connections between parts, but the finger joint's trajectory is fixed, resulting in limited freedom of movement. Tendon-driven mechanisms simulate human tendons by using tendon ropes and pulleys to drive joint movement. Tendon ropes are often made of polymer fibers or metal. Dexterous hands made using this type of transmission offer high freedom of movement, but their drawbacks are also apparent: polymer fibers are prone to creep under continuous stress, reducing transmission precision; and metal materials are susceptible to breakage after repeated bending fatigue.
[0003] Meanwhile, the existing related modules typically use planetary gear reducers to reduce the speed of the drive motor. Although the manufacturing cost is low, the housing diameter cannot be compressed due to the limitation of the required transmission ratio, making it difficult to streamline the module space.
[0004] Therefore, it is necessary to provide a magnetically decelerated direct-drive finger joint module. Summary of the Invention
[0005] The main technical problem solved by the embodiments of the present invention is to increase the output torque by using an axial flux motor and a reducer to achieve direct drive, and to reduce the module volume by rationally arranging the reducer structure.
[0006] To address the aforementioned technical problems, this invention provides a magnetically reduced direct-drive finger joint module. This magnetically reduced direct-drive finger joint module includes a motor body, a primary reducer, and a secondary reducer. The motor body includes a main shaft, a stator assembly, a rotor assembly, and bearings; the stator assembly is fixedly sleeved on the main shaft, and the rotor assembly and the bearings are respectively disposed on both sides of the stator assembly; the rotor assembly includes a rotor base and rotor magnets, the rotor base is rotatably sleeved on the main shaft, and the rotor magnets are disposed on the rotor base; the bearings are fixedly sleeved on the main shaft. The first-stage reducer is located at one end of the main shaft near the rotor assembly. The first-stage reducer includes an inner magnet, an adjusting ring, an outer magnet, and a housing. The inner magnet is mounted on the rotor base, and the adjusting ring is fixedly sleeved on the main shaft. The housing is sleeved on the motor body, with one end rotatably sleeved on the main shaft and the other end rotatably sleeved on a bearing. The outer magnet is located on the inner wall of the end of the housing. The secondary reducer is disposed outside the primary reducer. The secondary reducer includes a secondary inner magnet, an adjusting sleeve, a secondary outer magnet, and a secondary housing. The secondary inner magnet is sleeved and fixed to the circumferential outer wall of the primary housing. The adjusting sleeve is sleeved outside the secondary inner magnet and fixedly connected to the main shaft and the bearing at both ends, respectively. The secondary housing is sleeved outside the adjusting sleeve. One end of the secondary housing is rotatably sleeved on the main shaft, and the other end is rotatably sleeved on the bearing. The secondary outer magnet is disposed on the circumferential inner wall of the secondary housing. When the stator winding of the stator assembly is energized and drives the rotor assembly to rotate, the primary inner magnet rotates synchronously with the rotor assembly. The primary inner magnet drives the primary outer magnet, the primary housing, and the secondary inner magnet to rotate at a reduced speed. The secondary inner magnet drives the secondary outer magnet and the secondary housing to rotate at a reduced speed.
[0007] Preferably, the bearing is provided with an axially extending slot through which the lead wires of the stator winding pass out.
[0008] Preferably, the rotor base is annular, and a ball bearing is provided at the center of the rotor base. The rotor base is rotatably connected to the main shaft through the ball bearing. A rotor magnet slot for accommodating the rotor magnet is coaxially provided on one side of the rotor base, and a primary inner magnet slot for accommodating the primary inner magnet is coaxially provided on the other side.
[0009] Preferably, the adjusting ring is circular, and the center of the adjusting ring is interference-fitted with the main shaft.
[0010] Preferably, the primary housing includes a primary main housing with one end open and a primary end plate that closes the open end of the primary main housing. A ball bearing is provided at the center of the closed end of the primary main housing. The primary main housing is rotatably connected to the main shaft through the ball bearing. The outer periphery of the primary end plate is bonded and fixed to the open end of the primary main housing, and the inner periphery of the primary end plate is slidably connected to the bearing.
