A finger driving device, a robot hand and a robot

Abstract

The application provides a finger driving device of a humanoid robot, a robot and a robot. The finger driving device comprises a motor, a ball screw structure and a stator structure. The motor comprises a rotor structure and the stator structure sleeved outside the rotor structure. A first cavity coaxial with the rotor structure is formed in the rotor structure. The ball screw structure is coaxial with the rotor structure and comprises a nut and a screw rod. The nut is fixedly connected with the rotor structure. The outer diameter of the screw rod is smaller than the inner diameter of the first cavity so that the screw rod can extend into the first cavity. The stator structure can drive the rotor structure to rotate around a first rotation axis to drive the nut to rotate around the first rotation axis, so that the screw rod moves linearly in the axial direction of the first rotation axis. The nut is fixedly connected with the rotor structure of the motor, and the screw rod of the ball screw structure can extend into the interior of the rotor structure, so that the motor can provide a space for the linear motion of the screw rod, and the axial size of the finger driving device is reduced, which is beneficial to reducing the volume of the humanoid robot.

Description

Technical Field

[0001] This application relates to the field of robotic arm technology, and more specifically, to a finger-driven device, a robotic arm, and a robot. Background Technology

[0002] Motor drive is a common driving method for humanoid robotic arms, but existing technologies have the problem of large drive device size, which increases the size of humanoid robotic arms. Summary of the Invention

[0003] This application provides a finger drive device for a humanoid robotic hand, a humanoid robotic hand, and a robot, which solves the problem of the large size of the motor drive device.

[0004] Firstly, a finger-driving device for a humanoid robotic hand is provided, the technical solution of which is as follows: 1. A finger-driving device for a humanoid robotic hand, comprising: An electric motor includes a rotor structure and a stator structure fitted outside the rotor structure, wherein a coaxial first cavity is formed inside the rotor structure; and A ball screw structure, coaxial with the rotor structure, includes a nut and a screw. The nut is fixedly connected to the rotor structure, and the outer diameter of the screw is smaller than the inner diameter of the first cavity so that the screw can extend into the first cavity. The stator structure can drive the rotor structure to rotate around the first rotating shaft, thereby causing the nut to rotate around the first rotating shaft, and thus causing the screw to move linearly in the axial direction of the first rotating shaft.

[0005] 2. The finger drive device of the humanoid robotic hand according to technical solution 1, wherein a weight-reducing part is formed inside the rotor structure, and the weight-reducing part is located on the side away from the nut.

[0006] 3. The finger drive device of the humanoid robotic hand according to technical solution 2, wherein the weight reduction part includes a second cavity coaxial with the rotor structure.

[0007] 4. The finger driving device of the humanoid robotic hand according to technical solution 3, wherein the second cavity is connected to the first cavity.

[0008] 5. The finger drive device of the humanoid robotic hand according to any one of technical solutions 1 to 4, wherein the nut is fixedly sleeved on the rotor structure.

[0009] 6. The finger driving device for the humanoid robotic hand according to technical solution 5, wherein the rotor structure has a fixing part on the side near the nut, and the ball screw structure further includes a connecting assembly, the connecting assembly cooperating with the fixing part to achieve a fixed connection between the nut and the rotor structure, the connecting assembly including: The housing is fastened and fixedly fitted onto the nut; and The connector is fixedly connected to the fastening housing and is fixedly sleeved on the fixing part.

[0010] 7. The finger driving device of the humanoid robotic hand according to technical solution 6, wherein a first stop structure is formed on the sleeve surface of the nut and the fastening housing.

[0011] 8. The finger driving device of the humanoid robotic hand according to technical solution 7, wherein the nut includes a first threaded segment and a second threaded segment connected together, the first threaded segment being located at one end close to the rotor structure; the fastening housing includes a first housing segment and a second housing segment connected together, the first housing segment being located at one end close to the rotor structure; Wherein, the outer diameter of the first screw segment is larger than the outer diameter of the second screw segment, and the inner diameter of the first shell segment is larger than the inner diameter of the second shell segment, so that the first stop structure is formed on the sleeve surface of the nut and the fastening shell.

