Joint assembly, power module, mechanical finger, dexterous hand and robot

Abstract

This application provides a joint assembly, a power module, a robotic finger, a robotic dexterous hand, and a robot. The joint assembly includes a power module, a first link, a second link, and a first bearing. The power module includes a power module housing and a power module body at least partially disposed within the power module housing. The power module body includes a stator assembly, a rotor assembly, and a reducer assembly, with the reducer assembly connected to the rotor assembly. The first link includes a fixing portion disposed along the outer peripheral surface of the power module housing, and a first end of the power module housing includes a first support section. The second link includes a first connecting portion, which includes a first connecting sub-part and a first support sub-part. The first connecting sub-part is connected to the output end of the reducer assembly, and the first support sub-part is connected to the first connecting sub-part. The inner ring of the first bearing is radially supported on the outer peripheral surface of the first support section, and the outer ring of the first bearing is radially supported on the first support sub-part.

Description

Technical Field

[0001] This application relates to the field of power module design technology, and more specifically, to a joint assembly, a power module, a mechanical finger, a robotic dexterous hand, and a robot. Background Technology

[0002] In the design of precision robot end effectors such as robot dexterous hands, the power module is the core component for achieving flexible movement.

[0003] In related technologies, power modules typically include stators, rotors, and reducers. The dimensions of the power module in the direction of the rotor's rotation axis are usually large, resulting in a large overall size and weight of the power module. This makes it difficult to meet the stringent requirements of robot dexterity for miniaturization, lightweighting, and high integration, thus limiting the robot's flexibility and operational accuracy in complex scenarios.

[0004] There is currently no effective solution to the aforementioned technical problems. Summary of the Invention

[0005] The main objective of this application is to provide a joint assembly, a power module, a mechanical finger, a robotic dexterous hand, and a robot to solve the problems of low internal space utilization and poor structural compactness of the power module in the prior art.

[0006] To achieve the above objectives, according to one aspect of this application, a joint assembly is provided, comprising: a power module, the power module including a power module housing and a power module body at least partially disposed within the power module housing, the power module body including a stator assembly, a rotor assembly, and a reducer assembly, the rotor assembly being rotatable about a rotor rotation axis, the reducer assembly being connected to the rotor assembly, the power module housing including a first end and a second end disposed opposite to each other along the rotor rotation axis direction, the distance between the reducer assembly and the first end of the power module housing being less than the distance between the reducer assembly and the second end of the power module housing; and a first connecting rod, the first connecting rod including a fixing portion disposed along the outer peripheral surface of the power module housing and fixedly connected to the power module housing, the fixing portion forming a first projection on the reference plane along a projection direction perpendicular to the reference plane, with the plane containing the rotor rotation axis as the reference plane. The power module housing forms a second projection on the reference plane along a projection direction perpendicular to the reference plane. The first projection and the second projection at least partially overlap, and the length of the overlapping area of ​​the first projection and the second projection in the direction of the rotor rotation axis is less than the length of the second projection in the direction of the rotor rotation axis. The first end of the power module housing includes a first support section, and the first support section forms a third projection on the reference plane along a projection direction perpendicular to the reference plane. There is no overlapping area between the third projection and the first projection. The second link includes a first connecting part, which includes a first connecting sub-part and a first support sub-part. The first connecting sub-part is connected to the output end of the reducer assembly, and the first support sub-part is connected to the first connecting sub-part. The first bearing is sleeved on the first support section, with the inner ring of the first bearing supported on the outer circumferential surface of the first support section and the outer ring of the first bearing supported on the first support sub-part.

[0007] In related technologies, in order to reduce the axial movement of the output end of the reducer assembly in the radial direction of the power module (which is perpendicular to the rotor rotation axis), a bearing is usually fitted on the output end of the reducer assembly. The inner ring of the bearing is supported on the output end of the reducer assembly along its own radial direction, and the outer ring of the bearing is supported on the inner circumferential surface of the power module housing along its own radial direction. In this design, the bearing needs to occupy a certain space in the direction of the rotor rotation axis, which makes it difficult to further reduce the size of the power module in the direction of the rotor rotation axis.

[0008] The solution of this application includes a first support section at the first end of the power module housing. The output end of the reducer assembly is connected to the first connecting sub-part of the first connecting part. A first bearing is sleeved on the first support section. The inner ring of the first bearing is supported radially on the outer circumferential surface of the first support section, and the outer ring of the first bearing is supported radially on the first supporting sub-part of the first connecting part. Since the first supporting sub-part and the first connecting sub-part are connected to each other, the output end of the reducer assembly can be supported on the outer circumferential surface of the first support section via the first connecting part. In this way, by utilizing the space in the radial direction of the power module to set the first bearing, the space occupied in the direction of the rotor rotation axis can be reduced, which is beneficial to reducing the size of the power module in the direction of the rotor rotation axis and solving the problems of low internal space utilization and poor structural compactness of the power module in the prior art.

[0009] As mentioned above, the output end of the reducer assembly can be supported on the outer peripheral surface of the first support section via the first connecting part. In other words, the first connecting part can assist in supporting the output end of the reducer assembly. In addition, since the first connecting part itself is part of the second link, the first connecting part can also directly drive the second link to rotate relative to the first link. The first connecting part itself integrates at least two functions. Through the integration of functions, it is beneficial to simplify the overall structure of the joint assembly and reduce the overall size of the joint assembly.

[0010] On the other hand, the fixing part of the first link is arranged along the outer peripheral surface of the power module housing and partially covers the upper part of the power module housing in the radial direction. This structure provides physical protection for the power module, effectively reducing the impact and wear of external impurities on the power module. At the same time, this design makes full use of the unused space around the power module housing, achieving radial space reuse with the power module. In addition, by directly using the structure of the power module housing itself (the first support section) as the support surface of the first bearing, the space occupied by adding an additional independent support component to support the output end is eliminated, and the fixing part of the first link and the first support section do not overlap radially, effectively avoiding structural interference. Through the above-mentioned radial space reuse and the design of using the housing structure for support, the internal space utilization rate of the joint assembly is significantly improved, making the overall structure more compact and meeting the application requirements of miniaturization, lightweighting and high integration in fields such as robot dexterity hands.

[0011] Furthermore, the second connecting rod also includes a second connecting portion, which is spaced apart from the first connecting portion in the direction of the rotor rotation axis. The second end of the power module housing includes a second support section, which forms a fourth projection on the reference plane along a projection direction perpendicular to the reference plane. There is no overlapping area between the fourth projection and the first projection. The joint assembly also includes a second bearing, which is sleeved on the second support section. The inner ring of the second bearing is supported on the outer peripheral surface of the second support section, and the outer ring of the second bearing is supported on the second connecting portion.

[0012] Furthermore, the ratio of the length of the third projection in the direction of the rotor rotation axis to the length of the second projection in the direction of the rotor rotation axis is 0.05-0.3; and / or, the ratio of the length of the fourth projection in the direction of the rotor rotation axis to the length of the second projection in the direction of the rotor rotation axis is 0.05-0.3.

[0013] Furthermore, the length of the second projection in the direction of the rotor rotation axis is 15mm-40mm; the length of the third projection in the direction of the rotor rotation axis is 1mm-10mm; and / or, the length of the fourth projection in the direction of the rotor rotation axis is 1mm-10mm.

[0014] Furthermore, the first support sub-part is disposed around the outer ring of the first bearing, and the first support sub-part extends from the outer periphery of the first connecting sub-part toward the second end of the power module housing, and the outer ring of the first bearing is radially supported on the inner circumferential surface of the first support sub-part; and / or, the second connecting part includes a second connecting sub-part and a second support sub-part, the second connecting sub-part and the first connecting sub-part are spaced apart in the direction of the rotor rotation axis, the power module is disposed between the first connecting sub-part and the second connecting sub-part, the second support sub-part is disposed around the outer ring of the second bearing, and the second support sub-part extends from the outer periphery of the second connecting sub-part toward the first end of the power module housing, and the outer ring of the second bearing is radially supported on the inner circumferential surface of the second support sub-part.

[0015] Furthermore, the power module housing includes a first housing segment and a second housing segment arranged sequentially along the rotor rotation axis. The end of the second housing segment away from the first housing segment forms a first support segment. The first housing segment forms a first receiving space, which is configured to receive at least a portion of the stator assembly and at least a portion of the rotor assembly. The second housing segment forms a second receiving space, which is configured to receive at least a portion of the reducer assembly. The second receiving space is connected to the first receiving space. The outer diameter of the first housing segment is larger than the outer diameter of the second housing segment, and the inner diameter of the first housing segment is larger than the inner diameter of the second housing segment.

[0016] Furthermore, the fixing part of the first connecting rod includes a fixing shell, and the first connecting rod also includes a mounting bracket. The mounting bracket and the fixing shell are detachably assembled or integrally formed. The mounting bracket is sleeved on the second shell section and fixedly connected to the second shell section. The fixing shell includes a first end and a second end arranged opposite to each other along the rotor rotation axis. The inner circumferential surface of the first end of the fixing shell abuts against the outer circumferential surface of the mounting bracket, and the inner circumferential surface of the second end of the fixing shell abuts against the outer circumferential surface of the first shell section.

[0017] Furthermore, the first link includes a mounting bracket, at least a portion of which is fitted onto the second shell section as a fixing part and is fixedly connected to the second shell section.

[0018] Furthermore, the end face of the first shell section facing the first connecting part forms a first stop surface. In the direction of the rotor rotation axis, the mounting bracket is clamped and fixed between the first stop surface and the first bearing, and the first bearing is clamped and fixed between the mounting bracket and the first connecting part.

[0019] Furthermore, the fixing part of the first connecting rod includes a fixing shell, which includes a first end and a second end disposed opposite to each other along the direction of the rotor rotation axis. The inner circumferential surface of the first end of the fixing shell abuts against the outer circumferential surface of the second shell section, and the inner circumferential surface of the second end of the fixing shell abuts against the outer circumferential surface of the first shell section.

[0020] Furthermore, the mounting bracket includes an arc-shaped main body, a first connecting segment disposed at a first end of the arc-shaped main body, and a second connecting segment disposed at a second end of the arc-shaped main body. The first connecting segment and the second connecting segment have a connected state and a released state. When the first connecting segment and the second connecting segment are in the connected state, the arc-shaped main body forms a closed ring structure. The closed ring structure is sleeved on the outer peripheral surface of the second shell segment, and the inner peripheral surface of the closed ring structure abuts against the outer peripheral surface of the second shell segment. At least one of the first connecting segment and the second connecting segment is connected to the fixed shell.