[0011] Preferably, the inner wall of the closed end of the primary main shell is coaxially provided with a primary outer magnet groove to accommodate the primary outer magnet; the secondary inner magnet is fixed to the circumferential outer wall of the primary main shell.
[0012] Preferably, the magnetic adjusting sleeve includes a magnetic adjusting sleeve body and a first magnetic adjusting sleeve end cap and a second magnetic adjusting sleeve end cap that close the magnetic adjusting sleeve body at both ends; the magnetic adjusting sleeve body is coaxially sleeved outside the secondary inner magnet; the outer periphery of the first magnetic adjusting sleeve end cap is bonded and fixed to one end of the magnetic adjusting sleeve body, and the inner periphery is fixedly connected to the main shaft; the outer periphery of the second magnetic adjusting sleeve end cap is bonded and fixed to the other end of the magnetic adjusting sleeve body, and the inner periphery is fixedly connected to the bearing.
[0013] Preferably, the secondary housing includes a secondary main housing and a first secondary end cap and a second secondary end cap that close the secondary main housing at both ends; the secondary main housing is coaxially sleeved outside the magnetic adjustment sleeve; the outer periphery of the first secondary end cap is bonded and fixed to one end of the secondary main housing, and the inner periphery is provided with a ball bearing for rotatable connection with the main shaft; the outer periphery of the second secondary end cap is bonded and fixed to the other end of the secondary main housing, and the inner periphery is slidably connected to the bearing.
[0014] Preferably, the number of pole pairs of the first-stage inner magnet is P1, the number of pole pairs of the first-stage outer magnet is P2 which is greater than P1, the first transmission ratio of the first-stage reducer is P2:P1, and the torque transmission ratio of the first-stage reducer is P1:P2; the magnetic adjustment ring is provided with multiple fan-shaped first magnetic conductors at equal intervals along the circumference, and the number of the first magnetic conductors is P1+P2.
[0015] Preferably, the number of pole pairs of the secondary inner magnet is P3, the number of pole pairs of the secondary outer magnet is P4 which is greater than P3, the second transmission ratio of the secondary reducer is P4:P3, and the torque transmission ratio of the secondary reducer is P3:P4; the magnetic adjustment sleeve is provided with a plurality of elongated second magnetic conductors at equal intervals along the circumference, and the number of the second magnetic conductors is P3+P4.
[0016] Preferably, it further includes a knuckle housing, which is fixedly sleeved outside the secondary housing; the knuckle housing rotates with the secondary housing.
[0017] Compared with the prior art, the technical solutions of the embodiments of the present invention have beneficial effects.
[0018] For example, the magnetically driven direct-drive finger joint module of this invention utilizes an axial flux motor and a magnetically coupled reducer to achieve direct drive and increase output torque. The module directly drives the finger joint, avoiding mechanical losses caused by linkages, tendons, or gear transmissions, thus improving energy utilization. A two-stage magnetically coupled reducer is used: the first stage is axially deployed, and the second stage is radially deployed. This rational arrangement of the reducer structure reduces the module size and simplifies the overall finger joint structure. Because the magnetically coupled reducer is driven by a magnetic field, there is no actual contact between parts, eliminating the mechanical losses associated with gear meshing, making it more reliable. The module's direct-drive structure correlates the joint bending angle with the module's angular velocity, resulting in more precise control and a larger, more flexible range of motion for the finger joint. Attached Figure Description
[0019] Figure 1 This is a cross-sectional view of the magnetic deceleration direct-drive finger joint module in an embodiment of the present invention; Figure 2 This is a schematic diagram of the stator assembly, spindle, and bearing installation in an embodiment of the present invention; Figure 3 This is a schematic diagram of the rotor assembly and main shaft in an embodiment of the present invention; Figure 4 This is a schematic diagram of the installation of the first-stage reducer in an embodiment of the present invention; Figure 5 This is a schematic diagram of the adjusting magnetic ring structure in an embodiment of the present invention; Figure 6 This is a schematic diagram of the primary main shell structure in an embodiment of the present invention; Figure 7 This is a cross-sectional view of the primary shell in an embodiment of the present invention; Figure 8 This is a schematic diagram of the installation of the two-stage reducer in an embodiment of the present invention; Figure 9 This is a schematic diagram of the main structure of the adjusting sleeve in an embodiment of the present invention; Figure 10 This is a schematic diagram of the first magnetic adjustment sleeve end cap in an embodiment of the present invention; Figure 11 This is a schematic diagram of the second magnetic adjustment sleeve end cap in an embodiment of the present invention; Figure 12 This is a schematic diagram of the secondary housing installation in an embodiment of the present invention; Figure 13 This is a cross-sectional view of a finger in an embodiment of the present invention; Figure 14 This is a side view of a finger in an embodiment of the present invention.