[0012] 9. The finger driving device of the humanoid robotic hand according to technical solution 6 or 7, wherein a second stop structure is formed on the sleeve surface of the fixing part and the connecting member.

[0013] 10. The finger driving device of the humanoid robotic hand according to technical solution 9, wherein the fixing part includes a first fixing section and a second fixing section connected together, the first fixing section being located at the end near the nut; the connecting member includes a first connecting section and a second connecting section connected together, the first connecting section being located at the end near the nut; Wherein, the outer diameter of the first fixing segment is smaller than the outer diameter of the second fixing segment, and the inner diameter of the first connecting segment is smaller than the inner diameter of the second connecting segment, so that the second stop structure is formed on the sleeve surface of the fixing part and the connecting member.

[0014] 11. The finger driving device of the humanoid robotic hand according to any one of technical solutions 1 to 10, wherein the finger driving device of the humanoid robotic hand further includes a housing, the stator structure and the rotor structure are installed in the housing, and a bearing is provided between the rotor structure and the housing.

[0015] 12. The finger drive device of the humanoid robotic hand according to technical solution 11, wherein a bearing portion is provided on the outer wall of the rotor structure, and the bearing is installed in the bearing portion.

[0016] 13. The finger drive device for the humanoid robotic hand according to technical solution 11 or 12, wherein the outer shell includes a main shell and an end cap; the main shell is fixedly sleeved on the stator structure; and the end cap is fixedly connected to the end of the main shell away from the ball screw structure.

[0017] 14. The finger driving device of the humanoid robotic hand according to technical solution 13, wherein a mounting hole is provided at the center of the end cap; the finger driving device of the humanoid robotic hand further includes an encoder assembly for detecting motion data of the rotor structure, the encoder comprising: The encoder is located on the outside of the end cap; The rotating shaft connector is located inside the mounting hole, with one end fixedly connected to the rotor mechanism and the other end connected to the encoder.

[0018] 15. The finger driving device of the humanoid robotic hand according to technical solution 13 or 14, wherein the finger driving device of the humanoid robotic hand further includes a driving plate installed on the outside of the end cap.

[0019] 16. The finger driving device of the humanoid robotic hand according to technical solution 15, the finger driving device of the humanoid robotic hand further includes a drive plate heat sink, which is installed on the outside of the drive plate.

[0020] In a second aspect, a humanoid robotic hand is provided, including the finger driving device of the humanoid robotic hand as described in any one of the technical solutions 1 to 16 of the first aspect, for driving the fingers of the humanoid robotic hand.

[0021] Thirdly, a robot is provided, including the humanoid robotic hand described in the third aspect. Attached Figure Description

[0022] Figure 1 This is a perspective view of the finger driving device provided in the embodiments of this application.

[0023] Figure 2 This is another angle view of the finger driving device provided in the embodiments of this application.

[0024] Figure 3 yes Figure 2 A cross-sectional view.

[0025] Figure label: 100: Motor; 110: Rotor structure; 120: Stator structure; 130: First cavity; 140: Weight reduction section; 200: Ball screw structure; 210: Nut; 220: Screw; 300: Outer casing; 400: Bearing 500; Encoder; 600: Driver board; 610: Driver board heat sink. Detailed Implementation

[0026] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0027] It should be noted that, in the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in this article is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone.

[0028] In the embodiments of this application, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more, and "at least one" and "one or more" refer to one, two, or more than two. The singular expressions "a," "an," "the," "the," "this," and "this" are intended to also include expressions such as "one or more," unless the context explicitly indicates otherwise.