[0021] Furthermore, in the fixing part, a portion of the inner circumferential surface of the fixing shell abuts against the outer circumferential surface of the mounting bracket, and another portion of the inner circumferential surface of the fixing shell has an installation gap between it and the outer circumferential surface of the first shell segment. The installation gap is used for wiring.

[0022] Furthermore, the power module housing also includes a third housing segment, which is disposed along the rotor rotation axis on the side of the first housing segment away from the second housing segment. The outer diameter of the first housing segment is larger than the outer diameter of the third housing segment, and the inner diameter of the first housing segment is larger than the inner diameter of the third housing segment. The end of the third housing segment away from the first housing segment along the rotor rotation axis forms a second support segment, and the third housing segment forms a third receiving space. The power module also includes a circuit board, which is at least partially disposed within the third receiving space.

[0023] Furthermore, the end face of the first shell section facing the second connecting part forms a second stop surface, and in the direction of the rotor rotation axis, the second bearing is clamped and fixed between the second stop surface and the second connecting part.

[0024] Furthermore, the power module also includes a detection component, which includes a magnetic component and a sensing element. The rotor rotation axis passes through the magnetic component and the sensing element. The sensing element is electrically connected to the circuit board. The magnetic component is fixedly connected to the rotor assembly. The magnetic component and the sensing element are correspondingly arranged to detect the rotation angle and / or rotation speed of the rotor assembly.

[0025] Further, the power module housing includes: a motor housing extending along the rotor rotation axis, the motor housing forming a first housing segment and a second housing segment; a first motor end cover including a first cylindrical portion and a second cylindrical portion connected to each other along the rotor rotation axis, the first cylindrical portion being inserted into the motor housing, the second cylindrical portion being disposed on the side of the first cylindrical portion opposite to the motor housing, the second cylindrical portion forming a third housing segment; and a circuit board bracket, at least a portion of the circuit board bracket being disposed within the second cylindrical portion, the circuit board being disposed on the circuit board bracket, the circuit board bracket being connected to at least one of the first cylindrical portion and the second cylindrical portion.

[0026] Furthermore, the reducer assembly includes a multi-stage planetary gear reducer, the input sun gear of the multi-stage planetary gear reducer is connected to the rotor assembly, the output planetary disk of the multi-stage planetary gear reducer is connected to the first connecting sub-part, the output planetary disk serves as the output end of the reducer assembly, and the inner circumferential surface of the second housing section is provided with toothed patterns, which mesh with the planetary gears of the multi-stage planetary gear reducer.

[0027] According to another aspect of this application, a power module is provided, comprising: a power module housing; a stator assembly and a rotor assembly, at least a portion of the stator assembly and the rotor assembly being disposed within the power module housing, the rotor assembly being rotatable about a rotor rotation axis; a reducer assembly, the reducer assembly being disposed on one side of the rotor assembly in the direction of the rotor rotation axis and connected to the rotor assembly, at least a portion of the reducer assembly being disposed within the power module housing; an output flange, the output flange including a first connecting sub-part and a first supporting sub-part, the first connecting sub-part being connected to the output end of the reducer assembly, and the first supporting sub-part being connected to the first connecting sub-part; a first bearing, the first bearing being sleeved on the power module housing, the inner ring of the first bearing being radially supported on the outer peripheral surface of the power module housing, and the outer ring of the first bearing being radially supported on the first supporting sub-part.

[0028] By applying the technical solution of this application, the output end of the reducer assembly is connected to the first connecting sub-part of the output flange, the first bearing is sleeved on the power module housing, the inner ring of the first bearing is supported radially on the outer circumferential surface of the power module housing, and the outer ring of the first bearing is supported radially on the first supporting sub-part of the output flange. Since the first supporting sub-part and the first connecting sub-part are connected to each other, the output end of the reducer assembly can be supported on the outer circumferential surface of the power module housing via the output flange. In this way, by using the space in the radial direction of the power module to set the first bearing, the space occupied in the direction of the rotor rotation axis can be reduced, which is beneficial to reducing the size of the power module in the direction of the rotor rotation axis and solving the problems of low internal space utilization and poor structural compactness of the power module in the prior art.

[0029] As mentioned earlier, the output end of the reducer assembly can be supported on the outer peripheral surface of the power module housing via the output flange. In other words, the output flange can assist in supporting the output end of the reducer assembly. In addition, since the output flange can be used to connect external structural components, the output flange can also directly drive to external structural components. The output flange itself integrates at least two functions. Through the integration of functions, it is beneficial to simplify the overall structure of the power module and reduce the overall size of the power module.

[0030] On the other hand, by directly utilizing the structure of the power module housing itself as the support surface of the first bearing, the space occupied by additional independent support components for supporting the output end is eliminated. By using the housing structure for support, the internal space utilization of the power module is significantly improved, making the overall structure more compact and meeting the application requirements of miniaturization, lightweighting and high integration in fields such as robot dexterity hands.

[0031] Furthermore, the power module housing includes a first end and a second end disposed opposite to each other along the rotor rotation axis. The distance between the reducer assembly and the first end of the power module housing is less than the distance between the reducer assembly and the second end of the power module housing. A first bearing is sleeved on the first end of the power module housing. The power module also includes a second bearing, which is sleeved on the second end of the power module housing.

[0032] According to another aspect of this application, a power module is provided, comprising: a power module housing; a stator assembly and a rotor assembly, at least a portion of the stator assembly and the rotor assembly being disposed within the power module housing, the rotor assembly being rotatable about a rotor rotation axis; and a reducer assembly, the reducer assembly being disposed on one side of the rotor assembly in the direction of the rotor rotation axis and connected to the rotor assembly, at least a portion of the reducer assembly being disposed within the power module housing; wherein, the output end of the reducer assembly is configured to be connected to an external output assembly, at least a portion of the external output assembly is sleeved on the outer peripheral surface of the power module housing, and the output end of the reducer assembly is configured to be supported on the outer peripheral surface of the power module housing via the external output assembly.

[0033] By applying the technical solution of this application, the output end of the reducer assembly is connected to the external output assembly. At least a portion of the structure of the external output assembly is fitted onto the outer peripheral surface of the power module housing. The output end of the reducer assembly is supported on the outer peripheral surface of the power module housing via the external output assembly. In this way, by utilizing the space in the radial direction of the power module to set the external output assembly, the space occupied in the direction of the rotor rotation axis can be reduced, which is beneficial to reducing the size of the power module along the rotor rotation axis and solving the problems of low internal space utilization and poor structural compactness of the power module in the prior art.

[0034] As mentioned earlier, the output end of the reducer assembly can be supported on the outer peripheral surface of the power module housing via an external output component. In other words, the external output component can assist in supporting the output end of the reducer assembly. In addition, since the external output component can be used to connect external structural components, it can also directly transmit power to external structural components. The external output component itself integrates at least two functions. Through the integration of functions, it is beneficial to simplify the overall structure of the power module and reduce the overall size of the power module.

[0035] On the other hand, by directly utilizing the structure of the power module housing itself as the support surface for the external output components, the space occupied by additional independent support components for supporting the output end is eliminated. By using the housing structure for support, the internal space utilization of the power module is significantly improved, making the overall structure more compact and meeting the application requirements of miniaturization, lightweighting and high integration in fields such as robot dexterity hands.

[0036] According to another aspect of this application, a mechanical finger is provided, which includes the joint assembly described above, or the power module described above.

[0037] According to another aspect of this application, a robotic dexterous hand is provided, which includes a mechanical finger and a mechanical palm, wherein the mechanical finger is the aforementioned mechanical finger and the mechanical finger is connected to the mechanical palm.

[0038] According to another aspect of this application, a robot is provided, the robot including a robot dexterous hand, the robot dexterous hand being the aforementioned robot dexterous hand. Attached Figure Description

[0039] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0040] Figure 1 This is a schematic diagram of a joint assembly according to an embodiment of the present application;

[0041] Figure 2 It shows Figure 1 Schematic diagram of the structure of section DD;

[0042] Figure 3 yes Figure 1 A structural schematic diagram of the joint assembly from another perspective;

[0043] Figure 4 yes Figure 1 The diagram shows another view of the joint assembly.

[0044] Figure 5 yes Figure 1An exploded view of the joint assembly shown;

[0045] Figure 6 yes Figure 1 Another exploded view of the joint assembly shown;

[0046] Figure 7 yes Figure 1 Another exploded view of the joint assembly shown;

[0047] Figure 8 yes Figure 1 Exploded view of the power module.

[0048] The above figures include the following reference numerals:

[0049] 10. First connecting rod; 110. Fixed housing; 101. Installation clearance; 102. Through hole;

[0050] 20. Second link; 201. Clamping space;

[0051] 210. Second shell body;

[0052] 211. First connecting part; 2111. First connecting sub-part; 2112. First supporting sub-part;

[0053] 212. Second connecting part; 2121. Second connecting sub-part; 2122. Second support sub-part; 213. Rotation limiting structure;

[0054] 30. Power module;

[0055] 310. Power module housing;

[0056] 3101, First shell segment;

[0057] 3102, Second shell segment;

[0058] 3103, Third shell section; 31030, Third accommodating space;

[0059] 3104. Motor housing;

[0060] 3105, First motor end cover; 31051, First cylindrical portion; 31052, Second cylindrical portion;

[0061] 3106. Second motor end cover;

[0062] 320. Power module body; 3201. Output end;

[0063] 321. Rotor assembly; 3211. Rotor shaft;

[0064] 322. Reducer assembly; 3220. Multi-stage planetary gear reducer; 3221. Input sun gear; 3222. Output planetary disk;

[0065] 323. Stator assembly;

[0066] 330. First bearing;

[0067] 340. Second bearing;

[0068] 350. Circuit board;

[0069] 360, circuit board bracket;

[0070] 370. Third bearing;

[0071] 380. Fourth bearing;

[0072] 40. Install the bracket; 401. Rotate the limit groove;

[0073] 410. Curved main body;

[0074] 420, First connecting section; 4201, Fixing hole;

[0075] 430, Second connecting section; 4301, Connecting hole. Detailed Implementation

[0076] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0077] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0078] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0079] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art. In the drawings, for clarity, the thickness of layers and regions may be exaggerated, and the same reference numerals are used to denote the same devices, and therefore their description will be omitted.

[0080] Combination Figures 1 to 8 As shown, according to a specific embodiment of this application, a joint assembly is provided.

