Knuckle assembly, dexterous hand, and humanoid robot

Abstract

The utility model belongs to humanoid robot technical field, especially relates to a finger joint subassembly, deft hand and humanoid robot. Among them, the proximal phalanx module (10) is thicker, the distal phalanx module (20) is thinner, and in the projection plane perpendicular to the output shaft, the projection of first support (1) and second support (3) are all in the outer contour range of the projection of proximal phalanx module (10), and the projection of distal phalanx module (20) is in the outer contour range of the projection of second support (3). Thus setting, it is easier to realize the drive connection between proximal phalanx module (10) and distal phalanx module (20) in the narrow finger space.

Description

Technical Field

[0001] This utility model belongs to the field of humanoid robot technology, and specifically relates to a finger joint component, a dexterous hand, and a humanoid robot. Background Technology

[0002] Robotics technology is increasingly being applied in numerous fields such as industrial manufacturing, medical rehabilitation, daily life services, and space exploration. The end effector of a robot is located at the end of the robot body and is a device that directly interacts with the environment or the object being manipulated. The dexterous hand is one of the most complex and powerful end effectors in humanoid robots, designed to simulate the fine manipulation and grasping abilities of the human hand.

[0003] A dexterous hand is a core component for enabling precise manipulation in robots. Its structure typically mimics the human hand, consisting of a palm and multiple fingers (usually 3-5). Each finger is composed of multiple phalanges (usually 2-4) connected by knuckles. The flexible movement of these knuckles is fundamental to achieving complex actions such as grasping, pinching, and manipulating small objects. Of particular note is the drive structure where each joint is equipped with an independent motor. In this structure, each knuckle is fitted with an independent micro-motor (such as a micro DC motor, stepper motor, or coreless motor) as a direct or proximal actuator.

[0004] The internal space of a dexterous hand's fingers is extremely limited, requiring the integration of a motor (or motor + reducer), sensors (such as position encoders and torque sensors), wiring, and a connection structure that supports adjacent phalanges and enables reliable transmission within a very confined volume. Simultaneously, developing a drive connection structure for adjacent phalanges that meets the spatial constraints of the fingers is also a key technology in dexterous hand design. Utility Model Content

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

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

[0007] In a preferred embodiment of the above-described knuckle assembly in this example, both the driving member and the driven member are bevel gears, and the extension line of the output shaft axis intersects perpendicularly with the axis of the horizontal rotating shaft.

[0008] In a preferred embodiment of the above-described knuckle assembly in this example, the driving element is a worm gear, the driven element is a worm wheel, and the extension line of the output shaft axis is perpendicular to and does not intersect the axis of the horizontal rotating shaft.

[0009] In a preferred embodiment of the above-described knuckle assembly in this example, a limiting protrusion is provided on the outer side wall of the first bracket, and the limiting bottom of the second bracket is configured to cooperate with the limiting protrusion to limit the rotation angle of the distal knuckle module, and the position where the limiting bottom contacts the limiting protrusion is the reference zero point position for the rotation control of the distal knuckle module.

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

[0011] In a preferred embodiment of the above-described knuckle assembly of this embodiment, an axial limiting surface and a radial limiting surface are respectively formed on opposite sides of the connecting portion, and the axial limiting surface and the radial limiting surface on the same side are connected; wherein, the connecting portion also forms a master pin hole, which passes through the two radial limiting surfaces; and, the end of the second support member forms a notch, the notch is for the connecting portion to be inserted, and the two opposite inner sidewalls of the notch are limited and fitted with the two radial limiting surfaces of the connecting portion; and, the second support member is provided with an auxiliary pin hole on each side of the notch, and is configured to allow a pin to pass through the two auxiliary pin holes of the second support member and one master pin hole of the connecting portion.

