RV speed reduction module for humanoid robot dexterous hand joint
By optimizing the structure of the drive motor and RV reducer, a direct connection between the drive motor and the reducer is achieved, solving the problems of lightweighting, miniaturization, and aesthetics of the dexterous hand joint module, and improving transmission accuracy and the functional performance of the dexterous hand.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHANGHAI XINJUN TRANSMISSION TECH CO LTD
- Filing Date
- 2025-04-10
- Publication Date
- 2026-04-28
AI Technical Summary
Existing dexterous hand joint reduction modules have large space requirements, large transmission errors, and low precision, making it difficult to achieve lightweight, miniaturization, and aesthetic design, and they are also difficult to process and manufacture.
The axial flux PCB motor and RV reducer are directly connected, eliminating the traditional output shaft and output disc frame. By using four-point ball bearings and needleless gear meshing, the axial length and shape of the joint module are optimized to achieve direct connection between the drive motor and the reducer.
It effectively reduces the axial dimension of the joint module, improves transmission accuracy and aesthetics, makes the fingers of the dexterous hand closer to the size of a human hand, and enhances torque, accuracy and speed capabilities.
Smart Images
Figure CN224169847U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of humanoid finger joint technology, and in particular to an RV deceleration module for the dexterous hand joint of a humanoid robot. Background Technology
[0002] As an end effector, the dexterous hand of a humanoid robot needs to have a degree of freedom and load-bearing capacity close to that of a human hand. Simultaneously, with the development of humanoid robots, the requirements for lightweight and miniaturized reduction modules for the dexterous hand joints are becoming increasingly stringent. Currently, reduction modules for dexterous hand joints typically use bevel gears located within the joint, with the reducer and drive motor housed within the finger segments. The reducer and drive motor are directly connected, and the drive motor is usually a radial flux structure with a large axial length. This structure occupies a significant amount of space, resulting in dexterous hand fingers being much larger than actual human hands, increasingly failing to meet the demands for lightweight, miniaturized, and aesthetically pleasing finger joints. Furthermore, due to the size limitations of the dexterous hand joints, the components of the joint module are extremely small and difficult to manufacture, especially the gears at the joints, which suffer from poor precision and are difficult to assemble, making machining even more challenging. This easily leads to large transmission errors and low transmission accuracy in the entire joint module, failing to achieve the same torque, precision, and speed capabilities as a human hand. Utility Model Content
[0003] The purpose of this invention is to provide an RV reduction module for the dexterous hand joint of a humanoid robot. By simultaneously optimizing the structure of the drive motor and the reducer, the drive motor and the reducer are directly connected. While ensuring transmission accuracy, the axial dimension of the entire joint module is effectively reduced, meeting the requirements of lightweight, miniaturized and aesthetically pleasing dexterous hand joint modules. It also provides finger space for installing other sensors and other components.
[0004] The above-mentioned technical objective of this utility model is achieved through the following technical solution:
[0005] An RV reduction module for a dexterous hand joint of a humanoid robot includes a drive motor and an RV reducer coaxially arranged at the joint. The drive motor is a PCB motor with axial magnetic flux and includes a motor housing. An input shaft, a permanent magnet rotor coaxially arranged with the input shaft, and two PCB stators are installed inside the motor housing. The two PCB stators are respectively located on both sides of the permanent magnet rotor.
[0006] The RV reducer includes two cycloidal wheels, a main bearing, and at least two eccentric shafts arranged in a circumferential array. The main bearing is disposed between the two cycloidal wheels. The eccentric shafts are mounted on the inner ring of the main bearing and the cycloidal wheels. Two first four-point ball bearings are arranged in parallel along their axial direction between the true circle of each eccentric shaft and the inner ring of the main bearing. The motor housing and the outer ring of the main bearing are detachably and fixedly connected, and a connecting partition is provided between them.
[0007] A second four-point ball bearing is installed between the cam and the cycloidal wheel at both ends of each eccentric shaft, and the outer wall of the cycloidal wheel meshes with the inner hole of the outer ring of the main bearing; a planetary gear is installed at the end of each eccentric shaft away from the drive motor, and the end of the input shaft away from the motor housing passes through the two cycloidal wheels and the main bearing and is equipped with an input gear that meshes synchronously with multiple planetary gears;
[0008] An end cap is provided on the side of the outer ring of the main bearing away from the motor housing. The end cap is detachably and fixedly connected to the inner ring of the main bearing. The end cap and the outer ring of the main bearing serve as the fixed end and the output end, respectively.