[0020] In the picture: 1-Motor body; 11-Main shaft; 111-First end; 112-Second end; 12-Stator assembly; 13-Rotor assembly; 131-Rotor base; 132-Rotor magnet; 14-Bearing; 141-Cable outlet slot; 2-First stage reducer; 21-First stage inner magnet; 22-Adjusting ring; 221-First magnetic conductor; 23-First stage outer magnet; 24-First stage housing; 241-First stage main housing; 242-First stage end plate; 3-Two-stage reducer; 31-Two-stage inner magnet; 32-Magnetic adjusting sleeve; 321-Second magnetic conductor; 322-Magnetic adjusting sleeve body; 323-First magnetic adjusting sleeve end cap; 324-Second magnetic adjusting sleeve end cap; 33-Two-stage outer magnet; 34-Two-stage housing; 341-Two-stage main housing; 342-First two-stage end cap; 343-Second two-stage end cap; 4-Joint shell; 100-Magnetic deceleration direct drive finger joint module. Detailed Implementation
[0021] To make the objectives, features, and beneficial effects of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described below are merely for explaining the present invention and are not intended to limit the present invention. Furthermore, the same or similar reference numerals may be used in the figures to refer to the same or similar elements in different embodiments, and descriptions of the same or similar elements in different embodiments, as well as descriptions of prior art elements, features, effects, etc., may be omitted. It should be noted that in the embodiments of the present invention, the axial, radial, and circumferential directions respectively represent the axial, radial, and circumferential directions of the main shaft 11.
[0022] Reference Figures 1-14 This invention provides a magnetic deceleration direct-drive finger joint module.
[0023] Specifically, the magnetic reduction direct drive finger joint module 100 includes a motor body 1, a first-stage reducer 2, and a second-stage reducer 3. The motor body 1 includes a main shaft 11, a stator assembly 12, a rotor assembly 13, and a bearing 14. The stator assembly 12 is fixedly sleeved on the main shaft 11. The rotor assembly 13 and the bearing 14 are respectively disposed on both sides of the stator assembly 12. The rotor assembly 13 includes a rotor base 131 and a rotor magnet 132. The rotor base 131 is rotatably sleeved on the main shaft 11, and the rotor magnet 132 is disposed on the rotor base 131. The bearing 14 is fixedly sleeved on the main shaft 11. The first-stage reducer 2 is located at one end of the main shaft 11 near the rotor assembly 13. The first-stage reducer 2 includes an inner magnet 21, an adjusting ring 22, an outer magnet 23, and a housing 24. The inner magnet 21 is located on the rotor base 131, and the adjusting ring 22 is fixedly sleeved on the main shaft 11. The housing 24 is sleeved outside the motor body 1. One end of the housing 24 is rotatably sleeved on the main shaft 11, and the other end is rotatably sleeved on the bearing 14. The outer magnet 23 is located on the inner wall of the end of the housing 24. The secondary reducer 3 is located outside the primary reducer 2. The secondary reducer 3 includes a secondary inner magnet 31, a magnetic adjustment sleeve 32, a secondary outer magnet 33, and a secondary housing 34. The secondary inner magnet 31 is sleeved and fixed to the circumferential outer wall of the primary housing 24. The magnetic adjustment sleeve 32 is sleeved outside the secondary inner magnet 31 and is fixedly connected to the main shaft 11 and the bearing 14 at both ends, respectively. One end of the secondary housing 34 is rotatably sleeved on the main shaft 11, and the other end is rotatably sleeved on the bearing 14. The