[0029] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0030] In the description of the embodiments of this application, the terms "upper," "lower," "inner," "outer," "vertical," and "horizontal," etc., indicate orientations or positional relationships relative to the indicated placement of components in the accompanying drawings. It should be understood that these directional terms are relative concepts, used for relative description and clarification, and not to indicate or imply a specific orientation that the device or component must have, or its construction and operation in a specific orientation. They can change accordingly depending on the orientation of the components in the accompanying drawings, and therefore should not be construed as limiting this application. Furthermore, "vertical" in this application is not strictly vertical, but within the allowable error range. "Parallel" is not strictly parallel, but within the allowable error range.

[0031] In the embodiments of this application, the same reference numerals are used to denote the same component or part. Furthermore, the parts in the drawings are not drawn to scale, and the dimensions and sizes of the parts shown are merely exemplary and should not be construed as limiting the scope of this application.

[0032] It should be noted that, unless otherwise specified, the features in the following embodiments and implementation methods can be combined with each other.

[0033] As mentioned earlier, motor drive is a common driving method for humanoid robotic arms. However, existing motor drive devices have the problem of large size, which increases the size of humanoid robotic arms.

[0034] This application provides a finger-driving device for a humanoid robotic hand, including a motor and a ball screw structure; the motor includes a rotor structure and a stator structure sleeved outside the rotor structure, the rotor structure having a coaxial first cavity inside; the ball screw structure is coaxial with the rotor structure and includes a nut and a screw rod, the nut being fixedly connected to the rotor structure, the outer diameter of the screw rod being smaller than the inner diameter of the first cavity so that the screw rod can extend into the first cavity; wherein, the stator structure can drive the rotor structure to rotate around a first axis, thereby causing the nut to rotate around the first axis, thus causing the screw rod to move linearly in the axial direction of the first axis.

[0035] In the finger drive device provided in this application, the nut of the ball screw structure is fixedly connected to the rotor structure of the motor, and the screw of the ball screw structure can extend into the interior of the rotor structure, thereby enabling the motor to provide clearance space for the linear movement of the screw, which reduces the axial dimension of the finger drive device and helps to reduce the size of the humanoid robotic hand.

[0036] In addition, by using a ball screw pair as a transmission device, the rotational motion of the motor is converted into the linear motion of the ball screw, so that the drive axis and the transmission axis can be located on the same straight line. Therefore, the ball screw pair and the motor can be set coaxially, thereby reducing the radial dimension of the finger drive device at the motor.

[0037] The finger driving device of the humanoid robotic hand provided in the embodiments of this application will be described in detail below with reference to the figures.

[0038] refer to Figures 1 to 3 The finger-driving device of the humanoid robotic hand includes a motor 100. The motor 100, as a power source, includes a stator structure 120 and a rotor structure 110. As can be seen from the accompanying drawings, the motor 100 in this embodiment is an internal rotor motor. The stator structure 120 and rotor structure 110 are coaxially arranged, with the stator structure 120 sleeved outside the rotor structure 110. The rotor structure 110 can rotate relative to the stator structure 120 around a first axis of rotation (the central axis of the rotor structure 110). A first cavity 130, coaxial with the rotor structure 110, is formed inside the rotor structure 110. When the stator structure 120 drives the rotor structure 110 to rotate, the rotor structure 110 can rotate around this central axis. For ease of subsequent description, this central axis is described as the first axis of rotation. It can be understood that the first axis of rotation is a virtual axis.

[0039] It should be noted that the specific composition and structure of the stator structure 120 and the rotor structure 110 can be referred to the prior art, and will not be described in detail here.

[0040] The finger-driving device of the humanoid robotic hand also includes a ball screw structure 200. The ball screw structure 200 may include a nut 210 and a screw 220. It is understood that the nut 210 is nested on the screw 220. In this embodiment, the nut 210 of the ball screw structure 200 is fixedly connected to the rotor structure 110. Therefore, the nut 210 can rotate around a first rotating shaft under the drive of the rotor structure 110, thereby allowing the screw 220, coaxial with the nut 210, to move linearly along the axial direction of the first rotating shaft (i.e., the screw 220 extends and retracts). Since the rotor structure 110 has a coaxial first cavity 130, it provides clearance space for the screw 220, allowing the screw 220 to extend into the first cavity 130 during linear movement. This reduces the axial dimension of the finger-driving device. Furthermore, the design of the first cavity 130 also reduces the weight of the finger-driving device, thereby improving its operating efficiency and stability.