[0012] In a preferred embodiment of the above-described knuckle assembly of this embodiment, a motor is disposed within the first housing of the proximal knuckle module, and a reducer is connected to the axial outer end of the first housing, the reducer being driven by the motor; wherein, the first bracket further includes four support blocks, the inner wall of the support blocks being adapted to the circumferential outer wall of the reducer, and one end of each support block being connected to the axial outer end of the first housing of the motor, and two support blocks being connected to the bottom end of the same first support member; or, at least two pins are disposed at the bottom end of the first support member, and the two pins are connected to the top surface of the second housing of the reducer.

[0013] In a preferred embodiment of the above-described knuckle assembly of this embodiment, the ends of a pair of second supports of the second bracket that are opposite to the connecting portion are connected to an end cap, which is part of the shell assembly of the distal knuckle module.

[0014] In a preferred embodiment of the above-described knuckle assembly of this embodiment, the outer side wall of the first support member is formed with a first plane, and the inner side wall of the second support member is formed with a second plane, wherein the first plane and the second plane are opposite to and parallel to each other.

[0015] In a preferred embodiment of the knuckle assembly described above, the first support member is provided with a mounting groove for a support bearing, and the inner port of the mounting groove is for a support bearing to enter, while the outer port of the mounting groove forms a limiting annular wall to prevent the support bearing from moving outward. The horizontal rotating shaft is connected to the support bearings mounted on the two first support members.

[0016] Secondly, in a dexterous hand provided by this utility model, the dexterous hand includes at least one knuckle component as described in any embodiment of the first aspect.

[0017] Thirdly, in a humanoid robot provided by this utility model, the humanoid robot is equipped with a dexterous hand as described in the second aspect.

[0018] The beneficial technical effects of this utility model are as follows: In the finger joint assembly, dexterous hand, and humanoid robot provided by this utility model, the output shaft of the proximal phalanx module drives the active component to rotate. The active component meshes with the driven component, thereby driving the horizontal rotating shaft to rotate, which in turn drives the distal phalanx module to swing around the horizontal rotating shaft, realizing the bending function of the fingers of the dexterous hand. Specifically, the proximal phalanx module is thicker, and the distal phalanx module is thinner. Furthermore, in the projection plane perpendicular to the output shaft, the projections of the first and second supports are both within the outer contour range of the projection of the proximal phalanx module, and the projection of the distal phalanx module is within the outer contour range of the projection of the second support. This arrangement achieves the driving connection between the proximal and distal phalanx modules within the narrow space of the fingers. Attached Figure Description

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

[0020] Figure 1 This is a schematic diagram of a preferred embodiment of the knuckle assembly in this example.

[0021] Figure 2 This is a schematic diagram of the structure of the finger joint assembly in this embodiment, which uses a worm gear transmission.

[0022] Figure 3 This is a schematic diagram of the limiting structure for the reference zero point position in the knuckle assembly of this embodiment.

[0023] Figure 4 This is a schematic diagram of the connection structure between the first support and the second support in the knuckle assembly of this embodiment.

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

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

[0026] Figure 7 This is a schematic diagram of the connection structure between the support bearing and the first bracket in the knuckle assembly of this embodiment.

[0027] Figure 8 This is a schematic diagram of the joint module in this embodiment.

[0028] Figure 9 This is a cross-sectional schematic diagram of the joint module in this embodiment.

[0029] Figure 10This is a schematic diagram of the connection structure of the drive shaft in the joint module of this embodiment.

[0030] Figure 11 This is a schematic diagram showing the position of the first bearing in the joint module of this embodiment.

[0031] Figure 12 This is a schematic diagram showing the position of the magnetic beads in the joint module of this embodiment.

[0032] Figure 13 This is a schematic diagram showing the relative positions of the magnetic bead and the magnetic sensor in the joint module of this embodiment.

[0033] Figure 14 This is a schematic diagram of the polarity region of the magnetic bead in the joint module of this embodiment.