secondary outer magnet 33 is located on the circumferential inner wall of the secondary housing 34. When the stator winding of the stator assembly 12 is energized and drives the rotor assembly 13 to rotate, the first-stage inner magnet 21 rotates synchronously with the rotor assembly 13. The first-stage inner magnet 21 drives the first-stage outer magnet 23, the first-stage housing 24 and the second-stage inner magnet 31 to rotate at a reduced speed. The second-stage inner magnet 31 drives the second-stage outer magnet 33 and the second-stage housing 34 to rotate at a reduced speed.
[0024] Specifically, the main shaft 11 has a first end 111 and a second end 112; the stator assembly 12 is fixedly sleeved in the middle of the main shaft 11; the rotor base 131 is located on the side of the stator assembly 12 near the first end 111; the rotor magnet 132 is disposed on the side of the rotor base 131 near the stator assembly 12; and the bearing 14 is located on the side of the stator assembly 12 near the second end 112.
[0025] Specifically, the first-stage inner magnet 21 is disposed on the side of the rotor base 131 away from the stator assembly 12, the adjusting ring 22 is located on the side of the rotor assembly 13 near the first end 111, the end of the first-stage housing 24 near the first end 111 is rotatably sleeved on the main shaft 11, the end of the first-stage housing 24 near the second end 112 is rotatably sleeved on the bearing 14, and the first-stage outer magnet 23 is disposed on the inner wall of the end of the first-stage housing 24 near the first end 111.
[0026] Specifically, the secondary housing 34 is sleeved outside the magnetic adjustment sleeve 32, the end of the secondary housing 34 near the first end 111 is rotatably sleeved on the main shaft 11, and the end of the secondary housing 34 near the second end 112 is rotatably sleeved on the bearing 14.
[0027] Specifically, bearing 14 is a sliding bearing.
[0028] Specifically, the motor body 1 employs an axial flux motor to ensure high power density; it uses a two-stage magnetic coupling reducer, which, compared to conventional planetary gearbox reducers, allows for more flexible permanent magnet arrangement and occupies less space; the first-stage reducer 2 is arranged axially, and the second-stage reducer 3 is arranged radially. This staggered arrangement saves space and minimizes the motor's size; the motor body 1 uses a single-rotor structure design, ensuring high power density while reserving sufficient space for the reducer, thus achieving speed reduction and torque increase. Compared to a dual-rotor structure, the single-rotor structure simplifies the axial space of one rotor, resulting in a more streamlined motor structure. Furthermore, if a reducer were subsequently installed on a dual-rotor structure, installing it only on one side would cause uneven force distribution on the two rotors, posing a risk of slippage; installing it on both sides would increase the motor's axial length, which is detrimental to finger joint structure design.
[0029] Specifically, both the first-stage inner magnet 21 and the first-stage outer magnet 23 include multiple pairs of magnets arranged alternately and oppositely along the circumferential N / S poles; both the second-stage inner magnet 31 and the second-stage outer magnet 33 include multiple pairs of magnets arranged alternately and oppositely along the circumferential N / S poles; the magnets are all made of high-grade sintered NdFeB, and the gear ratio of the reducer can be adjusted according to the usage requirements by adjusting the number of pole pairs of the inner and outer magnets.