[0041] It should be understood that the stator structure 120, rotor structure 110, first cavity 130, nut 210 and screw 220 are all coaxially arranged.

[0042] In the illustrated embodiment, a weight-reducing portion 140 may be formed inside the rotor structure 110, and the weight-reducing portion 140 is located on the side away from the nut 210. It should be understood that, in conjunction with the accompanying drawings and functional description, the first cavity 130 formed inside the rotor structure 110 is located on the side closer to the nut 210. When the weight-reducing portion 140 is provided on the side away from the nut 210, the weight of the screw 220 can be further reduced, thereby further reducing the weight of the finger drive device.

[0043] The weight-reducing section 140 can be designed as a cavity structure coaxial with the rotor structure 110, which can be named the second cavity. The weight-reducing section 140, coaxially arranged in the form of a second cavity, can evenly distribute the weight of the rotor structure 110 along the first axis of rotation, thereby improving the operational balance of the finger drive device. It should be understood that, in the illustrated embodiment, when the second cavity is coaxial with the rotor structure 110, the first cavity 130 is coaxial with the second cavity.

[0044] In the illustrated embodiment, the second cavity can communicate with the first cavity 130, which significantly reduces the weight of the finger drive device.

[0045] In an embodiment not shown, the second cavity may not be connected to the first cavity 130.

[0046] In the illustrated embodiment, the nut 210 can be fixedly sleeved on the rotor structure 110. Specifically, the rotor structure 110 may have a fixing part on the side near the nut 210, and the ball screw structure 200 may also include a connecting assembly. The nut 210 and the rotor structure 110 can be fixedly connected by the mutual cooperation of the connecting assembly and the fixing part.

[0047] The connecting assembly may include a fastening housing and a connector fixedly connected to the fastening housing. The fastening housing may be fixedly sleeved on the outside of the nut 210, and the connector may be fixedly sleeved on the fixing part. Thus, when the fastening housing and the connector are fixedly connected together, the nut 210 is fixedly connected to the rotor structure 110.

[0048] In the illustrated embodiment, the fixed connection between the connector and the fixing part can be implemented as a threaded connection. The inner wall of the connector and the outer wall of the fixing part can be provided with mutually mating threads, so that the connector can be sleeved on the fixing part.

[0049] It should be understood that, in embodiments not shown, the connector and the fixing part can also be fixedly connected by other existing implementations, including detachable and non-detachable implementations.

[0050] In the illustrated embodiment, the fastening housing serves both as a shell covering the nut 210 and as a means of fixing the nut 210 and the rotor structure 110 (fixed part). The fastening housing can be fixedly sleeved on the nut 210, for example, the fastening housing can be fixedly sleeved on the nut 210 and have an interference fit with the nut 210, thus achieving a fixed connection between the two.

[0051] It should be understood that, in embodiments not shown, the fastening housing and nut 210 can also be fixedly connected by other existing implementations, including detachable and non-detachable implementations.

[0052] In the illustrated embodiment, the fastening housing and the connecting member are fixedly connected together by threaded connectors. There can be one or more threaded connectors, which can be distributed circumferentially along the fastening housing and the connecting member. The specific number and positional distribution can be determined according to actual needs. Threaded connectors can be screws, bolts, nuts 210, etc.

[0053] Taking a screw as an example, the connector can be provided with a through hole, which can be interference-fitted with the screw. The fastening housing can be provided with a threaded hole that mates with the screw's thread. The screw passes through the through hole and mates with the threaded hole, thus connecting the connector to the fastening housing.

[0054] It should be understood that screw holes can be provided in both the fastening housing and the connecting parts.