[0034] The reference numerals in the attached figures are as follows:

[0035] 10 - Proximal phalanx module; 101 - First housing; 102 - Second housing;

[0036] 20 - Distal knuckle module;

[0037] 1-First bracket; 11-First support member; 111-First plane; 112-Mounting groove; 1121-Limiting ring wall; 113 Pin; 114-Limiting protrusion; 12-Support block;

[0038] 2-Horizontal pivot; 21-Connecting part; 211-Axial limiting surface; 212-Radial limiting surface; 213-Main pin hole;

[0039] 3-Second bracket; 31-Second support member; 311-Second plane; 312-Notch; 313-Auxiliary pin hole; 314-Bottom limiting position; 32-End cap;

[0040] 4-Driving component; 5-Driven component; 6-Support bearing;

[0041] 103-Motor; 1031-Outer stator; 1032-Inner rotor;

[0042] 104 - First bearing; 105 - Wave generator; 106 - Second bearing;

[0043] 107 - Drive shaft; 1071 - First annular step; 1072 - Second annular step;

[0044] 108 - Magnetic bead; 1081 - Upper magnetic segment; 1082 - Lower magnetic segment;

[0045] 109 - Actuator; 1091 - Magnetic sensor. Detailed Implementation

[0046] To make the objectives, technical solutions and advantages of this utility model clearer, the following embodiments are provided to further illustrate this utility model in detail.

[0047] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

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

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

[0050] For example, in the knuckle assembly of this embodiment, the proximal knuckle module 10 includes a first housing 101, a motor, and a reducer. The first housing 101 houses a motor, and a reducer is connected to the axial outer end of the first housing 101, the reducer being driven by the motor. One axial end of the proximal knuckle module 10 has an output shaft, which can be understood as the output shaft of the reducer.

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

[0052] Furthermore, the transmission assembly includes a driving member 4 and a driven member 5 for meshing transmission, with the driving member 4 connected to the output shaft and the driven member 5 connected to the horizontal rotating shaft 2.

[0053] In the aforementioned knuckle assembly, the output shaft of the proximal knuckle module 10 drives the active member 4 to rotate. This active member 4 meshes with the driven member 5, thereby driving the horizontal rotating shaft 2 to rotate. This, in turn, drives the distal knuckle module 20 to swing around the horizontal rotating shaft 2, achieving the bending function of the fingers in a dexterous hand. The proximal knuckle module 10 is relatively thick, while the distal knuckle module 20 is relatively thin. Furthermore, in the projection plane perpendicular to the output shaft, the projections of the first support 1 and the second support 3 are both within the outer contour range of the projection of the proximal knuckle module 10, and the projection of the distal knuckle module 20 is within the outer contour range of the projection of the second support 3. This arrangement makes it easier to achieve the driving connection between the proximal knuckle module 10 and the distal knuckle module 20 within the confined space of the fingers.

[0054] exist Figure 1 In the illustrated embodiment, both the driving member 4 and the driven member 5 of the transmission assembly are bevel gears, and the extension line of the axis of the output shaft of the proximal phalanx module 10 intersects perpendicularly with the axis of the horizontal rotating shaft 2. The transmission direction is changed through the two bevel gears, thus converting the rotation of the output shaft of the proximal phalanx module 10 into the oscillation of the distal phalanx module around the horizontal rotating shaft 2.

[0055] exist Figure 2 In another embodiment shown, the driving component 4 of the transmission assembly is a worm gear, the driven component 5 is a worm wheel, and the extension line of the output shaft axis of the distal phalanx module is perpendicular to and does not intersect the axis of the horizontal rotating shaft 2. Here, the transmission direction is changed through the transmission of the worm gear and worm wheel, and the rotation of the output shaft of the proximal phalanx module 10 can be converted into the oscillation of the distal phalanx module around the horizontal rotating shaft 2.