[0081] See Figure 1 and Figure 2As shown, specifically, the joint assembly includes a power module 30, a first connecting rod 10, a second connecting rod 20, and a first bearing 330. The power module 30 includes a power module housing 310 and a power module body 320 at least partially disposed within the power module housing 310. The power module body 320 includes a stator assembly 323, a rotor assembly 321, and a reducer assembly 322. The rotor assembly 321 is rotatable about the rotor rotation axis. The reducer assembly 322 is connected to the rotor assembly 321. The power module housing 310 includes a first end and a second end disposed opposite to each other along the rotor rotation axis. The distance between the reducer assembly 322 and the first end of the power module housing 310 is less than the distance between the reducer assembly 322 and the second end of the power module housing 310. The first connecting rod 10 includes a fixing part disposed along the outer peripheral surface of the power module housing 310 and fixedly connected to the power module housing 310. Taking the plane where the rotor rotation axis is located as a reference plane, the fixing part is projected along a direction perpendicular to the reference plane. A first projection is formed on the surface, and a second projection is formed on the reference plane along a projection direction perpendicular to the reference plane. The first projection and the second projection at least partially overlap, and the length of the overlapping area of ​​the first projection and the second projection in the direction of the rotor rotation axis is less than the length of the second projection in the direction of the rotor rotation axis. The first end of the power module housing 310 includes a first support section, and the first support section forms a third projection on the reference plane along a projection direction perpendicular to the reference plane. There is no overlapping area between the third projection and the first projection. The second connecting rod 20 includes a first connecting part 211, which includes a first connecting sub-part 2111 and a first support sub-part 2112. The first connecting sub-part 2111 is connected to the output end 3201 of the reducer assembly, and the first support sub-part 2112 is connected to the first connecting sub-part 2111. A first bearing 330 is sleeved on the first support section, the inner ring of the first bearing 330 is supported on the outer peripheral surface of the first support section, and the outer ring of the first bearing 330 is supported on the first support sub-part 2112.

[0082] In this embodiment, see Figure 2 As shown, the fixing part forms a first projection on the reference plane along a projection direction perpendicular to the reference plane, and the power module housing 310 forms a second projection on the reference plane along a projection direction perpendicular to the reference plane. The first projection and the second projection at least partially overlap, and the length L1 of the overlapping area of ​​the first projection and the second projection in the direction of the rotor rotation axis is less than that of the second projection in the direction of the rotor rotation axis (i.e., the rotor rotation axis is...). Figure 2 The length L2 on the dashed line L) in the figure, for example, the fixing part can be arranged around the power module housing, and the power module housing is at least partially exposed outside the fixing part along the direction of the rotor rotation axis.

[0083] In this embodiment, see Figure 2As shown, the first end of the power module housing 310 includes a first support section. The first support section forms a third projection on the reference plane along a projection direction perpendicular to the reference plane. The length of the third projection in the direction of the rotor rotation axis is L3. There is no overlapping area between the third projection and the first projection. For example, the first support section can be exposed relative to the fixed part.

[0084] In related technologies, in order to reduce the axial movement of the output end of the reducer assembly 322 in the radial direction (which is perpendicular to the rotor rotation axis) of the power module 30, a bearing is usually fitted on the output end of the reducer assembly 322. The inner ring of the bearing is supported on the output end of the reducer assembly 322 along its own radial direction, and the outer ring of the bearing is supported on the inner circumferential surface of the power module housing 310 along its own radial direction. In this design, the bearing needs to occupy a certain space in the direction of the rotor rotation axis, which makes it difficult to further reduce the size of the power module 30 in the direction of the rotor rotation axis.

[0085] Using the solution of this application, the first end of the power module housing 310 includes a first support section. The output end of the reducer assembly 322 is connected to the first connecting sub-part 2111 of the first connecting part 211. The first bearing 330 is sleeved on the first support section. The inner ring of the first bearing 330 is supported radially on the outer circumferential surface of the first support section, and the outer ring of the first bearing 330 is supported radially on the first supporting sub-part of the first connecting part 211. Since the first supporting sub-part and the first connecting sub-part are connected to each other, the output end of the reducer assembly 322 can be supported on the outer circumferential surface of the first support section via the first connecting part 211. In this way, by utilizing the space in the radial direction of the power module 30 to set the first bearing 330, the space occupied in the direction of the rotor rotation axis can be reduced, which is beneficial to reducing the size of the power module 30 in the direction of the rotor rotation axis and solving the problems of low internal space utilization and poor structural compactness of the power module 30 in the prior art.

[0086] As mentioned above, the output end of the reducer assembly 322 can be supported on the outer peripheral surface of the first support section via the first connecting part 211. In other words, the first connecting part 211 can assist in supporting the output end of the reducer assembly 322. In addition, since the first connecting part 211 itself is part of the second link 20, the first connecting part 211 can also directly drive the second link 20 to rotate relative to the first link 10. The first connecting part 211 itself integrates at least two functions. Through the integration of functions, it is beneficial to simplify the overall structure of the joint assembly and reduce the overall size of the joint assembly.

[0087] On the other hand, the fixing part of the first link 10 is arranged along the outer peripheral surface of the power module housing 310 and partially covers the power module housing 310 in the radial direction. This structure provides physical protection for the power module 30, effectively reducing the impact and wear of external impurities on the power module 30. At the same time, this design makes full use of the unused space around the power module housing 310, achieving radial space reuse with the power module 30. In addition, by directly using the structure of the power module housing 310 itself (the first support section) as the support surface of the first bearing 330, the space occupied by adding an additional independent support component to support the output end is eliminated, and the fixing part of the first link 10 and the first support section do not overlap radially, effectively avoiding structural interference. Through the above-mentioned radial space reuse and the design of using the housing structure for support, the internal space utilization rate of the joint assembly is significantly improved, making the overall structure more compact and meeting the application requirements of miniaturization, lightweighting and high integration in fields such as robot dexterity hands.

[0088] It should be noted that, in the embodiments of this application, the connecting rods mentioned in the first connecting rod 10 and the second connecting rod 20 are only used to illustrate that the structure has a certain rigidity. The connecting rod can be a component with an internal cavity or a solid component, without limiting the shape of the connecting rod. The connecting rod can be rod-shaped or any shape other than rod-shaped.

[0089] In one exemplary embodiment of this application, the fixing part of the first link 10 is fixedly connected to the outer peripheral surface of the power module housing 310.

[0090] In some embodiments, the inner ring of the first bearing 330 is supported radially on the outer peripheral surface of the first support section, and the outer ring of the first bearing 330 is supported radially on the first support sub-part 2112.

[0091] Further, see Figure 1 and Figure 2 As shown, the second connecting rod 20 also includes a second connecting portion 212, which is spaced apart from the first connecting portion 211 in the direction of the rotor rotation axis. The second end of the power module housing 310 includes a second support section, which forms a fourth projection on the reference plane along a projection direction perpendicular to the reference plane. There is no overlap between the fourth projection and the first projection. The joint assembly also includes a second bearing 340, which is sleeved on the second support section. The inner ring of the second bearing 340 is supported on the outer peripheral surface of the second support section, and the outer ring of the second bearing 340 is supported on the second connecting portion 212. Specifically, the inner ring of the second bearing 340 can be radially supported on the outer peripheral surface of the second support section, and the outer ring of the second bearing 340 can be radially supported on the second connecting portion 212.

[0092] In this embodiment, the second support segment forms a fourth projection on the reference plane along a projection direction perpendicular to the reference plane. There is no overlapping area between the fourth projection and the first projection. For example, the second support segment may be exposed relative to the fixing part.

[0093] In this embodiment, the second connecting rod 20 further includes a second connecting portion 212, and the second connecting portion 212 and the first connecting portion 211 are spaced apart in the direction of the rotor rotation axis. The second end of the power module housing 310 includes a second support section, and the second bearing 340 is sleeved on the second support section. Its inner ring is radially supported on the outer peripheral surface of the second support section, and its outer ring is radially supported on the second connecting portion 212. This arrangement constructs a support structure corresponding to the first end of the power module housing 310 at the second end, so that the power module 30 forms a double-sided support in the direction of the rotor rotation axis. The double-sided support structure significantly improves the radial support rigidity and overall stability of the joint assembly under complex loads, effectively suppresses the radial runout or axial movement that may occur during the operation of the power module 30, thereby further improving the transmission accuracy and service life of the joint assembly.

[0094] In one exemplary embodiment of this application, the second link 20 further includes a second housing body 210, and the second connecting portion 212 and the first connecting portion 211 are both provided to protrude from the second housing body 210, so that a clamping space 201 is formed between the second connecting portion 212 and the first connecting portion 211, and the fixing portion of the first link 10 extends into the clamping space 201.

[0095] Optionally, see Figure 2 As shown, the ratio of the length of the third projection in the direction of the rotor rotation axis to the length of the second projection in the direction of the rotor rotation axis is 0.05-0.3.

[0096] In this embodiment, limiting the length ratio of the third projection to the second projection along the rotor rotation axis ensures that the end support structure has sufficient axial dimensions to accommodate the first bearing 330 and achieve stable radial support, while avoiding encroachment on the internal assembly space due to excessive axial dimensions. Thus, while meeting the requirements for bearing installation and structural strength, the redundancy of axial volume is reduced, effectively improving the compactness of the joint assembly along the rotor rotation axis. This makes the overall structure lighter and has a higher space utilization rate, thereby better meeting the application requirements of robot dexterity hand for miniaturization and high integration.

[0097] In some embodiments, see Figure 2 As shown, the ratio of the length L3 of the third projection in the direction of the rotor rotation axis to the length L2 of the second projection in the direction of the rotor rotation axis is 0.05, 0.1, 0.15, 0.2, 0.25, and 0.3.

[0098] Optionally, see Figure 2 As shown, the ratio of the length of the fourth projection in the direction of the rotor rotation axis to the length of the second projection in the direction of the rotor rotation axis is 0.05-0.3.

[0099] In this embodiment, limiting the length ratio of the fourth projection to the second projection along the rotor rotation axis ensures that the end support structure has sufficient axial dimensions to accommodate the second bearing 340 and achieve stable radial support, while avoiding encroachment on internal assembly space due to excessive axial dimensions. This reduces axial volume redundancy while meeting bearing installation and structural strength requirements, effectively improving the compactness of the joint assembly along the rotor rotation axis. This results in a lighter overall structure with higher space utilization, thus better meeting the application requirements of robot dexterity hands for miniaturization and high integration.

[0100] In some embodiments, see Figure 2 As shown, the ratio of the length L4 of the fourth projection in the direction of the rotor rotation axis to the length L2 of the second projection in the direction of the rotor rotation axis is 0.05, 0.1, 0.15, 0.2, 0.25, and 0.3.

[0101] Optionally, see Figure 2 As shown, the length of the second projection along the rotor rotation axis is 15mm-40mm, and the length of the third projection along the rotor rotation axis is 1mm-10mm.