[0009] By adopting the above technical solution, the drive motor and RV reducer are directly connected. The end cover and the outer ring of the main bearing serve as the fixed end and the output end, respectively. The finger joints of the dexterous hand rotate directly around the input shaft axis. The drive motor is an axial flux PCB motor that includes a permanent magnet rotor and two PCB stators. Compared with the radial flux motor used in the prior art, its axial thickness is greatly reduced. The RV harmonic reducer is supported by a main bearing directly between the two cycloidal wheels. The outer ring of the main bearing is directly used as the fixed end or output end. The output shaft, output disc frame, needle gear housing and the mounting bearings between them in the existing RV reducer can be directly eliminated. At the same time, the first four-point ball bearing and the second four-point ball bearing replace the needle roller and cage bearings in the prior art. The axial thickness of the RV reducer is greatly reduced while ensuring the overall performance of the RV reducer.
[0010] This invention optimizes the structure of the drive motor and RV reducer, reducing the axial length of the joint module from two aspects simultaneously. This enables direct connection between the drive motor and RV reducer, effectively ensuring the transmission accuracy of the joint module and meeting the requirements of lightweight, miniaturized, and aesthetically pleasing dexterous hand joint modules. At the same time, the finger space of the dexterous hand can be used to install other sensors and other components. Since there is no need to install reducers and motor structures within the finger segments, the fingers of the dexterous hand are closer to the size of a real human hand. Furthermore, due to the improved transmission accuracy, the torque, precision, speed, and other capabilities of the dexterous hand are closer to those of a human hand.
[0011] Furthermore, a support bearing is provided between the outer wall of the input shaft and the inner holes of the two PCB stators, and a limiting step is provided on the motor housing and the connecting partition plate to cooperate with the two support bearings respectively. A limiting protrusion is provided on the input shaft on the side of the two support bearings away from the corresponding limiting step, and the support bearing is installed between the corresponding limiting step and the limiting protrusion.
[0012] By adopting the above technical solution, since the input shaft directly drives the planetary gears to rotate through the RV reducer, the length of the input shaft will be relatively longer. Therefore, two support bearings are set outside the input shaft to support it, and the corresponding support bearings are axially limited by the limiting steps and limiting convex rings to ensure the overall stability of the input shaft installation, prevent the end of the input shaft near the planetary gears from tilting up, affecting the meshing of the input gear and planetary gears, ensuring transmission accuracy, reducing noise, abnormal sounds and vibrations, and improving the service life of the entire joint module.
[0013] Furthermore, the inner and outer rings of the two first four-point ball bearings are respectively fixed on the true circle of the eccentric shaft and the inner ring of the main bearing, and the second four-point ball bearing is a flange-type four-point ball bearing.
[0014] By adopting the above technical solution, the outer and inner rings of the first four-point ball bearing are fixedly connected to the inner ring of the main bearing and the true circle of the eccentric shaft. The second four-point ball bearing is a flange-type four-point ball bearing. In this way, the eccentric shaft is axially limited, and there is no need to set other structures for axial limitation at both ends of the eccentric shaft, which can further shorten the axial thickness of the RV reducer.
[0015] Furthermore, the outer circle of the cycloidal wheel and the inner hole of the outer ring of the main bearing are engaged without needle rollers.
[0016] By adopting the above technical solution, the outer circle of the cycloidal wheel and the inner hole of the outer ring of the main bearing directly mesh with each other. Without the need for needle rollers, there is no need to set up a structure to axially limit the needle rollers, which can further shorten the axial thickness of the RV reducer.
[0017] Furthermore, the motor housing, connecting partition, outer ring of main bearing, and end cover together form a spherical structure with a flat end face of the end cover. The outer diameters of the PCB stator near the RV reducer, the permanent magnet rotor, and the PCB stator away from the RV reducer decrease sequentially.
[0018] By adopting the above technical solution, the entire joint module is designed with a near-spherical structure, ensuring that the entire joint module more closely resembles the shape of human hand finger joints and improving the aesthetics of the entire dexterous hand. Specifically, the outer diameters of the PCB stator near the RV reducer, the permanent magnet rotor, and the PCB stator away from the RV reducer decrease sequentially. This ensures that the internal structure of the drive motor is compatible with the overall near-spherical structure of the joint module while maintaining the drive motor's capability.