[0055] When the threaded fastener is a bolt and nut 210 or other type of threaded fastener, corresponding through holes or screw holes can also be provided in the fastener and the fastening housing, so that the connection between the two is more reliable.

[0056] In the illustrated embodiment, a first stop structure may be formed on the mating surface between the nut 210 and the fastening housing. During assembly, when the fastening housing is fitted onto the nut 210, the first stop structure can position the ball screw structure 200 for installation.

[0057] In the illustrated embodiment, the nut 210 may include a first threaded segment and a second threaded segment connected together, with the first threaded segment located at one end near the rotor structure 110; the fastening housing may include a first housing segment and a second housing segment connected together, with the first housing segment located at one end near the rotor structure 110; wherein, the outer diameter of the first threaded segment may be larger than the outer diameter of the second threaded segment, and the inner diameter of the first housing segment may be larger than the inner diameter of the second housing segment, thereby forming a first stop structure on the mating surface between the nut 210 and the fastening housing.

[0058] It should be understood that the first housing is fixedly sleeved on the first threaded segment, and the second housing is fixedly sleeved on the second threaded segment. Due to the specific dimensional design, the protruding end face of the first threaded segment abuts against the protruding end face of the second housing, thereby forming a stop structure. This design scheme, by limiting the dimensions of the nut 210 and the fastening housing, forms a first stop structure on the mating surface of the nut 210 and the fastening housing, offering advantages such as convenient production and simple assembly. Furthermore, under this design scheme, the fastening housing can be fixedly connected to the nut 210 not only radially by clamping force (such as an interference fit), but also axially by means of the first stop structure and connecting parts, making the connection between the two more robust.

[0059] In an embodiment not shown, the outer diameter of the first screw segment can be smaller than the outer diameter of the second screw segment, and the inner diameter of the first housing segment can be smaller than the inner diameter of the second housing segment. In this case, when the two are assembled together, the first housing is still fixedly fitted onto the first screw segment, and the second housing is fixedly fitted onto the second screw segment. However, unlike the former, this dimensional design allows the protruding end face of the second screw segment to abut against the protruding end face of the first housing, thereby forming a stop structure. This stop structure can be used to install and position the ball screw structure 200, offering advantages such as convenient production and simple assembly. However, it cannot be axially fixedly connected to the nut 210 using this stop structure and connecting piece.

[0060] In an embodiment not shown, the inner diameter of the fastening housing and the outer diameter of the nut 210 can be the same axially from one end to the other. In this case, as described above, the fastening housing and the nut 210 can be interference-fitted, thus achieving a fixed connection between the two.

[0061] In the illustrated embodiment, a second stop structure may be formed on the mating surface of the fixing part and the connector. During assembly, when the connector is fitted onto the fixing part, the second stop structure can assist in installation and positioning.

[0062] In the illustrated embodiment, the fixing part may include a first fixing section and a second fixing section connected together, with the first fixing section located at one end near the nut 210; the connector may include a first connecting section and a second connecting section connected together, with the first connecting section located at one end near the nut 210; wherein, the outer diameter of the first fixing section may be smaller than the outer diameter of the second fixing section, and the inner diameter of the first connecting section may be smaller than the inner diameter of the second connecting section, so that a second stop structure is formed on the sleeve surface of the fixing part and the connector.

[0063] It should be understood that the first connecting segment is fixedly sleeved on the first fixed segment, and the second connecting segment is fixedly sleeved on the second fixed segment. Due to the specific dimensional design, the protruding end face of the first connecting segment abuts against the protruding end face of the second fixed segment, thereby forming a stop structure. This design scheme, by limiting the dimensions of the fixing part and the connecting part, forms a second stop structure on the sleeve surface of the fixing part and the connecting part, which has the advantages of convenient production and simple assembly.

[0064] In an embodiment not shown, the inner diameter of the connector and the outer diameter of the fixing part can be the same in the axial direction from one end to the other.

