Finger joint module, dexterous hand and robot

Abstract

The application discloses a finger joint module, a dexterous hand and a robot, the finger joint module comprising a shell, a stator winding, a permanent magnet, a rotor shell, a first speed reducer and a second speed reducer, the shell being provided with a cavity. The stator winding is annular and located in the cavity. The permanent magnet is located on the inner side of the stator winding. The rotor shell is located on the inner side of the permanent magnet and connected with the permanent magnet, and the rotor shell comprises a first surface and a second surface arranged oppositely. The first speed reducer is located on the first surface of the rotor shell, and the first speed reducer comprises a sun gear coaxially arranged with the rotor shell and a plurality of first planetary gears meshed with the sun gear, the plurality of first planetary gears are distributed along the circumference of the rotor shell, and the gear shafts of the first planetary gears are rotationally connected with the rotor shell. The second speed reducer is located on the second surface of the rotor shell, the input end of the second speed reducer is fixedly connected with the gear shafts of the plurality of first planetary gears in correspondence, and the output end of the second speed reducer extends out of the shell. In the above manner, the size of the finger joint module can be reduced.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a finger joint module, a dexterous hand, and a robot. Background Technology

[0002] Dexterous hands are an important branch of robotics and human-computer interaction. Traditional dexterous hand finger joint actuation schemes mostly use motors, such as servo motors, stepper motors, or DC motors, to directly or indirectly drive linkage structures. While motors provide reliable power output and good control precision, traditional motor-driven schemes face significant challenges when applied to dexterous fingers, especially in scenarios requiring high flexibility and miniaturization. First, the size and weight of the motor itself occupy valuable space, limiting the compact design of the finger. Second, the transmission mechanisms, such as gearboxes and linkages, are large and heavy, further restricting the compact design of the finger. Third, the complexity of the motor and its transmission mechanisms can lead to increased costs and maintenance difficulties. Therefore, reducing the size of the finger joint actuation structure has become an urgent problem to be solved. Utility Model Content

[0003] The main technical problem addressed by this application is to provide a finger joint module, a dexterous hand, and a robot that can reduce the size of the finger joint module.

[0004] To solve the above-mentioned technical problems, this application adopts the following technical solution: A finger joint module for a robot is provided. The finger joint module includes: a housing with a cavity; a stator winding, which is annular and located within the cavity; a permanent magnet located inside the stator winding; a rotor housing located inside the permanent magnet and connected to it, and including a first surface and a second surface arranged opposite to each other. When the permanent magnet is driven to rotate by the stator winding, it drives the rotor housing to rotate; a first reducer located on the first surface of the rotor housing, the first reducer including a first sun gear coaxially arranged with the rotor housing and a plurality of first planet gears meshing with the first sun gear, the first sun gear being rotatably connected to the rotor housing, the plurality of first planet gears being distributed circumferentially along the rotor housing, and the gear shafts of the first planet gears being rotatably connected to the rotor housing; and a second reducer located on the second surface of the rotor housing, the plurality of input ends of the second reducer being fixedly connected to the gear shafts of the plurality of first planet gears, and the output end of the second reducer extending out of the housing.

[0005] Preferably, the second reducer includes a planetary gear reducer or a cycloidal pinwheel reducer.

[0006] Preferably, the second reducer includes: a plurality of second planetary gears, which are fixedly connected to and correspond one-to-one with the gear shafts of the first planetary gears; and a second sun gear, which meshes with the plurality of second planetary gears.

[0007] Preferably, the finger joint module further includes a first bearing, which is sleeved on the output end of the second reducer.

[0008] Preferably, the first bearing is a deep groove ball bearing or an angular contact ball bearing.

[0009] Preferably, the rotor housing has a plurality of through holes arranged circumferentially, and the finger joint module further includes: a second bearing located in the through holes and sleeved on the gear shaft of the first planetary gear.

[0010] Preferably, the finger joint module further includes a cover plate connected to one end of the housing near the output end.

[0011] Preferably, the output terminal includes an output gear.

[0012] To solve the above-mentioned technical problems, another technical solution adopted in this application is: to provide a dexterous hand for a robot, including a palm and fingers, wherein the fingers are rotatably connected to the palm; the fingers include multiple phalanges and the finger joint module described in any of the above-mentioned embodiments, wherein the finger joint module is provided between at least two adjacent phalanges, and the finger joint module is used to drive one of the two adjacent phalanges to rotate relative to the other phalange.