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

[0057] For example, the distal phalanx module 20 can rotate from a position colinear with the proximal phalanx module 10 to a position perpendicular to the axis of the output shaft of the proximal phalanx module 10. The engagement of the limiting protrusion 114 of the first bracket 1 and the limiting bottom 314 of the second bracket 3 restricts further rotation of the proximal phalanx module 10 at this position. Thus, during the control of the rotation of the distal phalanx module 20, when the distal phalanx module 20 rotates to a position perpendicular to the axis of the output shaft of the proximal phalanx module 10, further rotation of the distal phalanx module 20 will result in a stall. By detecting the current during the stall, it can be determined that the distal phalanx module 20 has rotated to the reference zero point position, thereby enabling calibration of the motion control of the distal phalanx module 20.

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

[0059] In this embodiment, the second support 31 is located outside the first support 11, and the two connecting parts 21 of the second bracket 3 and the horizontal rotating shaft 2 are fixedly connected. The horizontal rotating shaft 2 is rotatably connected to the first bracket 1. In this way, the second bracket 3 can rotate relative to the first bracket 1. At the same time, since the projection of the first bracket 1 is within the outer contour of the projection surface of the proximal knuckle module 10 in the projection plane perpendicular to the output shaft, the projection of the second bracket 3 can still be within the outer contour of the projection surface of the proximal knuckle module 10 after the second bracket 3 is connected to the first bracket 1. This ensures that the connection structure can realize the driving connection between the proximal knuckle module 10 and the distal knuckle module 20 in the narrow space of the finger.

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

[0061] The second support member 31 has a notch 312 at its end, into which the connecting part 21 of the horizontal rotating shaft 2 is inserted, and the two inner sidewalls of the notch 312 are fitted with the two radial limiting surfaces 212 of the connecting part 21. Furthermore, the second support member 31 has an auxiliary pin hole 313 on each side of the notch 312, configured such that a pin passes sequentially through one auxiliary pin hole 313, the main pin hole 213, and the other auxiliary pin hole 313 of the second support member 31.

[0062] Thus, the notch 312 of the second support member 31 can be fitted with the connecting part 21 of the horizontal rotating shaft 2, and the second support member 31 and the connecting part 21 at one end of the horizontal rotating shaft 2 can be connected by a pin. This makes the connection between the second bracket 3 and the horizontal rotating shaft 2 more compact and robust.

[0063] Continue to refer to Figure 4 In a preferred embodiment of the knuckle assembly in this example, the ends of a pair of second support members 31 of the second bracket 3 that are opposite to the connecting portion 21 are connected to an end cap 32, which is part of the shell assembly of the distal knuckle module 20. This reduces the connection process between the second bracket 3 and the distal knuckle module 20, improves the assembly efficiency of the knuckle assembly, and helps save space inside the fingers of the dexterous hand occupied by the second bracket 3.

[0064] In a preferred embodiment of the knuckle assembly in this example, reference continues to... Figure 4 The outer side wall of the first support member 11 has a first plane 111, and the inner side wall of the second support member 31 has a second plane 311. The first plane 111 and the second plane 311 are opposite to each other and parallel to each other. In this way, the first support member 11 and the second support member 31 are arranged in a plane-to-plane manner, which not only facilitates the rotational connection between the first support 1 and the second support 3, but also helps to save the space occupied inside the fingers of the dexterous hand.

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

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

[0067] Reference Figure 6 In another connection method between the first bracket 1 and the proximal phalanx module 10, at least two pins 113 are provided at the bottom end of the first support member 11, and the two pins 113 are connected to the top surface of the second housing 102 of the reducer. In this connection method, the lateral dimension of the reducer is smaller than the lateral dimension of the first housing 101 on which the motor is located. By connecting the first bracket 1 to the reducer, the first bracket 1 can also be smaller than the reducer, thus further reducing the lateral dimension of the first bracket 1 and making better use of the narrow space of the fingers of the dexterous hand.