[0102] In this embodiment, by limiting the length of the second projection in the direction of the rotor rotation axis to 15mm-40mm and the length of the third projection in the direction of the rotor rotation axis to 1mm-10mm, fine control of the axial space dimension inside the joint assembly is achieved. These length parameters limit the axial length, ensuring that the power module housing 310 and the first support section have sufficient axial dimensions to accommodate the internal structural components, while avoiding the problem of the overall volume of the power module housing 310 being too large due to excessive axial dimensions. This makes the overall structure lighter and has a higher space utilization rate, thereby better meeting the application requirements of robot dexterity hand for miniaturization and high integration.

[0103] In some embodiments, see Figure 2As shown, the length L2 of the second projection along the rotor rotation axis is 15mm, 20mm, 25mm, 26.5mm, 26.6mm, 26.7mm, 26.8mm, 26.9mm, 27mm, 27.1mm, 27.2mm, 27.3mm, 27.4mm, 27.5mm, 30mm, 35mm, and 40mm, and the length L3 of the third projection along the rotor rotation axis is 1mm, 2mm, 3mm, 3.5mm, 3.6mm, 3.7mm, 3.8mm, 3.9mm, 4mm, 4.1mm, 4.2mm, 4.3mm, 4.4mm, 4.5mm, 5mm, 6mm, 7mm, 8mm, 9mm, and 10mm.

[0104] Optionally, as shown in the figure, the length of the second projection in the direction of the rotor rotation axis is 15mm-40mm, and the length of the fourth projection in the direction of the rotor rotation axis is 1mm-10mm.

[0105] In this embodiment, by limiting the length of the second projection in the direction of the rotor rotation axis to 15mm-40mm and the length of the fourth projection in the direction of the rotor rotation axis to 1mm-10mm, fine control of the axial space dimension inside the joint assembly is achieved. These length parameters limit the axial length, ensuring that the power module housing 310 and the second support section have sufficient axial dimensions to accommodate the internal structural components, while avoiding the problem of the overall volume of the power module housing 310 being too large due to excessive axial dimensions. This makes the overall structure lighter and has a higher space utilization rate, thereby better meeting the application requirements of robot dexterity hand for miniaturization and high integration.

[0106] In some embodiments, see Figure 2 As shown, the length L2 of the second projection along the rotor rotation axis is 15mm, 20mm, 25mm, 26.5mm, 26.6mm, 26.7mm, 26.8mm, 26.9mm, 27mm, 27.1mm, 27.2mm, 27.3mm, 27.4mm, 27.5mm, 30mm, 35mm, and 40mm, and the length L4 of the fourth projection along the rotor rotation axis is 1mm, 2mm, 3mm, 3.5mm, 3.6mm, 3.7mm, 3.8mm, 3.9mm, 4mm, 4.1mm, 4.2mm, 4.3mm, 4.4mm, 4.5mm, 5mm, 6mm, 7mm, 8mm, 9mm, and 10mm.

[0107] Optionally, see Figure 2As shown, the first support sub-part 2112 is arranged around the outer ring of the first bearing 330, and the first support sub-part 2112 extends from the outer periphery of the first connecting sub-part 2111 to the second end of the power module housing 310. The outer ring of the first bearing 330 is supported on the inner peripheral surface of the first support sub-part 2112 along the radial direction of the first bearing 330.

[0108] In this embodiment, the inner circumferential surface of the first support sub-part 2112 is annular, surrounding the power module housing 310 to provide comprehensive circumferential support for the power module housing 310. The first support sub-part 2112 extends from the outer periphery of the first connecting sub-part 2111 towards the second end of the power module housing 310. When the outer ring of the first bearing 330 is radially supported on the inner circumferential surface of the first support sub-part 2112, the first support sub-part 2112 provides a stable radial support base for the first bearing 330, and the first bearing 330 is firmly fixed between the first support section and the first support sub-part 2112. On the one hand, the output end of the reducer assembly 322 is reliably supported, reducing the possibility of the output end of the reducer assembly 322 shifting in the radial direction (the radial direction is perpendicular to the rotor rotation axis) of the power module 30. On the other hand, it ensures reliable support of the power module by the first connecting part 211. In addition, the first connecting part 211 can protect the end of the power module, improving the dustproof effect.

[0109] Optionally, the second connecting portion 212 includes a second connecting sub-portion 2121 and a second supporting sub-portion 2122. The second connecting sub-portion 2121 and the first connecting sub-portion 2111 are spaced apart in the direction of the rotor rotation axis. The power module 30 is disposed between the first connecting sub-portion 2111 and the second connecting sub-portion 2121. The second supporting sub-portion 2122 is disposed around the outer ring of the second bearing 340 and extends from the outer periphery of the second connecting sub-portion 2121 to the first end of the power module housing 310. The outer ring of the second bearing 340 is supported on the inner peripheral surface of the second supporting sub-portion 2122 along the radial direction of the second bearing 340.

[0110] In this embodiment, the power module 30 is disposed between the first connecting sub-part 2111 and the second connecting sub-part 2121. The first connecting sub-part 2111 and the second connecting sub-part 2121 can protect the power module 30 in the axial direction, reduce the impact of external impurities on the power module 30, and extend the service life of the power module 30. The outer ring of the second bearing 340 is radially supported on the inner circumferential surface of the second connecting sub-part 2121. The inner circumferential surface of the second connecting sub-part 2121 is used as the radial support surface of the second bearing 340, so that the second connecting part 212 passes through the second supporting sub-part. The second connecting part 2122 and the second connecting sub-part 2121 form a stable annular support structure, enhancing the connection rigidity between the second connecting part 212 and the power module 30. The second bearing 340 is firmly fixed between the second support section and the second supporting sub-part 2122, ensuring reliable support of the power module by the second connecting part 212. This avoids structural swaying or insufficient connection strength caused by insufficient support, thereby significantly improving the structural compactness, overall stability, and load-bearing capacity of the joint assembly in the direction of the rotor rotation axis, meeting the requirements of miniaturization and high integration for the robot's dexterous hand. In addition, the second connecting part 212 can protect the end of the power module, improving dustproof performance.

[0111] In some embodiments, the inner circumferential surface of the second support sub-part 2122 is annular.

[0112] Further, see Figure 2 As shown, the power module housing 310 includes a first housing segment 3101 and a second housing segment 3102 arranged sequentially along the rotor rotation axis. The end of the second housing segment 3102 away from the first housing segment 3101 forms a first support segment. The first housing segment 3101 forms a first receiving space, which is configured to receive at least a portion of the stator assembly 323 and at least a portion of the rotor assembly 321. The second housing segment 3102 forms a second receiving space, which is configured to receive at least a portion of the reducer assembly 322. The second receiving space is connected to the first receiving space. The outer diameter of the first housing segment 3101 is larger than the outer diameter of the second housing segment 3102, and the inner diameter of the first housing segment 3101 is larger than the inner diameter of the second housing segment 3102.

[0113] In this embodiment, the outer and inner diameters of the first shell segment 3101 are both larger than those of the second shell segment 3102, resulting in a stepped segmented structure for the power module housing 310. The stator assembly 323, rotor assembly 321, and reducer assembly 322 can be arranged in an orderly partitioned layout along the axial direction within the power module housing 310. The larger radial peripheral space of the first shell segment 3101 accommodates the core components of the motor (i.e., the stator assembly 323 and the rotor assembly 321), allowing the power module body to have a larger size and thus provide greater output torque. The connection between the first shell segment 3101 and the second shell segment 3102 achieves a compact connection of the power transmission path, effectively integrating the internal space of the power module 30. This ensures that the structural dimensions of the power module housing 310 match the structural dimensions of the internal stator assembly 323, rotor assembly 321, and reducer assembly 322, reducing internal space waste and improving the space utilization rate inside the joint assembly. This contributes to the miniaturization and high integration of the robot's dexterous hand joints.

[0114] It should be noted that in this embodiment, both the first shell segment 3101 and the second shell segment 3102 are cylindrical structures. The outer diameter of the first shell segment 3101 refers to the radial dimension of the outer circumferential profile of the first shell segment 3101, and the inner diameter of the first shell segment 3101 refers to the radial dimension of the inner circumferential profile of the first shell segment 3101. The outer diameter of the second shell segment 3102 refers to the radial dimension of the outer circumferential profile of the second shell segment 3102, and the inner diameter of the second shell segment 3102 refers to the radial dimension of the inner circumferential profile of the second shell segment 3102.

[0115] For irregularly shaped cylinders, the outer diameter and inner diameter are defined as follows:

[0116] Inner diameter: The diameter of the largest cylinder that can be inserted into the cylinder.

[0117] Outer diameter: The inner diameter of the smallest cylinder capable of housing the cylindrical body.

[0118] Optionally, see Figure 5 to 8 , Figure 2 As shown, the fixing part of the first connecting rod 10 includes a fixing shell 110. The first connecting rod 10 also includes a mounting bracket 40. The mounting bracket 40 and the fixing shell 110 are detachably assembled or integrally formed. The mounting bracket 40 is sleeved on the second shell section 3102 and fixedly connected to the second shell section 3102. The fixing shell 110 includes a first end and a second end that are arranged opposite to each other along the rotor rotation axis. The inner circumferential surface of the first end of the fixing shell 110 abuts against the outer circumferential surface of the mounting bracket 40, and the inner circumferential surface of the second end of the fixing shell 110 abuts against the outer circumferential surface of the first shell section 3101.

[0119] In this embodiment, a mounting bracket 40 is introduced as an intermediate transition connector. The mounting bracket 40 is sleeved on the second shell section 3102. The fixing part of the first connecting rod 10 can directly abut against the outer peripheral surface of the first shell section 3101 through the inner peripheral surface of the second end of the fixing shell 110, and at the same time, indirectly fix the power module shell 310 through the abutment between the inner peripheral surface of the first end of the fixing shell 110 and the outer peripheral surface of the mounting bracket 40. This step-by-step abutment assembly method effectively solves the problem that a single fixing part cannot simultaneously adapt to shell sections of different diameters or structures, avoids the phenomenon of installation stress concentration or excessive connection gap caused by direct abutment against different structural shells, improves the internal space utilization of the joint assembly, achieves high structural compactness, and meets the requirements of robot dexterity hand for miniaturization and high integration. At the same time, the setting of the fixing shell 110 can protect the mounting bracket 40 and the power module shell 310, and reduce the impact of external impurities such as dust on the mounting bracket 40 and the power module shell 310.