[0013] To solve the above-mentioned technical problems, another technical solution adopted in this application is to provide a robot, including the dexterous hand described above.

[0014] The beneficial effects of this application are as follows: Unlike the prior art, the permanent magnet in this application is located inside the stator winding. The electromagnetic field generated after current is applied to the stator winding drives the permanent magnet to rotate. The permanent magnet drives the rotor housing to rotate. The rotor housing is rotatably connected to the first sun gear and multiple first planetary gears. The rotor housing drives the first planetary gears to revolve. The first sun gear meshes with the first planetary gears, causing the first planetary gears to rotate. The revolution speed and rotation speed of the first planetary gears are transmitted to the corresponding input terminals of the second reducer. The second reducer further transmits the speed to external components. Compared with the traditional solution where the reducer is located outside the stator and rotor of the motor, in this application, the rotor housing, the first reducer and the second reducer are integrated inside the stator winding, i.e., the structure of the motor with a built-in reducer, which can reduce the overall volume of the finger joint module. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0016] Figure 1 This is a schematic diagram of the structure of an embodiment of the finger module of this application;

[0017] Figure 2 This is a cross-sectional structural schematic diagram of another embodiment of the finger module of this application;

[0018] Figure 3 yes Figure 1 Schematic diagram of the first and second reducers in the middle section;

[0019] Figure 4 yes Figure 1 A schematic diagram of the structure of the rotor housing. Detailed Implementation

[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0021] See Figures 1 to 3 The finger joint module 1 in this embodiment includes a housing 10, a stator winding 20, a permanent magnet 30, a rotor housing 40, a first reducer 50, and a second reducer 60.

[0022] The housing 10 has a cavity 11. The stator winding 20 is annular and located inside the cavity 11. The permanent magnet 30 is located inside the stator winding 20. The rotor housing 40 is located inside the permanent magnet 30 and connected to the permanent magnet 30. The rotor housing 40 includes a first surface 41 and a second surface 42 arranged opposite to each other. When the permanent magnet 30 is driven to rotate by the stator winding 20, the permanent magnet 30 drives the rotor housing 40 to rotate.

[0023] Specifically, the motor includes a stator winding 20 and a permanent magnet 30. The motor can be a coreless motor. The stator winding 20 can be a conductive coil. When current flows through the annular stator winding 20, the electromagnetic field generated by the stator winding 20 interacts with the constant magnetic field of the permanent magnet 30. Since opposite magnetic poles attract each other and like magnetic poles repel each other, a tangential force is generated at the pole junction, causing the permanent magnet 30 to rotate. The magnetic field of the stator winding can be continuously changed by the current, while the magnetic field of the permanent magnet 30 is fixed. Through the dynamic attraction and repulsion of the magnetic poles, a continuous torque is generated in the circumference of the permanent magnet 30, causing the permanent magnet 30 to rotate continuously. Since the permanent magnet 30 is connected to the rotor housing 40, the rotation of the permanent magnet 30 drives the rotor housing 40 to rotate synchronously. At this time, the angular velocity of the permanent magnet 30 is the same as the velocity of the rotor housing 40.

[0024] The first reducer 50 is located on the first surface 41 of the rotor housing 40. The first reducer 50 includes a first sun gear 510 coaxially arranged with the rotor housing 40 and a plurality of first planet gears 520 meshing with the first sun gear 510. The first sun gear 510 is rotatably connected to the rotor housing 40. The plurality of first planet gears 520 are distributed circumferentially along the rotor housing 40, and the gear shafts 5210 of the first planet gears 520 are rotatably connected to the rotor housing 40. The second reducer 60 is located on the second surface 42 of the rotor housing 40. The plurality of input ends 61 of the second reducer 60 are correspondingly and fixedly connected to the gear shafts 5210 of the plurality of first planet gears 520. The output end 62 of the second reducer 60 extends out of the housing 10.