[0019] Furthermore, the outer wall of the outer ring of the main bearing and the outer wall of the end cover are respectively provided with an outwardly extending mounting lug, and the two mounting lugs are respectively located on both sides of the input shaft.
[0020] By adopting the above technical solution, the outer ring and end cap of the main bearing, i.e. the fixed end and output end of the joint module, are installed and connected to the dexterous finger segment by using mounting lugs, thereby reducing the overall volume of the joint module while ensuring the connection effect.
[0021] Furthermore, an encoder is installed at one end of the input shaft with an input gear, and a connecting plate is provided on the end face of the end cover away from the motor housing. A reading head corresponding to the encoder is installed on the connecting plate, and a clearance hole is provided on the end cover to cooperate with the reading head.
[0022] By adopting the above technical solution, the encoder is directly mounted on the input shaft and located at the end of the input shaft close to the planetary gear. The encoder and drive motor make reasonable use of the space of the entire joint module, thereby maximizing the capacity and minimizing the size of the joint module and ensuring the compact structure of the joint module.
[0023] Furthermore, the planetary gear is mounted on the end of the eccentric shaft by screws, and the end of the eccentric shaft and the inner hole of the planetary gear are polygonal plug-in fits.
[0024] By adopting the above technical solution, the planetary gear is installed with screws and has a polygonal plug-in fit with the end of the eccentric shaft. This ensures the synchronous rotation accuracy of the planetary gear and the eccentric shaft, while eliminating the need for structures such as snap rings to axially limit the planetary gear, and further shortening the axial length of the RV reducer.
[0025] In summary, this utility model has the following beneficial effects:
[0026] 1. This utility model adopts an axial flux PCB motor drive motor and an optimized RV reducer. The axial thickness of the drive motor is greatly reduced, and the RV reducer eliminates the traditional output shaft, output disc frame, pin tooth housing and the mounting bearings, needle rollers and cage bearings, etc., greatly reducing the axial thickness of the RV reducer while ensuring the overall performance of the RV reducer. In this way, the axial length of the joint module is reduced from two aspects, thereby realizing the direct connection between the drive motor and the RV reducer, effectively ensuring the transmission accuracy of the joint module, meeting the use requirements of lightweight, miniaturized and aesthetically pleasing dexterous hand joint modules. At the same time, the finger space of the dexterous hand can be used to install other sensors and other components. Since there is no need to install reducer and motor structures in the finger segments, the fingers of the dexterous hand are closer to the size of the actual human hand. Due to the improvement of transmission accuracy, the torque, accuracy, speed and other capabilities of the dexterous hand are closer to those of the human hand.
[0027] 2. In this utility model, the inner and outer rings of the first four-point ball bearing are respectively fixed on the inner ring of the main bearing and the true circle of the eccentric shaft. There are no needle rollers between the outer circle of the cycloidal wheel and the inner hole of the outer ring of the main bearing. The planetary gear is installed by screws and is polygonally plugged into the end of the eccentric shaft. This eliminates the need for additional axial limiting structures for the eccentric shaft, needle rollers, and planetary gears, and further reduces the axial thickness of the RV reducer.
[0028] 3. In this utility model, the motor housing, connecting partition, outer ring of main bearing and end cover form a spherical structure with a flat end cover face. By setting the entire joint module as a spherical structure, the entire joint module can be made closer to the shape of human hand finger joints, thus improving the aesthetics of the entire dexterous hand. Attached Figure Description
[0029] Figure 1 This is a schematic diagram of the overall structure of an RV deceleration module for a humanoid robot's dexterous hand joint.
[0030] In the diagram, 1. Drive motor; 2. Motor housing; 21. Limiting step; 3. Input shaft; 31. Input gear; 32. Support bearing; 33. Limiting ring; 4. Permanent magnet rotor; 5. PCB stator; 6. RV reducer; 7. Cycloidal wheel; 8. Main bearing; 81. Outer ring; 82. Inner ring; 9. Eccentric shaft; 91. First four-point ball bearing; 92. Second four-point ball bearing; 93. Planetary gear; 10. End cover; 11. Mounting lug; 12. Encoder; 13. Connecting plate; 14. Reading head; 15. Clearance hole; 16. Connecting partition. Detailed Implementation
[0031] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention.