[0120] In conjunction with the aforementioned embodiments, the outer diameter of the first shell segment 3101 is larger than the outer diameter of the second shell segment 3102, and the inner diameter of the first shell segment 3101 is larger than the inner diameter of the second shell segment 3102. The outer peripheral surfaces of the first shell segment 3101 and the second shell segment 3102 form a stepped structure. The mounting bracket 40 is sleeved on the second shell segment 3102 and is connected to the fixed shell 110. The relative fixation of the power module shell 310 and the fixed shell 110 can be achieved through the mounting bracket 40. Furthermore, the mounting bracket 40 is only connected to the second shell segment 3102, reducing the connection occupation of the power module shell 310, making full use of the radial space of the power module shell 310, and avoiding an increase in the radial volume of the power module shell 310. At the same time, for power module shells 310 of different sizes, different mounting brackets 40 can be selected to achieve the installation of different power modules 30.

[0121] Optionally, see Figure 2 As shown, the first link includes a mounting bracket 40, at least a portion of the structure of the mounting bracket 40 is fitted onto the second housing segment 3102 as a fixing part and is fixedly connected to the second housing segment 3102.

[0122] In this embodiment, the mounting bracket 40 is directly attached to the outer peripheral surface of the second shell section 3102 for fixation, effectively overcoming the problem of limited installation space and difficulty in adaptation caused by the difference in outer diameter between the first shell section 3101 and the second shell section 3102. This achieves a stable connection between the first connecting rod 10 and the power module housing 310, thereby ensuring the structural stability and connection reliability of the joint assembly outside the power module 30. Furthermore, by using only the second shell section 3102 with a smaller radial dimension as the connection part, the increase in the radial volume of the power module housing 310 can be effectively avoided, and the obstruction of the outer peripheral surface of the power module housing 310 is reduced, which is beneficial to the heat dissipation of the power module 30.

[0123] Furthermore, the end face of the first shell section 3101 facing the first connecting sub-section 2111 forms a first stop surface. In the direction of the rotor rotation axis, the mounting bracket 40 is clamped and fixed between the first stop surface and the first bearing 330. The first bearing 330 is clamped and fixed between the mounting bracket 40 and the first connecting sub-section 2111.

[0124] In this embodiment, the first bearing 330 is axially clamped and fixed by the first stop surface and the first connecting part 2111, which realizes the precise axial positioning of the first bearing 330, ensures the stability of the position of the first bearing 330 in the direction of the rotor rotation axis, effectively prevents axial movement, and simplifies the assembly process, eliminating the need for additional axial fasteners, thereby improving the structural compactness and assembly efficiency of the power module.

[0125] In some embodiments, in the direction of the rotor rotation axis, the first stop surface abuts against the inner ring of the first bearing 330 via a convex ring, and the first connecting part 2111 abuts against the outer ring of the first bearing 330 via a convex ring.

[0126] Optionally, see Figure 2 As shown, the fixing part of the first connecting rod includes a fixing shell 110. The fixing shell 110 includes a first end and a second end that are arranged opposite to each other along the rotor rotation axis. The inner circumferential surface of the first end of the fixing shell 110 abuts against the outer circumferential surface of the second shell section 3102, and the inner circumferential surface of the second end of the fixing shell 110 abuts against the outer circumferential surface of the first shell section 3101.

[0127] In this embodiment, by tightly fitting the two ends of the fixed shell 110 to the second shell segment 3102 and the first shell segment 3101 of different diameters in the power module shell 310, the different shaft diameter segments of the power module shell 310 are effectively covered and fixed, thereby enhancing the connection rigidity and stability between the first connecting rod 10 and the power module shell 310, and improving the structural compactness and overall reliability of the joint assembly.

[0128] In an exemplary embodiment of this application, the fixing part of the first link 10 is further provided with a limiting structure, which extends along the circumferential direction of the fixing part. The second link 20 is provided with a rotation limiting structure 213, which can be a limiting protrusion, a limiting post, or other structures. The rotation limiting structure 213 extends into the limiting structure and can limit the circumferential movement of the rotation limiting structure 213, thereby limiting the relative rotation angle between the second link 20 and the first link. Specifically, when the fixing part includes a fixing shell 110 and a mounting bracket 40, the limiting structure includes a through hole 102 opened on the fixing shell 110 and a rotation limiting groove 401 opened on the mounting bracket 40. The through hole 102 and the rotation limiting groove 401 are correspondingly provided. The rotation limiting structure 213 can extend into the rotation limiting groove 401 through the through hole 102 to achieve rotation limiting of the second link 20. Specifically, when the fixing part only includes the mounting bracket 40, the mounting bracket 40 has a rotation limiting groove 401, and the rotation limiting structure 213 extends into the rotation limiting groove 401 to limit the rotation of the second connecting rod 20. Specifically, when the fixing part only includes the fixing shell 110, one end of the through hole 102 on the fixing shell 110 can be blocked to form a groove structure, and the rotation limiting structure 213 extends into the through hole 102 to limit the rotation of the second connecting rod 20.

[0129] Furthermore, the mounting bracket 40 includes an arc-shaped body 410, a first connecting segment 420 disposed at a first end of the arc-shaped body 410, and a second connecting segment 430 disposed at a second end of the arc-shaped body 410. The first connecting segment 420 and the second connecting segment 430 have a connected state and a released state. When the first connecting segment 420 and the second connecting segment 430 are in the connected state, the arc-shaped body 410 forms a closed ring structure. The closed ring structure is sleeved on the outer peripheral surface of the second shell segment 3102. The inner peripheral surface of the closed ring structure abuts against the outer peripheral surface of the second shell segment 3102. At least one of the first connecting segment 420 and the second connecting segment 430 is connected to the fixed shell 110.

[0130] In this embodiment, when the first connecting segment 420 and the second connecting segment 430 are in the released state, the arc-shaped main body 410 is open. At this time, the mounting bracket 40 can be directly sleeved around the outer circumferential surface of the second shell segment 3102. For example, the mounting bracket 40 can be sleeved onto the second shell segment 3102 along the axial direction, achieving convenient installation of the mounting bracket 40 and the second shell segment 3102. Subsequently, the first connecting segment 420 and the second connecting segment 430 are switched to the connected state, causing the arc-shaped main body 410 to close. The inner circumferential surface of the arc-shaped main body 410 and the outer circumferential surface of the second shell segment 3102 are tightly abutted, ensuring the fitting accuracy and structural stability between the mounting bracket 40 and the second shell segment 3102. Finally, the mounting bracket 40 is firmly fixed by connecting the first connecting segment 420 or the second connecting segment 430 to the fixed shell 110, ensuring connection strength.

[0131] In one exemplary embodiment of this application, the length of the first connecting segment 420 is greater than the length of the second connecting segment 430. The second connecting segment 430 has a connecting hole 4301, which faces the first connecting segment 420. By inserting a locking element, such as a bolt, into the connecting hole 4301, the first connecting segment 420 and the second connecting segment 430 can be connected. The first connecting segment 420 has a fixing hole 4201, which, by inserting a fastener, such as a bolt or screw, into the fixing hole 4201, can be connected to the fixing housing 110. In some embodiments, the fixing hole 4201 extends along the axial direction of the mounting bracket 40.

[0132] In other embodiments, the specific connection form between the first connecting segment 420 and the second connecting segment 430 can be adjusted to snap-fit, threaded connection or riveting, etc., according to actual needs.

[0133] Furthermore, in the fixing part, a portion of the inner peripheral surface of the fixing shell 110 abuts against the outer peripheral surface of the mounting bracket 40, and another portion of the inner peripheral surface of the fixing shell 110 has an installation gap 101 between it and the outer peripheral surface of the first shell segment 3101. The installation gap 101 is used for wiring.

[0134] In this embodiment, an installation gap 101 is left between the inner circumferential surface of the fixed shell 110 and the outer circumferential surface of the first shell section 3101. The installation gap 101 is specifically used for wiring. While ensuring a stable connection between the fixed part and the power module shell 310, it provides an independent routing space for internal cables, effectively avoiding interference between the wiring and the fixed structure, improving the utilization rate of internal space and the convenience of assembly and maintenance, and meeting the requirements of miniaturization and high integration of the joint assembly.

[0135] In conjunction with the foregoing embodiments, the inner circumferential surface of the first end of the fixing shell 110 abuts against the outer circumferential surface of the mounting bracket 40, and the inner circumferential surface of the second end of the fixing shell 110 abuts against the outer circumferential surface of the first shell segment 3101. That is, the inner circumferential surface of the first end of the fixing shell 110 abuts against the outer circumferential surface of the mounting bracket 40, a portion of the inner circumferential surface of the second end of the fixing shell 110 abuts against the outer circumferential surface of the first shell segment 3101, and a mounting gap 101 exists between another portion of the inner circumferential surface of the second end of the fixing shell 110 and the outer circumferential surface of the first shell segment 3101. The mounting gap 101 is used for wiring. Figure 2 As shown, the inner circumferential surface of the second end of the fixed shell 110 can be divided into two segments along the circumferential direction. The curvature of the two inner circumferential surfaces can be set differently. One segment abuts against the outer circumferential surface of the first shell segment 3101, and the other segment forms an installation gap 101 with the outer circumferential surface of the first shell segment 3101.

[0136] Further, see Figure 2 As shown, the power module housing 310 also includes a third housing segment 3103. The third housing segment 3103 is disposed along the rotor rotation axis on the side of the first housing segment 3101 away from the second housing segment 3102. The outer diameter of the first housing segment 3101 is larger than the outer diameter of the third housing segment 3103, and the inner diameter of the first housing segment 3101 is larger than the inner diameter of the third housing segment 3103. The end of the third housing segment 3103 away from the first housing segment 3101 along the rotor rotation axis forms a second support segment. The third housing segment 3103 forms a third receiving space 31030. The power module 30 also includes a circuit board 350, which is at least partially disposed within the third receiving space 31030.

[0137] In this embodiment, the outer diameter of the first shell section 3101 is larger than the outer diameter of the third shell section 3103, and the inner diameter of the first shell section 3101 is larger than the inner diameter of the third shell section 3103. This stepped shell design can effectively adapt to the size characteristics of the internal structure, reduce internal space waste, and achieve a compact design of the power module 30. By placing at least part of the circuit board 350 in an independent third accommodating space 31030, the circuit board 350 is isolated from the stator assembly 323 and the rotor assembly 321, achieving effective spatial isolation and orderly layout of electronic components and mechanical transmission components. This not only makes full use of the idle space inside the joint assembly, but also avoids the risk of interference with the circuit board, significantly improving the operational stability of the power module 30.

[0138] Furthermore, the end face of the first shell section 3101 facing the second connecting sub-section 2121 forms a second stop surface, and in the direction of the rotor rotation axis, the second bearing 340 is clamped and fixed between the second stop surface and the second connecting sub-section 2121.