[0068] Reference Figure 7In one connection method between the first bracket 1 and the horizontal rotating shaft 2, the first support member 11 is provided with a mounting groove 112 for a support bearing 6, and the inner port of the mounting groove 112 allows a support bearing 6 to enter, while the outer port of the mounting groove 112 forms a limiting annular wall 1121 to prevent the support bearing 6 from moving outward. The horizontal rotating shaft 2 is connected to the support bearings 6 mounted on the two first support members 11. Thus, this embodiment can achieve both the limiting and fixing of the support bearing 6 and the rotational connection of the horizontal rotating shaft 2. Preferably, the support bearing 6 is a self-lubricating support bearing 6.

[0069] In this embodiment, the aforementioned proximal phalanx module may include a Figure 8 and Figure 9 The joint module shown includes a power unit, a harmonic reducer, and a drive shaft 107.

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

[0071] The second housing 102 is connected to the top outer wall of the first housing 101, and the wave generator 105 is connected to the inside of the second housing 102 via the second bearing 106. A mounting hole is provided at the bottom of the wave generator 105. For example, the circumferential outer wall of the wave generator 105 is connected to the inner ring of the second bearing 106. The lower section of the drive shaft 107 is connected to the inner rotor 1032 of the motor 103, and the middle section of the drive shaft 107 is supported and connected to the first bearing 104. Its upper section extends out of the first housing 101 and into the second housing 102, where it is supported and connected within the mounting hole of the wave generator 105.

[0072] In the joint module provided in this embodiment, a first bearing 104 is provided in the first mounting groove of the first housing 101 of the power assembly, and a second bearing 106 is provided in the second housing 102 of the harmonic reducer. The drive shaft 107 achieves its rotational support function by means of the first bearing 104 of the power assembly and the second bearing 106 of the harmonic reducer. Therefore, one bearing assembly can be saved in the power assembly, and the axial length of the drive shaft 107 can be effectively shortened, thereby reducing the volume of the joint module of the dexterous hand of the humanoid robot and making the structure of the joint module more compact.

[0073] In a preferred embodiment of the joint module described above in this example, combined with Figure 9 and Figure 10The drive shaft 107 has a first annular step 1071 and a second annular step 1072 sequentially arranged in the direction towards its output end, and the diameter of the first annular step 1071 is larger than the diameter of the second annular step 1072. The first annular step 1071 is adjacent to one end of the first bearing 104, and the second annular step 1072 is adjacent to the outer end of the mounting hole of the wave generator 105. Thus, the first annular step 1071 and the second annular step 1072 effectively limit the length of the drive shaft 107 extending out of the power assembly and the length extending into the harmonic reducer, which is beneficial for achieving a reliable connection between the drive shaft 107 and the power assembly and the harmonic reducer.

[0074] In a preferred embodiment of the joint module described above in this example, combined with Figure 7 and Figure 11 The motor 103 is a frameless motor 103, which includes an outer stator 1031 and an inner rotor 1032, with both axial ends of the outer stator 1031 extending axially beyond the inner rotor 1032. At least a portion of the sidewall of the first bearing 104 and its corresponding first mounting groove extends into the axial top side of the outer stator 1031. This structure of the frameless motor 103 allows the first bearing 104 to extend into it, which helps to further reduce the axial length of the power assembly.

[0075] In a preferred embodiment of the joint module described above in this example, combined with Figure 7 , Figure 12 and Figure 13 A driver 109 is disposed at the bottom of the first housing 101 of the power assembly. The driver 109 is used to control the motion parameters of the motor 103. The magnetic sensor 1091 of the encoder assembly is also integrated on the driver 109. The encoder assembly includes the magnetic sensor 1091 and the magnetic bead 108.

[0076] The end of the drive shaft 107 opposite to its output end is provided with a second mounting groove for mounting the magnetic bead 108 of the encoder assembly. The magnetic bead 108 and the end of the drive shaft 107 are both located inside the bottom side of the outer stator 1031 in the axial direction. This design also helps to further reduce the axial length of the power assembly.