[0032] An RV deceleration module for the dexterous hand joint of a humanoid robot, such as Figure 1 As shown, it includes a drive motor 1 and an RV reducer 6 coaxially mounted at the joint. The drive motor 1 is a PCB motor with axial magnetic flux and includes a motor housing 2. An input shaft 3, a permanent magnet rotor 4 coaxially mounted with the input shaft 3, and two PCB stators 5 are installed inside the motor housing 2. The two PCB stators 5 are located on both sides of the permanent magnet rotor 4.
[0033] like Figure 1As shown, the drive motor 1 has a significantly reduced axial thickness compared to the radial flux motors used in the prior art. Specifically, the drive motor 1 features a dual-stator, single-rotor structure, with two PCB stators 5 located on either side of the permanent magnet rotor 4. This allows for higher output power and torque within the same volume, meaning its axial thickness can be reduced while still meeting usage requirements. Furthermore, the drive motor 1 has excellent heat dissipation performance, eliminating the need for additional heat dissipation structures and further reducing its axial thickness.
[0034] like Figure 1 As shown, the RV reducer 6 includes two cycloidal wheels 7, a main bearing 8, and at least two eccentric shafts 9 arranged in a circumferential array. The main bearing 8 is positioned between the two cycloidal wheels 7. The inner ring 82 of the main bearing 8 and the cycloidal wheels 7 are circumferentially arranged with several mounting holes corresponding to the eccentric shafts 9. The eccentric shafts 9 are installed in the mounting holes on the inner ring 82 of the main bearing 8 and the cycloidal wheels 7. Two first four-point ball bearings 91 are arranged parallel along their axial direction between the true circle of each eccentric shaft 9 and the mounting hole on the inner ring 82 of the main bearing 8. Second four-point ball bearings 92 are respectively installed between the cams at both ends of each eccentric shaft 9 and the mounting holes on the cycloidal wheels 7. The inner and outer rings of the two first four-point ball bearings 91 are fixed to the inner ring 82 of the main bearing 8 and the true circle of the eccentric shaft 9, respectively. The second four-point ball bearings 92 are flange-type four-point ball bearings.
[0035] like Figure 1 As shown, the motor housing 2 and the outer ring 81 of the main bearing 8 are detachably fixedly connected by screws, and a connecting partition 16 is provided between them. The outer wall of the cycloidal wheel 7 and the inner hole of the outer ring 81 of the main bearing 8 are engaged with needle-free teeth. Each eccentric shaft 9 has a planetary gear 93 mounted at the end away from the drive motor 1, and the planetary gear 93 is mounted on the end of the eccentric shaft 9 by screws, and the end of the eccentric shaft 9 and the inner hole of the planetary gear 93 are polygonally inserted. At the end of the input shaft 3 away from the motor housing 2, two cycloidal wheels 7 and the main bearing 8 are passed through and an input gear 31 is installed that meshes synchronously with multiple planetary gears 93. The outer ring 81 of the main bearing 8 has an end cap 10 on the side away from the motor housing 2. The end cap 10 is detachably fixedly connected to the inner ring 82 of the main bearing 8. The end cap 10 and the outer ring 81 of the main bearing 8 serve as the fixed end and the output end, respectively.
[0036] like Figure 1As shown, in the RV reducer 6, a main bearing 8 is set between two cycloidal wheels 7. The outer ring 81 of the main bearing 8 directly serves as a needle gear housing and meshes with the cycloidal wheels 7. The outer ring 81 of the main bearing 8 and the end cover 10 serve as the fixed end and the output end, respectively. This directly eliminates the output shaft, output disc frame, needle gear housing, and the mounting bearings between them in existing RV reducers. At the same time, the first four-point ball bearing 91 and the second four-point ball bearing 92 replace the needle roller and cage bearings in the existing technology, greatly reducing the axial thickness of the RV reducer 6 while ensuring the overall performance of the RV reducer 6. Meanwhile, the inner and outer rings of the first four-point ball bearing 91 are fixed on the inner ring 82 of the main bearing 8 and the true circle of the eccentric shaft 9, respectively. There are no needle rollers between the outer circle of the cycloidal wheel 7 and the inner hole of the outer ring 81 of the main bearing 8. The planetary gear 93 is installed by screws and has a polygonal plug-in fit with the end of the eccentric shaft 9. This eliminates the need for additional axial limiting structures for the eccentric shaft 9, planetary gear 93, and needle rollers, and further reduces the axial thickness of the RV reducer 6.