[0025] Specifically, the first sun gear 510 is located on the first surface 41 of the rotor housing 40 and is rotatably connected to the rotor housing 40. A plurality of first planet gears 520 mesh with the first sun gear 510, and the gear shaft 5210 of each first planet gear 520 is rotatably connected to the rotor housing 40. The rotor housing 40 restricts the position of the gear shaft 5210. When the rotor housing 40 rotates, the first sun gear 510 is stationary relative to the rotor housing 40. That is, the first sun gear 510 does not rotate with the rotor housing 40, and the first planet gears 520 rotate together with the rotor housing 40, so that the revolution speed of the first planet gears 520 is the same as the speed of the rotor housing 40. The meshing of the first planet gears 520 with the first sun gear 510 gives the first planet gears 520 a certain rotation speed. The gear shaft 5210 of the first planetary gear 520 is connected to the second reducer 60 located on the second surface 42 of the rotor housing 40. The rotation speed and revolution speed of each first planetary gear 520 are transmitted to the corresponding input end 61 of the second reducer 60 through the gear shaft 5210. The output end 62 of the second reducer 60 extends out of the housing 10, which facilitates the connection of the output end 62 of the second reducer 60 to the external structure.

[0026] In this application, the permanent magnet 30 is located inside the stator winding 20. The electromagnetic field generated after current is applied to the stator winding 20 drives the permanent magnet 30 to rotate. The permanent magnet 30 drives the rotor housing 40 to rotate. The rotor housing 40 is rotatably connected to the first sun gear 510 and multiple first planetary gears 520. The rotor housing 40 drives the first planetary gears 520 to revolve. The first sun gear 510 meshes with the first planetary gears 520, causing the first planetary gears 520 to rotate. The revolution speed and rotation speed of the first planetary gears 520 are transmitted to the corresponding input terminals 61 of the second reducer 60. The second reducer 60 further transmits the speed to external components. Compared with the traditional solution where the reducer is located outside the stator and rotor of the motor, in this application, the rotor housing 40, the first reducer 50 and the second reducer 60 are integrated inside the stator winding 20, i.e., the structure of the motor with built-in reducer, which can reduce the overall volume of the finger joint module 1.

[0027] In one embodiment, the second reducer 60 includes a planetary gear reducer or a cycloidal pinwheel reducer.

[0028] Specifically, in one application scenario, the second reducer 60 is a planetary gear reducer. The second reducer 60 is made of non-magnetic material. Therefore, the planetary gear reducer is made of non-magnetic material. The multiple input ends of the planetary gear reducer are connected to the gear shaft 5210 of the first planetary gear 520, which transmits the power of the first planetary gear 520 to the input ends of the planetary gear reducer, driving the input ends of the planetary gear reducer to rotate. The output end of the planetary gear reducer can increase the output torque and reduce the speed.

[0029] In another application scenario, the second reducer 60 is a cycloidal pinwheel reducer. The second reducer 60 is made of non-magnetic material. Therefore, the cycloidal pinwheel reducer is made of non-magnetic material. The input end of the cycloidal pinwheel reducer is connected to the gear shaft 5210 of the first planetary gear 520. The input end of the cycloidal pinwheel reducer can be a cam crankshaft. The cam crankshaft drives the cycloidal wheel to perform eccentric rotation. The cycloidal wheel meshes with the pinwheel, and the cycloidal wheel drives the pinwheel to rotate. The pinwheel serves as the output end 62 of the second reducer 60 to output torque.

[0030] See Figure 2 and Figure 3 The second reducer 60 includes a second sun gear 610 and a plurality of second planet gears 620. The plurality of second planet gears 620 are fixedly connected to the gear shaft 5210 of the first planet gear 520 and correspond one-to-one. The second sun gear 610 meshes with the plurality of second planet gears 620.

[0031] Specifically, each second planetary gear 620 is fixedly connected to the gear shaft 5210 of the corresponding first planetary gear 520. The gear shaft 5210 of the first planetary gear 520 drives the second planetary gear 620 to rotate, so that the rotational speed of the second planetary gear 620 is the same as that of the first planetary gear 520. Since the rotation of the rotor housing 40 drives the gear shaft 5210 to revolve, and the gear shaft 5210 is connected to the first planetary gear 520 and the second planetary gear 620 respectively, the revolution speed of the second planetary gear 620 is the same as that of the first planetary gear 520. The second sun gear 610 meshes with the second planetary gear 620, and the second planetary gear 620 drives the second sun gear 610 to rotate. The second sun gear 610 is connected to the output end 62 of the second reducer 60 to transmit the power of the second sun gear 610 to the output end 62 of the second reducer 60.