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

[0078] In a preferred embodiment of the joint module described above in this example, the drive shaft 107 can be selected as a magnetically shielded shaft. In another embodiment, a magnetic shielding layer can be provided between the second mounting groove of the drive shaft 107 and the magnetic bead 108, the magnetic shielding layer surrounding the top wall and circumferential side wall of the magnetic bead 108.

[0079] For example, the material of the magnetic shielding shaft or magnetic shielding layer can be selected as a high-permeability material such as permalloy, μ-metal, iron-nickel alloy, high-silicon steel, or grain-oriented silicon steel. Thus, utilizing its extremely high permeability, a low-resistivity "bypass" is provided for the magnetic lines of force generated by the stator winding of the motor 103 of the power assembly, attracting and confining most of the magnetic lines of force within the shielding material, thereby preventing the magnetic field generated by the stator winding of the outer stator 1031 from affecting the detection process of the encoder assembly.

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

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

[0082] The above descriptions are merely illustrative embodiments of this application and are not intended to limit the scope of the embodiments of this application. Any equivalent changes, modifications, and combinations made by those skilled in the art without departing from the concept and principles of the embodiments of this application should fall within the protection scope of the embodiments of this application.

Claims

1. A knuckle assembly, characterized in that, include: The proximal knuckle module (10) has an output shaft at one end of its axial direction, and its outer wall is connected to a first bracket (1) at the end near the output shaft; wherein, in a projection plane perpendicular to the output shaft, the projection of the first bracket (1) is within the outer contour range of the projection of the proximal knuckle module (10). The distal phalanx module (20) has a second bracket (3) connected to its outer wall. The second bracket (3) is hinged to the first bracket (1) via a horizontal pivot (2). When the distal phalanx module (20) and the proximal phalanx module (10) are on the same straight line, in the projection plane perpendicular to the output shaft, the projection of the second bracket (3) is within the outer contour range of the projection of the proximal phalanx module (10), and the projection of the distal phalanx module (20) is within the outer contour range of the projection of the second bracket (3). The transmission assembly includes a driving member (4) and a driven member (5) for meshing transmission, the driving member (4) being connected to the output shaft and the driven member (5) being connected to the horizontal rotating shaft (2).

2. The knuckle assembly according to claim 1, characterized in that, Both the driving member (4) and the driven member (5) are bevel gears, and the extension line of the output shaft axis intersects perpendicularly with the axis of the horizontal rotating shaft (2); or, The driving component (4) is a worm gear, the driven component (5) is a worm wheel, and the extension line of the output shaft axis is perpendicular to and does not intersect the axis of the horizontal rotating shaft (2).

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

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

5. The knuckle assembly according to claim 4, characterized in that, The connecting portion (21) has an axial limiting surface (211) and a radial limiting surface (212) formed on opposite sides, and the axial limiting surface (211) and the radial limiting surface (212) on the same side are in contact; wherein, the connecting portion (21) also has a master pin hole (213) that passes through the two radial limiting surfaces (212); and, The second support member (31) has a notch (312) at its end, into which the connecting part (21) is inserted, and the two opposing inner sidewalls of the notch (312) are fitted with the two radial limiting surfaces (212) of the connecting part (21); and the second support member (31) has an auxiliary pin hole (313) on each side of the notch (312), and is configured to allow a pin to pass through the two auxiliary pin holes (313) of the second support member (31) and the main pin hole (213) of the connecting part (21).

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

7. The knuckle assembly according to claim 4, characterized in that, The ends of a pair of second supports (31) of the second bracket (3) opposite to the connecting portion (21) are connected to an end cap (32), which is part of the shell assembly of the distal phalanx module (20); or, The outer side wall of the first support member (11) has a first plane (111), and the inner side wall of the second support member (31) has a second plane (311). The first plane (111) and the second plane (311) are opposite to each other and parallel to each other.

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

9. A dexterous hand, characterized in that, The dexterous hand includes at least one knuckle assembly as claimed in any one of claims 1 to 8.

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

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