[0037] like Figure 1 As shown, this utility model simultaneously optimizes the structure of the drive motor 1 and the RV reducer 6, and reduces the axial length of the joint module, thereby realizing the direct connection between the drive motor 1 and the RV reducer 6. This effectively ensures the transmission accuracy of the joint module and meets the usage requirements of lightweight, miniaturized and aesthetically pleasing dexterous hand joint modules. At the same time, the finger segment space of the dexterous hand can be used to install other sensors and other components. Since there is no need to install reducers and motor structures in the finger segments, the fingers of the dexterous hand are closer to the size of the actual human hand. Due to the improvement in transmission accuracy, the torque, accuracy, speed and other capabilities of the dexterous hand are closer to those of the human hand.
[0038] like Figure 1 As shown, in this embodiment, support bearings 32 are respectively provided between the outer wall of the input shaft 3 and the inner holes of the two PCB stators 5. Limiting steps 21, which respectively cooperate with the two support bearings 32, are provided on the motor housing 2 and the connecting partition 16. A limiting protrusion ring 33 is provided on the side of the two support bearings 32 away from the corresponding limiting step 21. The support bearings 32 are installed between the corresponding limiting step 21 and the limiting protrusion ring 33. The support bearings 32 support the input shaft 3, ensuring the overall stability of the input shaft 3 installation, preventing the end of the input shaft 3 near the planetary gear 93 from tilting up, affecting the meshing of the input gear 31 and the planetary gear 93, ensuring transmission accuracy, reducing noise, abnormal sounds, and vibration, and improving the service life of the entire joint module.
[0039] like Figure 1As shown, to facilitate the installation and connection of the fixed end and output end with the dexterous finger segment, the outer wall of the outer ring 81 of the main bearing 8 and the outer wall of the end cap 10 are respectively provided with an outwardly extending mounting lug 11, with the two mounting lugs 11 located on both sides of the input shaft 3. The mounting lugs 11 are used to realize the installation and connection between the outer ring 81 of the main bearing 8 and the end cap 10 and the dexterous finger segment, reducing the overall volume of the joint module while ensuring the connection effect.
[0040] like Figure 1 As shown, in this embodiment, the motor housing 2, connecting partition 16, outer ring 81 of main bearing 8, and end cap 10 constitute a spherical structure with a flat end face of end cap 10. This spherical structure of the entire joint module ensures that the entire joint module more closely resembles the shape of human hand finger joints, improving the aesthetics of the dexterous hand. In this case, the outer diameters of the PCB stator 5 near the RV reducer 6, the permanent magnet rotor 4, and the PCB stator 5 away from the RV reducer 6 decrease sequentially. This ensures that the internal structure of the drive motor 1 matches the overall spherical structure of the joint module while maintaining the drive motor 1's capability. Of course, in other embodiments, if space and joint module capability are sufficient, the joint module can also be a conventional cylindrical shape, maintaining aesthetics without protruding from the dexterous hand. In this case, the two PCB stators 5 and the permanent magnet rotor 4 can be the same or different sizes.
[0041] like Figure 1 As shown, to further optimize the internal space of the joint module and monitor input accuracy in real time, an encoder 12 is installed at the end of the input shaft 3 where the input gear 31 is located. A connecting plate 13 is provided on the end face of the end cover 10 away from the motor housing 2. A reading head 14 corresponding to the encoder 12 is installed on the connecting plate 13, and a clearance hole 15 for the reading head 14 is provided on the end cover 10. By directly mounting the encoder 12 on the input shaft 3 and at the end of the input shaft 3 closest to the planetary gear 93, the encoder 12 and the drive motor 1 make efficient use of the entire joint module's space, maximizing the joint module's capacity and minimizing its size, thus ensuring the compactness of the joint module's structure.
[0042] The foregoing description illustrates and describes preferred embodiments of the present invention. As previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept described herein through the foregoing teachings or related technical or knowledge. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.