[0030] In some embodiments, the number of pole pairs of the first-stage inner magnet 21 is P1, the number of pole pairs of the first-stage outer magnet 23 is P2 which is greater than P1, the first transmission ratio of the first-stage reducer 2 is P2:P1, the torque transmission ratio of the first-stage reducer 2 is P1:P2; the magnetic ring 22 is provided with a plurality of fan-shaped first magnetic conductors 221 at equal intervals along the circumference, and the number of first magnetic conductors 221 is P1+P2.
[0031] In some embodiments, the number of pole pairs of the secondary inner magnet 31 is P3, the number of pole pairs of the secondary outer magnet 33 is P4 which is greater than P3, the second transmission ratio of the secondary reducer 3 is P4:P3, and the torque transmission ratio of the secondary reducer 3 is P3:P4; the magnetic adjustment sleeve 32 is provided with a plurality of elongated second magnetic conductors 321 at equal intervals along the circumference, and the number of second magnetic conductors 321 is P3+P4.
[0032] Specifically, the stator assembly 12 is fixed to the spindle 11 by plastic coating or potting; the inner ring of the bearing 14 is bonded and fixed to the spindle 11.
[0033] In some embodiments, the bearing 14 is provided with an axially extending outlet groove 141, through which the stator winding leads pass and are fixed with glue to avoid the risk of wire breakage due to vibration or pulling during operation or installation; after the stator winding is energized, it generates an alternating magnetic field to drive the rotor assembly 13 to rotate.
[0034] In some embodiments, the rotor base 131 is annular, and a ball bearing is provided at the center of the rotor base 131. The rotor base 131 is rotatably connected to the main shaft 11 through the ball bearing. A rotor magnet slot for accommodating the rotor magnet 132 is coaxially provided on one side of the rotor base 131, and a primary inner magnet slot for accommodating the primary inner magnet 21 is coaxially provided on the other side.
[0035] Specifically, the rotor magnet 132 is bonded and fixed in the rotor magnet slot, and the first-stage inner magnet 21 is bonded and fixed in the first-stage inner magnet slot.
[0036] In some embodiments, the adjusting magnetic ring 22 is annular, and the center of the adjusting magnetic ring 22 is interference-fitted with the main shaft 11.
[0037] In some embodiments, the primary housing 24 includes a primary main housing 241 with one end open and a primary end plate 242 that closes the open end of the primary main housing 241. A ball bearing is provided at the center of the closed end of the primary main housing 241. The primary main housing 241 is rotatably connected to the main shaft 11 through the ball bearing. The outer periphery of the primary end plate 242 is bonded and fixed to the open end of the primary main housing 241, and the inner periphery of the primary end plate 242 is slidably connected to the bearing 14.
[0038] In some embodiments, the inner wall of the closed end of the primary main shell 241 is coaxially provided with a primary outer magnet groove for accommodating the primary outer magnet 23; the secondary inner magnet 31 is fixed to the circumferential outer wall of the primary main shell 241.
[0039] Specifically, the primary outer magnet 23 is bonded and fixed in the primary outer magnet groove, and the secondary inner magnet 31 is bonded and fixed to the circumferential outer wall of the primary main shell 241.
[0040] In some embodiments, the magnetic adjusting sleeve 32 includes a magnetic adjusting sleeve body 322 and a first magnetic adjusting sleeve end cap 323 and a second magnetic adjusting sleeve end cap 324 that close the magnetic adjusting sleeve body 322 at both ends; the magnetic adjusting sleeve body 322 is coaxially sleeved on the outside of the secondary inner magnet 31; the outer periphery of the first magnetic adjusting sleeve end cap 323 is bonded and fixed to one end of the magnetic adjusting sleeve body 322, and the inner periphery is fixedly connected to the main shaft 11; the outer periphery of the second magnetic adjusting sleeve end cap 324 is bonded and fixed to the other end of the magnetic adjusting sleeve body 322, and the inner periphery is fixedly connected to the bearing 14.