[0139] In this embodiment, the second bearing 340 is axially clamped and fixed by the second stop surface and the second connecting part 2121, which realizes the precise axial positioning of the second bearing 340, ensures the stability of the position of the second bearing 340 in the direction of the rotor rotation axis, effectively prevents axial movement, and simplifies the assembly process, eliminating the need for additional axial fasteners, thereby improving the structural compactness and assembly efficiency of the power module.

[0140] In some embodiments, in the direction of the rotor rotation axis, the second stop surface abuts against the inner ring of the second bearing 340 via a convex ring, and the second connecting part 2121 abuts against the outer ring of the second bearing 340 via a convex ring.

[0141] Further, see Figure 2 As shown, the power module also includes a detection component, which includes a magnetic component and a sensing element. The rotor rotation axis passes through the magnetic component and the sensing element. The sensing element is electrically connected to the circuit board. The magnetic component is fixedly connected to the rotor assembly 321. The magnetic component and the sensing element are correspondingly arranged to detect the rotation angle and / or rotation speed of the rotor assembly 321.

[0142] In this embodiment, when the rotor assembly 321 rotates around the rotor rotation axis, the magnetic component fixedly connected to the rotor assembly 321 rotates synchronously. Since the magnetic component and the sensing element are correspondingly arranged along the rotor rotation axis, the sensing element can detect the change in the position of the magnetic component in real time, thereby obtaining the rotation angle and / or rotation speed signal of the rotor assembly 321, and transmitting the signal to the circuit board 350 for processing. Since the circuit board 350 is at least partially disposed within the third receiving space 31030 formed by the third housing segment 3103, and the third housing segment 3103 is disposed along the rotor rotation axis on the side of the first housing segment 3101 opposite to the second housing segment 3102, this layout allows the detection component to be integrated using the axial space on the rotor rotation axis and the end space where the circuit board 350 is located, without the need for an additional independent housing or complex transmission structure. This not only achieves high-precision detection of the rotation state of the rotor assembly 321, but also effectively avoids the detection component occupying additional radial or axial space. Thus, while meeting the requirements of miniaturization and high integration of the joint assembly, it further saves internal space and improves the overall structural compactness.

[0143] Further, see Figure 5 , Figure 2As shown, the power module housing 310 includes a motor housing 3104, a first motor end cover 3105, and a circuit board support 360. The motor housing 3104 extends along the rotor rotation axis and forms a first housing segment 3101 and a second housing segment 3102. The first motor end cover 3105 includes a first cylindrical portion 31051 and a second cylindrical portion 31052 connected to each other along the rotor rotation axis. The first cylindrical portion 31051 is inserted into the motor housing 3104, and the second cylindrical portion 31052 is disposed on the side of the first cylindrical portion 31051 opposite to the motor housing 3104. The second cylindrical portion 31052 forms a third housing segment 3103. At least a portion of the circuit board support 360 is disposed within the second cylindrical portion 31052, and a circuit board 350 is disposed on the circuit board support 360. The circuit board support 360 is connected to at least one of the first cylindrical portion 31051 and the second cylindrical portion 31052.

[0144] In this embodiment, the power module housing 310 adopts a combined structure assembled from a motor housing 3104 and a first motor end cover 3105. The motor housing 3104 extends along the rotor rotation axis to form a first housing segment 3101 and a second housing segment 3102. The first motor end cover 3105 is inserted into the motor housing 3104 via a first cylindrical portion 31051, and a third housing segment 3103 is formed using the second cylindrical portion 31052. This insertion assembly method effectively utilizes the internal space of the motor housing 3104, avoiding an increase in the overall radial dimension of the power module housing 310. Based on this, at least a portion of the circuit board bracket 360 is disposed within the second cylindrical portion 31052, the circuit board 350 is mounted on the circuit board bracket 360, and the circuit board bracket 360 is connected to at least one of the first cylindrical portion 31051 or the second cylindrical portion 31052. This structure allows the circuit board 350 to be stably fixed within the space of the third shell section 3103 by the bracket, avoiding displacement caused by vibration or impact. At the same time, in conjunction with the compact layout of the shell assembly, the space utilization rate inside the power module is improved, meeting the requirements of miniaturization, lightweighting and high integration of the robot's dexterous hand joint assembly.

[0145] In one exemplary embodiment of this application, the rotor assembly 321 includes a rotor shaft 3211, a first motor end cover 3105 is supported on the first end of the rotor shaft 3211 by a third bearing 370, a second motor end cover 3106 is also provided in the power module housing 310, the second motor end cover 3106 is supported on the second end of the rotor shaft 3211 by a fourth bearing 380, and the second end of the rotor shaft is connected to the reducer assembly 322.

[0146] Further, see Figure 3As shown, the reducer assembly 322 includes a multi-stage planetary gear reducer 3220. The input sun gear 3221 of the multi-stage planetary gear reducer 3220 is connected to the rotor assembly 321. The output planetary disk 3222 of the multi-stage planetary gear reducer 3220 is connected to the first connecting sub-part 2111. The output planetary disk 3222 serves as the output end 3201 of the reducer assembly. The inner circumferential surface of the second housing section 3102 is provided with teeth, which mesh with the planetary gears of the multi-stage planetary gear reducer 3220.

[0147] In this embodiment, the reducer assembly 322 employs a multi-stage planetary gear reducer 3220. The input sun gear 3221 is directly connected to the rotor assembly 321 to receive rotational power, and the output planetary disk 3222 serves as the output end 3201 of the reducer assembly and is connected to the first connecting sub-part 2111 to transmit torque, achieving a compact power transmission path. The inner circumferential surface of the second housing section 3102 is provided with teeth, which mesh with the planetary gears of the multi-stage planetary gear reducer 3220, allowing the planetary gears of the reducer assembly 322 to be directly radially supported by the inner wall of the second housing section 3102 of the power module housing 310. This design integrates the reducer components, which would otherwise require independent bearings or brackets, into the housing, eliminating the need for additional independent support structures. This not only simplifies the assembly process but also significantly optimizes the internal spatial layout of the joint assembly, improving internal space utilization.

[0148] The joint assembly in the above embodiment operates as follows: When the joint assembly is in operation, the rotor assembly 321 in the power module body 320 rotates around the rotor rotation axis, transmitting rotational power to the multi-stage planetary gear reducer 3220 via the input sun gear 3221. The planetary gears of the multi-stage planetary gear reducer 3220 mesh with the teeth on the inner circumferential surface of the second housing section 3102, thereby obtaining radial support. Power is transmitted to the first connecting sub-section 2111 via the output planetary disk 3222, thereby driving the first connecting rod 10 to move. At this time, the rotation angle and / or rotation speed of the rotor assembly 321 are monitored in real time by the detection component. The magnetic component fixedly connected to the rotor assembly 321 rotates synchronously with the rotor assembly 321. The sensing element passing through the rotor rotation axis detects the change in the position of the magnetic component and transmits the signal to the circuit board 350 disposed in the third accommodating space 31030 for processing.

[0149] According to another specific embodiment of this application, a power module is provided, including a power module housing 310, a stator assembly 323 and a rotor assembly 321, a reducer assembly, an output flange, and a first bearing. At least a portion of the stator assembly 323 and the rotor assembly 321 are disposed within the power module housing 310, and the rotor assembly 321 is rotatable about a rotor rotation axis. The reducer assembly is disposed on one side of the rotor assembly 321 in the direction of the rotor rotation axis and is connected to the rotor assembly 321. At least a portion of the reducer assembly is disposed within the power module housing 310. The output flange includes a first connecting sub-part 2111 and a first supporting sub-part 2112. The first connecting sub-part 2111 is connected to the output end of the reducer assembly, and the first supporting sub-part 2112 is connected to the first connecting sub-part 2111. The first bearing is sleeved on the power module housing 310, and the inner ring of the first bearing is supported radially on the outer circumferential surface of the power module housing 310, while the outer ring of the first bearing is supported radially on the first supporting sub-part 2112.

[0150] Applying the technical solution of this application, the output end of the reducer assembly 322 is connected to the first connecting sub-part 2111 of the output flange, the first bearing 330 is sleeved on the power module housing 310, the inner ring of the first bearing 330 is supported radially on the outer circumferential surface of the power module housing 310, and the outer ring of the first bearing 330 is supported radially on the first supporting sub-part of the output flange. Since the first supporting sub-part 2112 and the first connecting sub-part 2111 are connected to each other, the output end of the reducer assembly 322 can be supported on the outer circumferential surface of the power module housing 310 via the output flange. In this way, by utilizing the space in the radial direction of the power module 30 to set the first bearing 330, the space occupied in the direction of the rotor rotation axis can be reduced, which is beneficial to reducing the size of the power module 30 in the direction of the rotor rotation axis and solving the problems of low internal space utilization and poor structural compactness of the power module 30 in the prior art.

[0151] As mentioned above, the output end of the reducer assembly 322 can be supported on the outer peripheral surface of the power module housing 310 via the output flange. In other words, the output flange can assist in supporting the output end of the reducer assembly 322. In addition, since the output flange can be used to connect external structural components, the output flange can also directly drive to external structural components. The output flange itself integrates at least two functions. Through the integration of functions, it is beneficial to simplify the overall structure of the power module 30 and reduce the overall size of the power module 30.

[0152] On the other hand, by directly utilizing the structure of the power module housing 310 itself as the support surface of the first bearing 330, the space occupied by adding an additional independent support component to support the output end is eliminated. By using the housing structure for support, the internal space utilization of the power module 30 is significantly improved, making the overall structure more compact and meeting the application requirements of miniaturization, lightweighting and high integration in fields such as robot dexterity hands.

[0153] In some embodiments, the first connecting portion 211 in the second link 20 can serve as an output flange.

[0154] In some embodiments, the output flange may be a separate component and may be fixedly connected to the second link 20 for driving the second link 20 to rotate relative to the first link 10. Further, the power module housing 310 includes a first end and a second end disposed opposite to each other along the rotor rotation axis. The distance between the reducer assembly and the first end of the power module housing 310 is less than the distance between the reducer assembly and the second end of the power module housing 310. A first bearing is sleeved on the first end of the power module housing 310. The power module also includes a second bearing sleeved on the second end of the power module housing 310.