[0032] In one embodiment, the number of first planetary gears 520 is three, and the number of second planetary gears 620 is also three. In other embodiments, the number of first planetary gears 520 can be two, four, five, or six, and the number of second planetary gears 620 is the same as the number of first planetary gears 520. It should be noted that the number of teeth of the first planetary gears 520 matches the number of teeth of the first sun gear 510, and the number of teeth of the second planetary gears 620 matches the number of teeth of the second sun gear 610. This application does not limit the number of first planetary gears 520 and second planetary gears 620.

[0033] See Figure 3 The finger joint module 1 also includes a first bearing 710, which is mounted on the output end 62 of the second reducer 60.

[0034] Specifically, the first bearing 710 supports the output end 62 of the second reducer 60, reducing the vibration and shaking of the output end 62 of the second reducer 60, and improving the stability and precision of the entire finger joint module 1. At the same time, the second bearing 720 supports the output end 62 of the second reducer 60, which can reduce the failure caused by wear of the output end 62 and improve the service life of the finger joint module 1.

[0035] In one embodiment, the output end 62 of the second reducer 60 is an output shaft, the second sun gear 610 is connected to the output shaft of the second reducer 60, and the first bearing 710 is sleeved on the output shaft. The first bearing 710 is used to support the output shaft and reduce the vibration and shaking of the output shaft of the second reducer 60.

[0036] In one embodiment, the first bearing 710 can be either a deep groove ball bearing or an angular contact ball bearing. Deep groove ball bearings have a simple structure, with no grooves on either the inner or outer rings, high radial load capacity, and a low coefficient of friction, making them suitable for applications requiring radial loads. Due to their ease of maintenance and low cost, deep groove ball bearings are widely used in various shafts. Angular contact ball bearings, on the other hand, feature angled raceways on both the inner and outer rings, enabling them to withstand larger axial loads as well as radial loads. Angular contact ball bearings offer higher rigidity and precision, making them suitable for high-speed operation and precision control applications. The choice of either a deep groove ball bearing or an angular contact ball bearing allows the first bearing 710 to be adapted to different operating conditions.

[0037] In other embodiments, the first bearing 710 may also be a cylindrical roller bearing or a needle roller bearing, which facilitates the selection of the appropriate bearing type according to the actual working conditions.

[0038] See Figure 3 and Figure 4 The rotor housing 40 is provided with a plurality of through holes 410 arranged circumferentially. The finger joint module 1 also includes a second bearing 720, which is located inside the through holes 410 and is sleeved on the gear shaft 5210 of the first planetary gear 520.

[0039] Specifically, the through hole 410 on the rotor housing 40 is used to install and fix the second bearing 720. The gear shaft 5210 of each first planetary gear 520 passes through the second bearing 720 located in the through hole 410 and connects to the input shaft of the corresponding second reducer 60. The second bearing 720 supports the gear shaft 5210 of the first planetary gear 520, reduces the vibration and deformation of the gear shaft 5210, and reduces the impact on the input end 61 of the second reducer 60.

[0040] In one embodiment, the gear shaft 5210 of the first planetary gear 520 is connected to the second planetary gear 620, and the second bearing 720 is sleeved on the gear shaft 5210. The second bearing 720 provides support for the gear shaft 5210 and reduces the vibration of the gear shaft 5210, thereby improving the smoothness and accuracy of the movement of the second planetary gear 620 and improving the performance of the finger joint module 1.

[0041] In one embodiment, the type of the second bearing 720 includes a deep groove ball bearing or an angular contact ball bearing, that is, the type of the second bearing 720 includes the first bearing 710, which can be a deep groove ball bearing or an angular contact ball bearing, and the bearing type can be selected according to the corresponding working conditions.

[0042] See Figure 2In one embodiment, a convex shaft 420 is provided at the center of the first surface 41 of the rotor housing 40. The convex shaft 420 is connected to the first sun gear 510. The convex shaft 420 is used to mount the sun gear, such that the axis of the first sun gear 510 is located in the extension direction of the axis of the rotor housing 40.