[0041] Specifically, the first magnetic sleeve end cap 323 is interference-fitted or bonded to the main shaft 11; the second magnetic sleeve end cap 324 is interference-fitted or bonded to the bearing 14.
[0042] In some embodiments, the secondary housing 34 includes a secondary main housing 341 and a first secondary end cap 342 and a second secondary end cap 343 that close the secondary main housing 341 at both ends; the secondary main housing 341 is coaxially sleeved outside the magnetic adjustment sleeve 32; the outer periphery of the first secondary end cap 342 is bonded and fixed to one end of the secondary main housing 341, and the inner periphery is provided with a ball bearing and rotatably connected to the main shaft 11; the outer periphery of the second secondary end cap 343 is bonded and fixed to the other end of the secondary main housing 341, and the inner periphery is slidably connected to the bearing 14.
[0043] Specifically, both the first and second secondary end caps 342 and the second secondary end cap 343 are provided with heat dissipation holes. When the secondary housing 34 rotates, the rotation of the first and second secondary end caps 342 and the second secondary end cap 343 creates a pressure difference between the air inside the module and the outside, promoting the circulation of internal and external air, thereby reducing the temperature rise of the module.
[0044] Specifically, the primary end plate 242 and the secondary end cover 343 are all slidingly connected to the bearing 14 with clearance fit. The bearing 14 is made of PTFE material, which has a low surface friction coefficient and a certain degree of wear resistance, thereby ensuring that the primary end plate 242 and the secondary end cover 343 can rotate freely along the tangential direction.
[0045] In some embodiments, the device further includes a knuckle housing 4, which is fixedly sleeved outside the secondary housing 34; the knuckle housing 4 rotates with the secondary housing 34 to realize the movement of the finger joint.
[0046] Specifically, the first end 111 of the spindle 11 and the bearing 14 are connected to the upper-level finger joint housing 4.
[0047] Specifically, the direction of finger joint movement is tangential to the outer circle of the secondary housing 34, and the stator winding leads are axially led out via bearing 14 to avoid interference with the direction of finger joint movement.
[0048] The magnetic deceleration direct drive finger joint module of this invention has an outer diameter of 15mm to 30mm and an axial dimension of 20-25mm. It can be selected and matched according to the required torque and speed.
[0049] The following example, using a magnetically decelerated direct-drive finger joint module of this invention with a diameter of 20mm, illustrates the difference in joint module size compared to a planetary gear reducer using the same spindle 11.
[0050] The main shaft 11 of the motor body 1 has a diameter of 1.5mm, and the total transmission ratio of the two-stage reducer is 5:1.
[0051] In the radial direction, to ensure the normal operation of the module, if a planetary gear reducer is used, i.e., the sun gear is driven, the planet carrier is stationary, and the gear ring rotates, the transmission ratio of the reducer is equal to the ratio of the pitch circle diameter of the gear ring to the pitch circle diameter of the sun gear. Since the diameter of the main shaft 11 is 1.5mm, to ensure the installation strength of the sun gear, the minimum pitch circle diameter of the sun gear is 4mm. Based on the transmission ratio, the pitch circle diameter of the gear ring is calculated to be 20mm, the module is taken as 0.5, the root circle diameter is 21mm, the gear ring thickness is 1.5mm, and the housing thickness is 0.5mm. Finally, if a planetary gear reducer is used, the outer diameter of the module is approximately 25mm. If backlash fine-tuning is added, the outer diameter needs to be increased further.
[0052] In the axial direction, the magnetic reduction direct drive finger joint module of this embodiment of the invention only increases the axial length by 2.6mm because the magnetically coupled two-stage reducer 3 is arranged radially; while the minimum axial increase in size when using a planetary gear reducer is the sum of the thickness of the sun gear and the bottom thickness of the planetary carrier. Considering the strength of the gear and the planetary carrier, the gear thickness is 1.5mm and the bottom thickness of the planetary carrier is 2mm, for a total of 3.5mm.