[0155] In this embodiment, the power module housing 310 has a first end and a second end arranged opposite to each other along the rotor rotation axis. A first bearing is sleeved on the first end of the power module housing 310, and a second bearing is sleeved on the second end of the power module housing 310. The inner ring of the first bearing is radially supported on the outer circumferential surface of the power module housing 310, and the outer ring is supported on the first support sub-part of the output flange. The second bearing provides radial support to the second end of the power module housing 310. This structural design with bearings at both ends ensures that the power module housing 310 is effectively radially limited and supported at both ends along the rotor rotation axis. Compared with a structure that only provides support at one end, this design effectively solves the problem of insufficient stability under stress caused by the lack of radial support at the end of the power module housing 310 away from the reducer assembly. It improves the overall stability and support reliability of the power module structure, and helps maintain the alignment of each component in a compact spatial layout, thereby improving the miniaturization and high integration performance of the power module in robot dexterity hand applications.

[0156] According to another specific embodiment of this application, a power module is provided, which includes a power module housing 310, a stator assembly 323, a rotor assembly 321, and a reducer assembly. At least a portion of the stator assembly 323 and the rotor assembly 321 are disposed within the power module housing 310. The rotor assembly 321 is rotatable about a rotor rotation axis. The reducer assembly is disposed on one side of the rotor assembly 321 in the direction of the rotor rotation axis and is connected to the rotor assembly 321. At least a portion of the reducer assembly is disposed within the power module housing 310. The output end of the reducer assembly is configured to be connected to an external output assembly. At least a portion of the structure of the external output assembly is sleeved on the outer peripheral surface of the power module housing 310. The output end of the reducer assembly is configured to be supported on the outer peripheral surface of the power module housing 310 via the external output assembly.

[0157] By applying the technical solution of this application, the output end of the reducer assembly 322 is connected to the external output assembly. At least a portion of the structure of the external output assembly is fitted onto the outer peripheral surface of the power module housing 310. The output end of the reducer assembly 322 is supported on the outer peripheral surface of the power module housing 310 via the external output assembly. In this way, by utilizing the space in the radial direction of the power module 30 to set the external output assembly, the space occupied in the direction of the rotor rotation axis can be reduced, which is beneficial to reducing the size of the power module 30 along the rotor rotation axis and solving the problems of low internal space utilization and poor structural compactness of the power module 30 in the prior art.

[0158] As mentioned above, the output end of the reducer assembly 322 can be supported on the outer peripheral surface of the power module housing 310 via an external output component. In other words, the external output component can assist in supporting the output end of the reducer assembly 322. In addition, since the external output component can be used to connect external structural components, the external output component can also directly transmit power to external structural components. The external output component itself integrates at least two functions. Through the integration of functions, it is beneficial to simplify the overall structure of the power module 30 and reduce the overall size of the power module 30.

[0159] On the other hand, by directly utilizing the structure of the power module housing 310 itself as the support surface for the external output components, the space occupied by additional independent support components for supporting the output end is eliminated. By using the housing structure for support, the internal space utilization of the power module 30 is significantly improved, making the overall structure more compact and meeting the application requirements of miniaturization, lightweighting and high integration in fields such as robot dexterity hands.

[0160] The power module body and power module housing 310 of the power module can be structurally designed with reference to the power module body and power module housing 310 in the joint assembly.

[0161] The external output component, as an external environmental element, is directly connected to the output end of the reducer assembly 322. The external output component may include the aforementioned output flange and the first bearing 330, and the specific structure may be adjusted according to actual needs. For example, the external output component may also be a sleeve with a flange, which is sleeved on the outer periphery of the power module housing 310, and a support bearing is coaxially arranged inside the sleeve.

[0162] In some embodiments, the external output component may further include the aforementioned first connection portion 211 and first bearing 330.

[0163] The working process of the power module in the above embodiment is as follows: When the power module is working, the rotor assembly 321 in the power module body 320 rotates around the rotor rotation axis, and transmits the rotational power to the multi-stage planetary gear reducer 3220 through the input sun gear 3221. The planet gears of the multi-stage planetary gear reducer 3220 mesh with the teeth on the inner circumferential surface of the second housing section 3102, thereby obtaining radial support. The power is transmitted to the first connecting sub-section 2111 via the output planetary disk 3222, thereby driving the external output assembly or output flange to move. At this time, the rotation angle and / or rotation speed of the rotor assembly 321 are monitored in real time by the detection component. The magnetic component fixedly connected to the rotor assembly 321 rotates synchronously with the rotor assembly 321. The sensing element passing through the rotor rotation axis detects the change in the position of the magnetic component and transmits the signal to the circuit board 350 set in the third accommodating space 31030 for processing.

[0164] According to another specific embodiment of this application, a mechanical finger is provided, which includes the joint assembly described above or the power module described above.

[0165] Applying the technical solution of this embodiment, when the mechanical finger includes the aforementioned joint assembly, the joint assembly fully utilizes the first support section of the power module housing as the bearing support surface, and combines it with the first support sub-part of the second link to achieve radial support. This eliminates the need for additional independent support structures, significantly reduces axial and radial redundancy, and significantly improves internal space utilization. The joint assembly achieves high compactness and lightweighting, meeting the requirements of robot dexterity hands for miniaturized joints. This allows the mechanical finger to maintain high integration while achieving excellent transmission rigidity and positioning accuracy, reducing the overall weight of the mechanical finger, improving dynamic response speed, and enhancing durability in complex task environments, thereby significantly improving the robot's operational flexibility and work efficiency. When the mechanical finger includes the aforementioned power module, the power module utilizes the power module housing itself as the support surface of the bearing inner ring, simplifying the traditional complex independent support structure, reducing the number of parts, and lowering assembly complexity, effectively achieving lightweighting and compactness of the power module. For space-constrained robot dexterity hands, this highly integrated design greatly improves internal space utilization, making the finger structure more precise and compact.

[0166] In one exemplary embodiment of this application, see [link to example]. Figure 4 and ​ As shown, the mechanical finger includes a first phalanx near the palm and a second phalanx away from the palm. The connection between the first phalanx and the palm forms a first joint assembly. The first phalanx is rotatably disposed relative to the palm via the first joint assembly. The connection between the first phalanx and the second phalanx forms a second joint assembly. The second phalanx is rotatably disposed relative to the first phalanx via the second joint assembly. Both the first joint assembly and the second joint assembly adopt the joint assembly described above.

[0167] Specifically, for the first joint assembly, the first phalanx forms the first link 10 of the first joint assembly, the second phalanx forms the second link 20 of the first joint assembly, and the power module 30 of the first joint assembly is assembled and connected with the first phalanx and the second phalanx.

[0168] Specifically, for the second joint assembly, the first phalanx forms the second link 20 of the second joint assembly, the first link 10 of the second joint assembly is a separate structure, the first link 10 of the second joint assembly is connected to the palm, and the power module 30 of the second joint assembly is assembled and connected to the first phalanx and the first link 10.

[0169] According to another specific embodiment of this application, a robotic dexterous hand is provided, which includes a mechanical finger and a mechanical palm. The mechanical finger is the aforementioned mechanical finger, and the mechanical finger is connected to the mechanical palm.

[0170] By applying the technical solution of this embodiment, the highly compact and lightweight design of the joint assembly and power module significantly reduces the overall size and weight of the dexterous hand. The robot dexterous hand has extremely high flexibility in narrow and complex spaces, and can easily complete delicate and complex grasping and operation tasks. It breaks through the limitations of traditional robot end effectors, which are large in size and have poor flexibility, and effectively improves the working efficiency and intelligence level of the robot dexterous hand.

[0171] In one exemplary embodiment of this application, the robotic dexterous hand includes a palm, a thumb, an index finger, and a middle finger, wherein the index finger and the middle finger both adopt the above-described mechanical finger structure.

[0172] According to another specific embodiment of this application, a robot is provided, the robot including a robot dexterous hand, the robot dexterous hand being the robot dexterous hand described above.

[0173] By applying the technical solution of this embodiment, through the high integration and compact design of the robot's dexterous hand, the overall structure of the robot is lighter, the motion inertia is reduced, the dynamic response speed is significantly improved, and the robot's flexibility and accuracy in performing operational tasks are higher, greatly enhancing the robot's ability to handle complex tasks.

[0174] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0175] In addition to the above, it should be noted that the terms "one embodiment," "another embodiment," and "embodiment" used in this specification refer to specific features, structures, or characteristics described in connection with that embodiment, which are included in at least one embodiment described in the general description of this application. The appearance of the same expression in multiple places in the specification does not necessarily refer to the same embodiment. Furthermore, when a specific feature, structure, or characteristic is described in connection with any embodiment, the intention is to suggest that implementing such a feature, structure, or characteristic in conjunction with other embodiments also falls within the scope of this application.

[0176] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0177] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A joint assembly, characterized in that, include: A power module (30) includes a power module housing (310) and a power module body (320) at least partially disposed within the power module housing (310). The power module body (320) includes a stator assembly (323), a rotor assembly (321), and a reducer assembly (322). The rotor assembly (321) is rotatable about a rotor rotation axis. The reducer assembly (322) is connected to the rotor assembly (321). The power module housing (310) includes a first end and a second end disposed opposite to each other along the direction of the rotor rotation axis. The distance between the reducer assembly (322) and the first end of the power module housing (310) is less than the distance between the reducer assembly (322) and the second end of the power module housing (310). The first link (10) includes a fixing part, which is disposed along the outer peripheral surface of the power module housing (310) and fixedly connected to the power module housing (310). Taking the plane where the rotor rotation axis is located as the reference plane, the fixing part forms a first projection on the reference plane along a projection direction perpendicular to the reference plane, and the power module housing (310) forms a second projection on the reference plane along a projection direction perpendicular to the reference plane. The first projection and the second projection at least partially overlap, and the length of the overlapping area of ​​the first projection and the second projection in the direction of the rotor rotation axis is less than the length of the second projection in the direction of the rotor rotation axis. The first end of the power module housing (310) includes a first support section, which forms a third projection on the reference plane along a projection direction perpendicular to the reference plane. There is no overlapping area between the third projection and the first projection. The second link (20) includes a first connecting part (211), the first connecting part (211) includes a first connecting sub-part (2111) and a first supporting sub-part (2112), the first connecting sub-part (2111) is connected to the output end (3201) of the reducer assembly (322), and the first supporting sub-part (2112) is connected to the first connecting sub-part (2111); The first bearing (330) is sleeved on the first support section, the inner ring of the first bearing (330) is supported on the outer peripheral surface of the first support section, and the outer ring of the first bearing is supported on the first support sub-part (2112).

2. The joint assembly according to claim 1, characterized in that, The second connecting rod (20) also includes a second connecting part (212), which is spaced apart from the first connecting part (211) in the direction of the rotor rotation axis. The second end of the power module housing (310) includes a second support section. The second support section forms a fourth projection on the reference plane along a projection direction perpendicular to the reference plane. There is no overlap between the fourth projection and the first projection. The joint assembly also includes a second bearing (340), which is sleeved on the second support section. The inner ring of the second bearing (340) is supported on the outer peripheral surface of the second support section, and the outer ring of the second bearing (340) is supported on the second connecting part (212).