Claims
1. A RV reduction module for humanoid robot dexterous hand joint, characterized in that: It includes a drive motor (1) and an RV reducer (6) coaxially arranged at the joint. The drive motor (1) is a PCB motor with axial magnetic flux and includes a motor housing (2). The motor housing (2) is equipped with an input shaft (3), a permanent magnet rotor (4) coaxially arranged with the input shaft (3), and two PCB stators (5). The two PCB stators (5) are located on both sides of the permanent magnet rotor (4). The RV reducer (6) includes two cycloidal wheels (7), a main bearing (8), and at least two eccentric shafts (9) arranged in a circumferential array. The main bearing (8) is arranged between the two cycloidal wheels (7). The eccentric shafts (9) are mounted on the inner ring (82) of the main bearing (8) and the cycloidal wheels (7). Two first four-point ball bearings (91) are arranged in parallel along their axial direction between the true circle of each eccentric shaft (9) and the inner ring (82) of the main bearing (8). The motor housing (2) and the outer ring (81) of the main bearing (8) are detachably fixedly connected and a connecting partition (16) is provided between them. A second four-point ball bearing (92) is installed between the cam and the cycloidal wheel (7) at both ends of each eccentric shaft (9), and the outer wall of the cycloidal wheel (7) meshes with the inner hole of the outer ring (81) of the main bearing (8); a planetary gear (93) is installed at the end of each eccentric shaft (9) away from the drive motor (1), and the end of the input shaft (3) away from the motor housing (2) passes through the two cycloidal wheels (7) and the main bearing (8) and is equipped with an input gear (31) that meshes synchronously with the multiple planetary gears (93); The outer ring (81) of the main bearing (8) is provided with an end cap (10) on the side away from the motor housing (2). The end cap (10) is detachably and fixedly connected to the inner ring (82) of the main bearing (8). The end cap (10) and the outer ring (81) of the main bearing (8) serve as the fixed end and the output end, respectively.
2. The RV deceleration module for a humanoid robot dexterous hand joint according to claim 1, characterized in that: Support bearings (32) are provided between the outer wall of the input shaft (3) and the inner holes of the two PCB stators (5), and the motor housing (2) and the connecting partition (16) are provided with limiting steps (21) that cooperate with the two support bearings (32). The input shaft (3) is provided with a limiting protrusion (33) located on the side of the two support bearings (32) away from the corresponding limiting step (21). The support bearings (32) are installed between the corresponding limiting step (21) and the limiting protrusion (33).
3. The RV deceleration module for a humanoid robot dexterous hand joint according to claim 1, characterized in that: The inner and outer rings of the two first four-point ball bearings (91) are respectively fixed on the true circle of the eccentric shaft (9) and the inner ring (82) of the main bearing (8). The second four-point ball bearing (92) is a flange-type four-point ball bearing.
4. The RV deceleration module for a humanoid robot dexterous hand joint according to claim 1, characterized in that: The outer circle of the cycloidal wheel (7) and the inner hole of the outer ring (81) of the main bearing (8) are engaged without needle rollers.
5. The RV deceleration module for a humanoid robot dexterous hand joint according to claim 1, characterized in that: The motor housing (2), connecting partition (16), outer ring (81) of main bearing (8) and end cover (10) constitute a spherical structure with a flat end face of end cover (10). The outer diameters of the PCB stator (5) near the RV reducer (6), the permanent magnet rotor (4) and the PCB stator (5) away from the RV reducer (6) decrease sequentially.
6. The RV deceleration module for a humanoid robot dexterous hand joint according to claim 1, characterized in that: The outer wall of the outer ring (81) of the main bearing (8) and the outer wall of the end cover (10) are respectively provided with an outwardly extending mounting lug (11), and the two mounting lugs (11) are respectively located on both sides of the input shaft (3).
7. The RV deceleration module for a humanoid robot dexterous hand joint according to claim 1, characterized in that: An encoder (12) is installed at one end of the input shaft (3) with an input gear (31). A connecting plate (13) is provided on the end face of the end cover (10) away from the motor housing (2). A reading head (14) corresponding to the encoder (12) is installed on the connecting plate (13), and a clearance hole (15) is provided on the end cover (10) to cooperate with the reading head (14).
8. The RV deceleration module for a humanoid robot dexterous hand joint according to claim 1, characterized in that: The planetary gear (93) is mounted on the end of the eccentric shaft (9) by screws, and the end of the eccentric shaft (9) and the inner hole of the planetary gear (93) are polygonal plug-in fits.