[0053] Therefore, it can be concluded that the radial space of the magnetic deceleration direct drive finger joint module in the embodiment of the present invention is reduced by nearly 20%, and the axial space is reduced by nearly 25%.
[0054] In summary, the magnetically driven direct-drive finger joint module of this invention utilizes an axial flux motor and a magnetically coupled reducer to achieve direct drive and increase output torque. The module directly drives the finger joint, avoiding mechanical losses from linkages, tendons, or gear transmissions, thus improving energy utilization. A two-stage magnetically coupled reducer is used: a first-stage reducer 2 is axially deployed, and a second-stage reducer 3 is radially deployed. This rational arrangement of the reducer structure reduces the module size and simplifies the overall finger joint structure. Because the magnetically coupled reducer is driven by a magnetic field, there is no actual contact between parts, eliminating the mechanical losses associated with gear meshing and making it more reliable. The module's direct-drive structure correlates the joint bending angle with the module's angular velocity, resulting in more precise control and a larger, more flexible range of motion for the finger joint.
[0055] Although specific embodiments have been described above, these embodiments are not intended to limit the scope of the invention, even when only a single embodiment is described with respect to a particular feature. The feature examples provided in this disclosure are intended to be illustrative and not limiting, unless otherwise stated. In practice, one or more technical features of the dependent claims may be combined with the technical features of the independent claims as needed and where technically feasible, and may be derived from the technical features of the respective independent claims in any suitable manner rather than solely by the specific combinations listed in the claims.
[0056] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.
Claims
1. A magnetically decelerated direct-drive finger joint module, characterized in that, Includes the motor body, a first-stage reducer, and a second-stage reducer; The motor body includes a main shaft, a stator assembly, a rotor assembly, and bearings; the stator assembly is fixedly sleeved on the main shaft, and the rotor assembly and the bearings are respectively disposed on both sides of the stator assembly; the rotor assembly includes a rotor base and rotor magnets, the rotor base is rotatably sleeved on the main shaft, and the rotor magnets are disposed on the rotor base; the bearings are fixedly sleeved on the main shaft. The first-stage reducer is located at one end of the main shaft near the rotor assembly. The first-stage reducer includes an inner magnet, an adjusting ring, an outer magnet, and a housing. The inner magnet is mounted on the rotor base, and the adjusting ring is fixedly sleeved on the main shaft. The housing is sleeved on the motor body, with one end rotatably sleeved on the main shaft and the other end rotatably sleeved on a bearing. The outer magnet is located on the inner wall of the end of the housing. The secondary reducer is disposed outside the primary reducer. The secondary reducer includes a secondary inner magnet, an adjusting sleeve, a secondary outer magnet, and a secondary housing. The secondary inner magnet is sleeved and fixed to the circumferential outer wall of the primary housing. The adjusting sleeve is sleeved outside the secondary inner magnet and fixedly connected to the main shaft and the bearing at both ends, respectively. The secondary housing is sleeved outside the adjusting sleeve. One end of the secondary housing is rotatably sleeved on the main shaft, and the other end is rotatably sleeved on the bearing. The secondary outer magnet is disposed on the circumferential inner wall of the secondary housing. When the stator winding of the stator assembly is energized and drives the rotor assembly to rotate, the primary inner magnet rotates synchronously with the rotor assembly. The primary inner magnet drives the primary outer magnet, the primary housing, and the secondary inner magnet to rotate at a reduced speed. The secondary inner magnet drives the secondary outer magnet and the secondary housing to rotate at a reduced speed.
2. The magnetic deceleration direct-drive finger joint module as described in claim 1, characterized in that, The bearing is provided with an axial through-hole, through which the lead wires of the stator winding pass out.