3. The joint assembly according to claim 2, characterized in that, The ratio of the length of the third projection in the direction of the rotor rotation axis to the length of the second projection in the direction of the rotor rotation axis is 0.05-0.3; and / or, the ratio of the length of the fourth projection in the direction of the rotor rotation axis to the length of the second projection in the direction of the rotor rotation axis is 0.05-0.

3.

4. The joint assembly according to claim 2, characterized in that, The second projection has a length of 15mm-40mm in the direction of the rotor rotation axis; the third projection has a length of 1mm-10mm in the direction of the rotor rotation axis; and / or, the fourth projection has a length of 1mm-10mm in the direction of the rotor rotation axis.

5. The joint assembly according to claim 2, characterized in that, The first support sub-part (2112) is disposed around the outer ring of the first bearing (330), and the first support sub-part (2112) extends from the outer periphery of the first connecting sub-part (2111) to the second end of the power module housing (310). The outer ring of the first bearing (330) is radially supported on the inner circumferential surface of the first support sub-part (2112); and / or, the second connecting part (212) includes a second connecting sub-part (2121) and a second support sub-part (2122), the second connecting sub-part (2121) and the first connecting sub-part (2111) The power module (30) is disposed between the first connecting sub-part (2111) and the second connecting sub-part (2121) in the direction of the rotor rotation axis. The second support sub-part (2122) is disposed around the outer ring of the second bearing (340), and the second support sub-part (2122) extends from the outer periphery of the second connecting sub-part (2121) to the first end of the power module housing (310). The outer ring of the second bearing (340) is supported on the inner circumferential surface of the second support sub-part (2122) along the radial direction of the second bearing (340).

6. The joint assembly according to claim 5, characterized in that, The power module housing (310) includes a first housing segment (3101) and a second housing segment (3102) arranged sequentially along the rotor rotation axis. The end of the second housing segment (3102) away from the first housing segment (3101) forms the first support segment. The first housing segment (3101) forms a first receiving space, which is configured to receive at least a portion of the stator assembly (323) and at least a portion of the rotor assembly (321). The second housing segment (3102) forms a second receiving space, which is configured to receive at least a portion of the reducer assembly (322). The second receiving space is connected to the first receiving space. The outer diameter of the first housing segment (3101) is larger than the outer diameter of the second housing segment (3102), and the inner diameter of the first housing segment (3101) is larger than the inner diameter of the second housing segment (3102).

7. The joint assembly according to claim 6, characterized in that, The fixing part of the first connecting rod (10) includes a fixing shell (110). The first connecting rod (10) also includes a mounting bracket (40). The mounting bracket (40) and the fixing shell (110) are detachably assembled or integrally formed. The mounting bracket (40) is sleeved on the second shell section (3102) and fixedly connected to the second shell section (3102). The fixing shell (110) includes a first end and a second end arranged opposite to each other along the direction of the rotor rotation axis. The inner circumferential surface of the first end of the fixing shell (110) abuts against the outer circumferential surface of the mounting bracket (40). The inner circumferential surface of the second end of the fixing shell (110) abuts against the outer circumferential surface of the first shell section (3101).

8. The joint assembly according to claim 6, characterized in that, The first link includes a mounting bracket (40), at least a portion of the structure of which is fitted onto the second shell section (3102) as the fixing part and is fixedly connected to the second shell section (3102).

9. The joint assembly according to any one of claims 7-8, characterized in that, The end face of the first shell segment (3101) facing the first connecting sub-part (2111) forms a first stop surface. In the direction of the rotor rotation axis, the mounting bracket (40) is clamped and fixed between the first stop surface and the first bearing (330). The first bearing (330) is clamped and fixed between the mounting bracket (40) and the first connecting sub-part (2111).

10. The joint assembly according to claim 6, characterized in that, The fixing part of the first connecting rod includes a fixing shell (110). The fixing shell (110) includes a first end and a second end that are arranged opposite to each other along the rotation axis of the rotor. The inner circumferential surface of the first end of the fixing shell (110) abuts against the outer circumferential surface of the second shell segment (3102), and the inner circumferential surface of the second end of the fixing shell (110) abuts against the outer circumferential surface of the first shell segment (3101).

11. The joint assembly according to claim 7, characterized in that, The mounting bracket (40) includes an arc-shaped body (410), a first connecting segment (420) disposed at a first end of the arc-shaped body (410), and a second connecting segment (430) disposed at a second end of the arc-shaped body (410). The first connecting segment (420) and the second connecting segment (430) have a connected state and a released state. When the first connecting segment (420) and the second connecting segment (430) are in the connected state, the arc-shaped body (410) forms a closed ring structure. The closed ring structure is sleeved on the outer peripheral surface of the second shell segment (3102). The inner peripheral surface of the closed ring structure abuts against the outer peripheral surface of the second shell segment (3102). At least one of the first connecting segment (420) and the second connecting segment (430) is connected to the fixed shell (110).

12. The joint assembly according to claim 7, characterized in that, In the fixing part, a portion of the inner peripheral surface of the fixing shell (110) abuts against the outer peripheral surface of the mounting bracket (40), and another portion of the inner peripheral surface of the fixing shell (110) has an installation gap (101) between it and the outer peripheral surface of the first shell segment (3101), the installation gap (101) being used for wiring.

13. The joint assembly according to claim 6, characterized in that, The power module housing (310) further includes a third housing segment (3103), which is disposed along the rotor rotation axis on the side of the first housing segment (3101) away from the second housing segment (3102). The outer diameter of the first housing segment (3101) is larger than the outer diameter of the third housing segment (3103), and the inner diameter of the first housing segment (3101) is larger than the inner diameter of the third housing segment (3103). The end of the third housing segment (3103) away from the first housing segment (3101) along the rotor rotation axis forms a second support segment. The third housing segment (3103) forms a third receiving space (31030). The power module (30) further includes: A circuit board (350) is at least partially disposed within the third receiving space (31030).

14. The joint assembly according to claim 13, characterized in that, The end face of the first shell segment (3101) facing the second connecting sub-part (2121) forms a second stop surface, and the second bearing (340) is clamped and fixed between the second stop surface and the second connecting sub-part (2121) in the direction of the rotor rotation axis.

15. The joint assembly according to claim 13, characterized in that, The power module also includes a detection component, which includes a magnetic component and a sensing element. The rotor rotation axis passes through the magnetic component and the sensing element. The sensing element is electrically connected to the circuit board (350). The magnetic component is fixedly connected to the rotor assembly (321). The magnetic component and the sensing element are correspondingly arranged to cooperate in detecting the rotation angle and / or rotation speed of the rotor assembly (321).

16. The joint assembly according to claim 13, characterized in that, The power module housing (310) includes: Motor housing (3104) extends along the rotor rotation axis and is used to form the first shell section (3101) and the second shell section (3102). A first motor end cover (3105) includes a first cylindrical portion (31051) and a second cylindrical portion (31052) connected to each other along the rotor rotation axis. The first cylindrical portion (31051) is inserted into the motor housing (3104), and the second cylindrical portion (31052) is disposed on the side of the first cylindrical portion (31051) away from the motor housing (3104). The second cylindrical portion (31052) is used to form the third shell segment (3103). A circuit board support (360) is provided at least in the second cylindrical portion (31052), and a circuit board (350) is provided on the circuit board support (360). The circuit board support (360) is connected to at least one of the first cylindrical portion (31051) and the second cylindrical portion (31052).

17. The joint assembly according to claim 6, characterized in that, The reducer assembly (322) includes a multi-stage planetary gear reducer (3220), the input sun gear (3221) of the multi-stage planetary gear reducer (3220) is connected to the rotor assembly (321), the output planetary disk (3222) of the multi-stage planetary gear reducer (3220) is connected to the first connecting sub-part (2111), the output planetary disk (3222) serves as the output end (3201) of the reducer assembly (322), and the inner circumferential surface of the second housing section (3102) is provided with toothed patterns, which mesh with the planetary gears of the multi-stage planetary gear reducer (3220).

18. A power module, characterized in that, include: Power module housing (310); A stator assembly (323) and a rotor assembly (321), at least a portion of which are disposed within the power module housing (310), wherein the rotor assembly (321) is rotatable about a rotor rotation axis; A reducer assembly (322) is disposed on one side of the rotor assembly (321) in the direction of the rotor rotation axis and is connected to the rotor assembly (321). At least a portion of the reducer assembly (322) is disposed within the power module housing (310). The output flange includes a first connecting sub-part (2111) and a first supporting sub-part (2112). The first connecting sub-part (2111) is connected to the output end of the reducer assembly (322), and the first supporting sub-part (2112) is connected to the first connecting sub-part (2111). The first bearing is sleeved on the power module housing (310). The inner ring of the first bearing is supported radially on the outer circumferential surface of the power module housing (310), and the outer ring of the first bearing is supported radially on the first support sub-part (2112).

19. The power module according to claim 18, characterized in that, The power module housing (310) includes a first end and a second end disposed opposite to each other along the rotor rotation axis. The distance between the reducer assembly (322) and the first end of the power module housing (310) is less than the distance between the reducer assembly (322) and the second end of the power module housing (310). The first bearing is sleeved on the first end of the power module housing (310). The power module also includes a second bearing (340), which is sleeved on the second end of the power module housing (310).

20. A power module, characterized in that, include: Power module housing (310); A stator assembly (323) and a rotor assembly (321), at least a portion of which are disposed within the power module housing (310), wherein the rotor assembly (321) is rotatable about a rotor rotation axis; A reducer assembly (322) is disposed on one side of the rotor assembly (321) in the direction of the rotor rotation axis and is connected to the rotor assembly (321). At least a portion of the reducer assembly (322) is disposed within the power module housing (310). The output end of the reducer assembly (322) is configured to be connected to an external output assembly, at least a portion of the structure of the external output assembly is sleeved on the outer peripheral surface of the power module housing (310), and the output end of the reducer assembly (322) is configured to be supported on the outer peripheral surface of the power module housing (310) via the external output assembly.

21. A mechanical finger, characterized in that, The mechanical finger comprises the joint assembly of any one of claims 1-15, or the power module of any one of claims 18-20.

22. A robotic dexterous hand, characterized in that, The robotic dexterous hand includes a mechanical finger and a mechanical palm, wherein the mechanical finger is the mechanical finger as described in claim 21, and the mechanical finger is connected to the mechanical palm.

23. A robot, characterized in that, The robot includes a robot dexterous hand, which is the robot dexterous hand as described in claim 22.

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