[0065] In the illustrated embodiment, the finger drive device of the humanoid robotic hand may further include a housing 300, in which the stator structure 120 and the rotor structure 110 are mounted. The housing 300 can serve as both the housing of the finger drive device and the housing of the motor 100, thereby reducing the radial dimension of the finger drive device. The stator structure 120 can be fixedly disposed within the housing 300. Since the rotor structure 110 can rotate relative to the stator structure 120 around a first axis under the drive of the stator structure 120, the rotor structure 110 can be rotatably disposed within the housing 300.

[0066] The outer casing 300 may include a main casing, which can be fixedly sleeved on the stator structure 120. A bearing 400 may be provided between the main casing and the rotor structure 110, and the rotor structure 110 and the main casing may be rotatably connected together via the bearing 400, so that the rotor structure 110 is supported by the bearing 400 when it rotates relative to the main casing. The bearing 400 may be sleeved on the rotor structure 110 and connected to the inner wall of the main casing. A bearing portion may be provided on the outer wall of the rotor structure 110, and the bearing 400 is installed in the bearing portion. The bearing portion can be used to position the bearing 400 on the rotor structure 110, facilitating assembly and positioning. In the axial direction of the rotor structure 110, abutment ends may be formed on both sides of the bearing portion for at least one end face of the bearing 400 to abut against. Specifically, the bearing portion may be designed as a groove structure. The bearing 400 may be a sliding bearing, such as a radial bearing or a thrust bearing, or a rolling bearing, such as a self-aligning ball bearing, a deep groove ball bearing, or a needle roller bearing, etc., depending on actual needs. The number of bearings 400 can be two, with the two bearings 400 located at opposite ends of the rotor structure 110. This distributes the pressure during rotation, reduces the likelihood of deformation, and thus improves the connection strength between the rotor structure 110 and the main housing, reducing vibration during rotation. The number of bearings 400 can also be greater than two, such as three, with two located closer to the nut 210 and the other further away. A higher number of bearings 400 results in a larger axial dimension of the device, but also better support. Therefore, the specific number of bearings 400 can be determined based on actual requirements.

[0067] The housing 300 may also include a first end cap and a second end cap, which are detachably connected to both ends of the main housing. The first end cap may be located on the side closer to the nut 210, and the second end cap may be located on the side farther from the nut 210. The specific detachable connection method is prior art and will not be described in detail here.

[0068] A through hole may be provided at the center of the first end cover, and one end of the rotor structure 110 extends through the through hole to the outside of the first end cover, thereby facilitating its fixed connection with the nut 210 of the ball screw structure. Specifically, the fixing part of the rotor structure 110 may be located outside the first end cover.

[0069] For example, when a bearing 400 is installed in the bearing 400 within a bearing portion provided on the outer wall of the rotor structure 110, one end face of the bearing 400 can abut against the first end cover and the fixing portion. It should be understood that the bearing portion is a groove structure with an abutting end located away from the nut 210. One side of the bearing 400 abuts against this abutting end, while the other side of the bearing 400 abuts against the first end cover and the fixing portion. This design reduces the axial dimensions of the device and facilitates assembly.

[0070] A mounting hole may be provided at the center of the second end cap; the finger drive device of the humanoid robotic hand may also include an encoder assembly for detecting motion data of the rotor structure 110, the encoder assembly including: Encoder 500 is located outside the second end cover; The shaft connector is located inside the mounting hole, with one end fixedly connected to the rotor mechanism and the other end connected to the encoder.

[0071] The second end cap may have a hinge hole in its circumferential direction. The humanoid robotic hand's skeleton structure can be hinged to the finger drive device through the hinge hole. One end of the screw 220 in the ball screw structure (the end furthest from the stator mechanism) may also have a hinge hole. The humanoid robotic hand's finger structure (such as one or more of the middle finger, index finger, ring finger, and little finger structures) can be hinged to the finger drive device through the hinge hole. To distinguish the hinge holes on the second end cap, the hinge hole on the screw 220 can be named the first hinge hole, and the hinge hole on the second end cap can be named the second hinge hole.