3. The magnetic deceleration direct-drive finger joint module as described in claim 1, characterized in that, The rotor base is annular, and a ball bearing is provided at the center of the rotor base. The rotor base is rotatably connected to the main shaft through the ball bearing. A rotor magnet slot for accommodating the rotor magnet is coaxially provided on one side of the rotor base, and a primary inner magnet slot for accommodating the primary inner magnet is coaxially provided on the other side.
4. The magnetic deceleration direct-drive finger joint module as described in claim 1, characterized in that, The adjusting ring is circular, and its center is interference-fitted with the main shaft.
5. The magnetically decelerated direct-drive finger joint module as described in claim 1, characterized in that, The primary housing includes a primary main housing with one open end and a primary end plate that closes the open end of the primary main housing. A ball bearing is provided at the center of the closed end of the primary main housing. The primary main housing is rotatably connected to the main shaft through the ball bearing. The outer periphery of the primary end plate is bonded and fixed to the open end of the primary main housing, and the inner periphery of the primary end plate is slidably connected to the bearing.
6. The magnetic deceleration direct-drive finger joint module as described in claim 1, characterized in that, The inner wall of the closed end of the primary main shell is coaxially provided with a primary outer magnet groove to accommodate the primary outer magnet; the secondary inner magnet is fixed to the circumferential outer wall of the primary main shell.
7. The magnetically decelerated direct-drive finger joint module according to claim 1, characterized in that, The magnetic adjustment sleeve includes a magnetic adjustment sleeve body and a first magnetic adjustment sleeve end cap and a second magnetic adjustment sleeve end cap that close the magnetic adjustment sleeve body at both ends; the magnetic adjustment sleeve body is coaxially sleeved outside the secondary inner magnet; the outer periphery of the first magnetic adjustment sleeve end cap is bonded and fixed to one end of the magnetic adjustment sleeve body, and the inner periphery is fixedly connected to the main shaft; the outer periphery of the second magnetic adjustment sleeve end cap is bonded and fixed to the other end of the magnetic adjustment sleeve body, and the inner periphery is fixedly connected to the bearing.
8. The magnetic deceleration direct-drive finger joint module as described in claim 1, characterized in that, The secondary housing includes a secondary main housing and a first secondary end cap and a second secondary end cap that close the secondary main housing at both ends; the secondary main housing is coaxially sleeved outside the magnetic adjustment sleeve; the outer periphery of the first secondary end cap is bonded and fixed to one end of the secondary main housing, and the inner periphery is provided with a ball bearing and rotatably connected to the main shaft; the outer periphery of the second secondary end cap is bonded and fixed to the other end of the secondary main housing, and the inner periphery is slidably connected to the bearing.
9. The magnetically decelerated direct-drive finger joint module as described in claim 1, characterized in that, The number of pole pairs of the first-stage inner magnet is P1, the number of pole pairs of the first-stage outer magnet is P2 which is greater than P1, the first transmission ratio of the first-stage reducer is P2:P1, and the torque transmission ratio of the first-stage reducer is P1:P2; the magnetic adjustment ring is provided with multiple fan-shaped first magnetic conductors at equal intervals along the circumference, and the number of the first magnetic conductors is P1+P2.
10. The magnetically decelerated direct-drive finger joint module as described in claim 1, characterized in that, The number of pole pairs of the secondary inner magnet is P3, the number of pole pairs of the secondary outer magnet is P4 which is greater than P3, the second transmission ratio of the secondary reducer is P4:P3, and the torque transmission ratio of the secondary reducer is P3:P4; the magnetic adjustment sleeve is provided with a plurality of elongated second magnetic conductors at equal intervals along the circumference, and the number of the second magnetic conductors is P3+P4.
11. The magnetically decelerated direct-drive finger joint module as described in claim 1, characterized in that, It also includes a knuckle housing, which is fixedly sleeved outside the secondary housing; the knuckle housing rotates with the secondary housing.