[0043] See Figure 1 The finger joint module 1 also includes a cover plate 80, which is connected to the end of the housing 10 near the output end 62.

[0044] Specifically, the stator winding 20, permanent magnet 30, rotor housing 40, first reducer 50 and other structures are placed in the cavity 11 of the housing 10. The cover plate 80 is connected to the end of the housing 10 near the output end 62. The cover plate 80 seals the cavity 11 and protects the structure inside the cavity 11. It prevents harmful substances such as dust, impurities and moisture from the external environment from entering the cavity 11 and protects the internal bearings, gears and other moving parts from wear, jamming and corrosion caused by impurities, thereby improving the stability and service life of the finger joint module 1.

[0045] See Figure 1 The output end 62 of the second reducer 60 includes an output gear.

[0046] Specifically, the output end 62 of the second reducer 60 is connected to an external component to drive the external component. In one application scenario, the output gear of the output end 62 meshes with the external component, and the output gear drives the external component to move, transmitting power to the external component and driving the external component to perform corresponding actions.

[0047] This application also protects a dexterous hand for use in robots. The dexterous hand includes a palm and fingers, which are rotatably connected to the palm. Each finger includes multiple phalanges and a finger joint module 1. At least two adjacent phalanges are provided with the finger joint module 1, which is used to drive one of the two adjacent phalanges to rotate relative to the other. The specific structure of the finger joint module 1 is as described above and will not be repeated here.

[0048] This application also protects a robot that includes a dexterous hand. The types of robots include industrial robots, collaborative robots, service robots, medical robots, or special-purpose robots; it should be noted that this application does not limit the type of robot.

[0049] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A finger joint module for use in a robot, characterized in that, The finger joint module includes: The shell has a cavity; The stator winding is ring-shaped and located within the cavity; The permanent magnet is located inside the stator winding; The rotor housing is located inside the permanent magnet body and connected to the permanent magnet body. It includes a first surface and a second surface arranged opposite to each other. When the permanent magnet body is driven to rotate by the stator winding, the permanent magnet body drives the rotor housing to rotate. A first reducer is located on the first surface of the rotor housing. The first reducer includes a first sun gear coaxially arranged with the rotor housing and a plurality of first planet gears meshing with the first sun gear. The first sun gear is rotatably connected to the rotor housing, and the plurality of first planet gears are distributed circumferentially along the rotor housing. The gear shafts of the first planet gears are rotatably connected to the rotor housing. The second reducer is located on the second surface of the rotor housing. Multiple input ends of the second reducer are fixedly connected to the gear shafts of the multiple first planetary gears, and the output end of the second reducer extends out of the housing.

2. The finger joint module according to claim 1, characterized in that, The second reducer includes a planetary gear reducer or a cycloidal pinwheel reducer.

3. The finger joint module according to claim 2, characterized in that, The second reducer includes: Multiple second planetary gears are fixedly connected to the gear shafts of the first planetary gears and correspond one-to-one; The second sun gear meshes with multiple second planetary gears.

4. The finger joint module according to claim 1, characterized in that, The finger joint module also includes: The first bearing is fitted onto the output end of the second reducer.

5. The finger joint module according to claim 4, characterized in that, The first bearing may be a deep groove ball bearing or an angular contact ball bearing.

6. The finger joint module according to claim 1, characterized in that, The rotor housing has multiple through holes arranged circumferentially, and the finger joint module further includes: The second bearing is located inside the through hole and is sleeved on the gear shaft of the first planetary gear.

7. The finger joint module according to claim 1, characterized in that, The finger joint module also includes: The cover plate is connected to the end of the housing near the output end.

8. The finger joint module according to claim 1, characterized in that, The output end includes an output gear.

9. A dexterous hand for use in a robot, characterized in that, Includes a palm and fingers, the fingers being rotatably connected to the palm; The finger includes a plurality of phalanges and a finger joint module as described in any one of claims 1-8, wherein the finger joint module is provided between at least two adjacent phalanges, and the finger joint module is used to drive one of the two adjacent phalanges to rotate relative to the other phalange.

10. A robot, characterized in that, Including the dexterous hand as described in claim 9.

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