[0072] In the illustrated embodiment, the finger drive device of the humanoid robotic hand may further include a drive plate 600, which may be mounted on the outside of the end cap. The finger drive device of the humanoid robotic hand may further include a drive plate heat sink 610, which is mounted on the outside of the drive plate 600.

[0073] This application also provides a humanoid robotic hand, including the finger driving device of any of the preceding humanoid robotic hands, for driving the fingers of the humanoid robotic hand.

[0074] This application also provides a robot, including any of the aforementioned humanoid robotic arms.

[0075] The technical solutions provided by the embodiments of the present invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, based on the ideas of the present invention, modifications can be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. However, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the ideas and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A finger-driving device for a humanoid robotic hand, characterized in that, include: An electric motor includes a rotor structure and a stator structure fitted outside the rotor structure, wherein a coaxial first cavity is formed inside the rotor structure; and A ball screw structure, coaxial with the rotor structure, includes a nut and a screw. The nut is fixedly connected to the rotor structure, and the outer diameter of the screw is smaller than the inner diameter of the first cavity so that the screw can extend into the first cavity. The stator structure can drive the rotor structure to rotate around the first rotating shaft, thereby causing the nut to rotate around the first rotating shaft, and thus causing the screw to move linearly in the axial direction of the first rotating shaft.

2. The finger driving device for the humanoid robotic hand according to claim 1, characterized in that, The rotor structure has a weight-reducing section inside, which is located on the side away from the nut.

3. The finger driving device for the humanoid robotic hand according to claim 2, characterized in that, The weight reduction section includes a second cavity coaxial with the rotor structure.

4. The finger driving device for the humanoid robotic hand according to claim 3, characterized in that, The second cavity is connected to the first cavity.

5. The finger driving device for the humanoid robotic hand according to claim 1, characterized in that, The nut is fixedly sleeved on the rotor structure.

6. The finger driving device for the humanoid robotic hand according to claim 5, characterized in that, The rotor structure has a fixing part on the side near the nut, and the ball screw structure also includes a connecting assembly. The connecting assembly cooperates with the fixing part to achieve a fixed connection between the nut and the rotor structure. The connecting assembly includes: The housing is fastened and fixedly fitted onto the nut; and The connector is fixedly connected to the fastening housing and is fixedly sleeved on the fixing part.

7. The finger driving device for the humanoid robotic hand according to claim 6, characterized in that, A first stop structure is formed on the mating surface between the nut and the fastening housing; and / or A second stop structure is formed on the sleeve surface of the fixing part and the connector.

8. The finger driving device for the humanoid robotic hand according to claim 1, characterized in that, The finger drive device of the humanoid robotic hand also includes a housing, in which the stator structure and the rotor structure are installed, and a bearing is provided between the rotor structure and the housing.

9. The finger driving device for the humanoid robotic hand according to claim 8, characterized in that, The outer casing includes a main housing and an end cap; the main housing is fixedly sleeved on the stator structure; the end cap is fixedly connected to the end of the main housing away from the ball screw structure.

10. The finger driving device of the humanoid robotic hand according to claim 9, characterized in that, A mounting hole is provided at the center of the end cap; the finger drive device of the humanoid robotic hand also includes an encoder assembly for detecting motion data of the rotor structure, the encoder comprising: The encoder is located on the outside of the end cap; The rotating shaft connector is located inside the mounting hole, with one end fixedly connected to the rotor mechanism and the other end connected to the encoder.

11. The finger driving device for the humanoid robotic hand according to claim 9, characterized in that, The finger drive device of the humanoid robotic hand also includes a drive plate and a drive plate heat sink, which are sequentially installed on the outside of the end cover.

12. A humanoid robotic hand, characterized in that, The invention includes a finger driving device for a humanoid robotic hand as described in any one of claims 1 to 11, for driving the fingers of the humanoid robotic hand.

13. A robot, characterized in that, Including the humanoid robotic hand as described in claim 12.

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